Contents

Mitsubishi MR-MC220U6 Position Board User's Manual PDF

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Summary of Content for Mitsubishi MR-MC220U6 Position Board User's Manual PDF

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MR-MC200/MR-MC300 S Position Board User's Manual (Details)

-MR-MC210 -MR-MC211 -MR-MC220U3 -MR-MC220U6 -MR-MC240 -MR-MC241 -MR-MC341

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SAFETY PRECAUTIONS (Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

DANGER

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 personal injury or physical damage.

Depending on circumstances, procedures indicated by CAUTION may also be linked to serious results. In any case, it is important to follow the directions for usage. Please save this manual to make it accessible when required and always forward it to the end user.

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For Safe Operations 1. Prevention of electric shocks

DANGER Never open the front case or terminal covers of the servo amplifier while the power is ON or the unit is running, as this may lead to electric shocks.

Never run the unit with the front case or terminal cover of the servo amplifier removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover of the servo amplifier at times other than wiring work or periodic inspections even if the power is OFF. The insides of the position board and servo amplifier are charged and may lead to electric shocks.

Completely turn off the externally supplied power used in the system before mounting or removing the position board, performing wiring work, or inspections. Failing to do so may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks. Be sure to ground the controller incorporating the position board, servo amplifier and servo motor. (Ground resistance : 100 or less) Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the position board, servo amplifier and servo motor. Failing to do so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks. Do not touch the position board, servo amplifier or servo motor terminal blocks while the power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the position board and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION Install the position board, servo amplifier, servo motor and regenerative resistor on incombustible. Installing them directly or close to combustibles will lead to fire.

If a fault occurs in the position board or servo amplifier, shut the power OFF at the servo amplifiers power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire. Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to fire.

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3. For injury prevention

CAUTION Do not apply a voltage other than that specified in this manual and the instruction manual of the product you are using on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of position board or servo amplifier, regenerative resistor and servo motor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Always turn the power OFF before touching the servo motor shaft or coupled machines, as these parts may lead to injuries.

Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks. (1) System structure

CAUTION Always install a leakage breaker on the controller incorporating the position board and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off. Use the position board, servo amplifier, servo motor and regenerative resistor with the correct combinations listed in the instruction manual. Other combinations may lead to fire or faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the position board, servo amplifier and servo motor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the position board or servo amplifier if the abnormal operation of the position board or servo amplifier differ from the safety directive operation in the system. In systems where coasting of the servo motor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes.

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CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.

The brakes (electromagnetic brakes) assembled into the servo motor are for holding applications, and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than position board, servo amplifier and servo motor) used in a system must be compatible with the position board, servo amplifier and servo motor. Install a cover on the shaft so that the rotary parts of the servo motor are not touched during operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION Set the parameter values to those that are compatible with the position board, servo amplifier, servo motor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode and servo amplifier. The protective functions may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servo motor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servo motor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual.

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(3) Transportation and installation

CAUTION Transport the product with the correct method according to the mass. Use the servo motor suspension bolts only for the transportation of the servo motor. Do not transport the servo motor with machine installed on it.

Do not stack products past the limit. When transporting, installing, and removing the position board, never touch the print board inner part and electronic components. Hold the front panel or edge of the print board. When transporting the position board or servo amplifier, never hold the connected wires or cables.

When transporting the servo motor, never hold the cables, shaft or detector. When transporting the position board or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the position board or servo amplifier, never hold the edges.

Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Mount the position board to a connector or slot that is compatible with standards, and keep the designated clearance between the position board and other boards. Keep the designated clearance between the position board or servo amplifier and control panel inner surface or the position board and servo amplifier, position board or servo amplifier and other devices.

Do not install or operate position board, servo amplifiers or servo motors that are damaged or that have missing parts.

Do not block the intake/outtake ports of the servo amplifier and servo motor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the position board, servo amplifier or servo motor.

The position board, servo amplifier and servo motor are precision machines, so do not drop or apply strong impacts on them.

Securely fix the position board, servo amplifier and servo motor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.

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CAUTION Always install the servo motor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions.

Environment

Conditions Position board/Servo amplifier Servomotor

Ambient temperature

According to each instruction manual. 0C to +40C (With no freezing)

(32F to +104F)

Ambient humidity According to each instruction manual. 80% RH or less

(With no dew condensation)

Storage temperature

According to each instruction manual. -20C to +65C (-4F to +149F)

Atmosphere Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude According to each instruction manual Vibration According to each instruction manual

When coupling with the synchronous encoder or servo motor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the synchronous encoder and servo motor shaft. Doing so may lead to shaft breakage. When not using for a long time, disconnect the power line from the servo amplifier. Place the position board and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. Also, execute a trial operation. 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 (heat method). Additionally, disinfect and protect wood from insects before packing products.

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(4) Wiring

CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servo motor.

After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead the servo motor to operate abnormally. Do not connect a commercial power supply to the servo motor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.

DICOM

RA Control output signal

DOCOM

Servo amplifier 24VDC

Control output signal

DICOM

DOCOM

Servo amplifier

RA

24VDC

For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit or the encoder cable while the power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables coming off during operation. Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the position board or absolute position motor has been replaced, always perform a home position return.

Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous state occurs.

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(6) Usage methods

CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the position board, servo amplifier or servo motor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the position board or servo amplifier. When using the CE Mark-compliant equipment, refer to this manual for the position boards and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment. Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual. Input frequency According to each instruction manual. Tolerable momentary power failure According to each instruction manual. (7) Corrective actions for errors

CAUTION If an error occurs in the self diagnosis of the position board or servo amplifier, confirm the check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servo motor with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally.

24VDCB

RA1 EMGServo motor

Electromagnetic brakes

Shut off with the emergency stop signal (EMG).

Shut off with servo ON signal OFF, alarm, electromagnetic brake signal.

If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

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(8) Maintenance, inspection and part replacement

CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the position board and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. Before touching the position board, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the position board to fail or malfunction.

Do not directly touch the position board's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the position board. Do not place the position board or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the position board or servo amplifier, always set the new position board settings correctly.

When the position board or absolute value motor has been replaced, carry out a home position return operation from the user program. Failing to do so may cause position displacement.

After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the position board or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative. Lock the control panel and prevent access to those who are not certified to handle or install electric equipment. Do not burn or break a position board and servo amplifier. Doing so may cause a toxic gas.

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(9) About processing of waste

When you discard position board, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi Electric sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

(10) General cautions

All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

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REVISIONS

The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Dec., 2013 IB(NA)-0300223-A First edition Dec., 2014 IB(NA)-0300223-B [Additional model]

MR-MC240, MR-MC241 [Additional function] Speed-torque control, Mark detection, Continuous operation to torque control, External forced stop disabled

[Additional correction] Alarm history, Home position return change while system is running, High speed monitor position droop, Table map, Log data (event code list, information for each event), Parameters (servo parameters, control parameters), Monitor number (operation information), Alarm number (system alarm, operation alarm), Supplementary explanation for the use of linear servo system, Supplementary explanation for the use of SSCNET compatible servo amplifier, Connector exterior dimensions

Aug., 2015 IB(NA)-0300223-C [Additional model] MR-JE- B

[Additional function] SSCNET /H head module connection, transient transmit, hot line forced stop function, event detection function

[Additional correction] About manuals, Summary, System configuration, Restriction's by the software's version, I/O table setting, Point table loop method, I/O device, Log data (event code list, information for each event), Table map, Parameters (system parameters, servo parameters, control parameters, RIO control parameters), Monitor number (servo information (1), RIO information, RIO control information, system information), Alarm number (RIO module alarm, operation alarm, RIO control alarm, system error), Supplementary explanation for the use of servo amplifier (MR-JE- B), Supplementary explanation for the use of SSCNET compatible servo amplifier (MR-J3(W)- B)

Feb., 2017 IB(NA)-0300223-D [Additional model] MR-MC220U3, MR-MC220U6

[Additional function] Sensing module connection

[Additional correction] For safe operations, Summary, List of specifications of position board, System configuration, Restriction's by the software's version, Linear interpolation, Command change, Other axes start, Number of connectable stations for SSCNET /H head module, Transient commands for servo amplifier, Table map (Interpolation group No. being executed table), Parameters (System parameters, Control parameters, RIO module parameters, RIO control parameters), Monitor number (Servo information (2), RIO information), Alarm number (Servo alarm, RIO module alarm, Operation alarm)

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Print Date Manual Number Revision Mar., 2018 IB(NA)-0300223-E [Additional model]

MR-MC341 [Additional function] Serial number display, Jerk ratio acceleration/deceleration, Vibration suppression command filter 1, Sensing module (axis mode) connection

[Additional correction] Manual page organization, Summary, General specifications, List of specifications of position board, System configuration, Checking serial number, Restrictions by the software's version, Instructions for wiring, Wiring of connector, Summary of operational functions, Interpolation operation, High-speed update of monitor data, Table map (system information, Axis data (Sensing module (axis mode)), Parameters (System parameters, Control parameters, RIO control parameters), Monitor number (System information), Alarm number (System alarm, Operation alarm, System error), Supplementary explanation for the use of multiple-axis servo amplifier (MR-J4W - B), Supplementary explanation for the use of (MR-JE- B(F)), Open source software

Sep., 2018 IB(NA)-0300223-F [Additional function] Circular interpolation, Proximity pass function

[Additional correction] Features, List of specifications of position board, Name of parts for position board MR-MC3 , Configuration register (PCI Express bus compatible position board), Restrictions by the software's version, Sampling specification list, MR-MC3 table, Parameters (Control parameters), Alarm number (Operation alarm), Standards relevant to the EMC directive, Position board MR-MC341 exterior dimensions

Dec., 2018 IB(NA)-0300223-G [Additional correction] PCI Express bus specifications, Axis No. assignment

Jun., 2022 IB(NA)-0300223-H [Additional correction] Error correction

Japanese Manual Number IB(NA)-0300222

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.

2013 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for choosing the Mitsubishi Electric position board MR-MC210/MR-MC211/MR-MC220U3 /MR-MC220U6/MR-MC240/MR-MC241/MR-MC341. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the position board you have purchased, so as to ensure correct use.

CONTENTS

Safety Precautions ......................................................................................................................................... A- 1 Revisions ........................................................................................................................................................A-11 Contents .........................................................................................................................................................A-13 About Manuals ................................................................................................................................................A-25 Manual Page Organization ............................................................................................................................A-26

1. SUMMARY 1- 1 to 1-30

1.1 Summary .................................................................................................................................................. 1- 1 1.1.1 Position board MR-MC2 ............................................................................................................. 1- 3 1.1.2 Position board MR-MC3 ............................................................................................................. 1- 5

1.2 Features.................................................................................................................................................... 1- 7 1.3 Specifications ........................................................................................................................................... 1-10

1.3.1 General specifications ....................................................................................................................... 1-10 1.3.2 List of specifications of position board .............................................................................................. 1-11 1.3.3 Bus specifications .............................................................................................................................. 1-14

1.4 Name of each section .............................................................................................................................. 1-15 1.4.1 Name of parts for position board MR-MC2 ................................................................................ 1-15 1.4.2 Name of parts for position board MR-MC3 ................................................................................ 1-20

1.5 Bus interface ............................................................................................................................................. 1-22 1.5.1 Configuration register ........................................................................................................................ 1-22 1.5.2 Dual port memory map...................................................................................................................... 1-26 1.5.3 Board information .............................................................................................................................. 1-27

1.6 SSCNET cables .................................................................................................................................... 1-29 1.7 Forced stop input terminal ....................................................................................................................... 1-30

2. SYSTEM CONFIGURATION 2- 1 to 2-10

2.1 Position board MR-MC2 system configuration ................................................................................. 2- 1 2.1.1 MR-MC210/MR-MC211 system configuration ................................................................................. 2- 1 2.1.2 MR-MC220U3/MR-MC220U6 system configuration ........................................................................ 2- 2 2.1.3 MR-MC240/MR-MC241 system configuration ................................................................................. 2- 3

2.2 Position board MR-MC3 system configuration ................................................................................. 2- 4 2.2.1 MR-MC341 system configuration ..................................................................................................... 2- 4

2.3 System configuration equipment ............................................................................................................. 2- 5 2.4 Checking serial number and operating system software version ........................................................... 2- 7

2.4.1 Checking serial number .................................................................................................................... 2- 7 2.4.2 Checking software version ................................................................................................................ 2- 8

2.5 Restrictions by the software's version ..................................................................................................... 2- 9

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3. INSTALLATION AND WIRING 3- 1 to 3- 8

3.1 Board installation ...................................................................................................................................... 3- 1 3.1.1 Instructions for handling .................................................................................................................... 3- 1 3.1.2 Installation environment .................................................................................................................... 3- 1

3.2 Connection and disconnection of cable................................................................................................... 3- 2 3.2.1 SSCNET cable ............................................................................................................................... 3- 2 3.2.2 Forced stop input cable ..................................................................................................................... 3- 6

3.3 Wiring ........................................................................................................................................................ 3- 7 3.3.1 Instructions for wiring ........................................................................................................................ 3- 7 3.3.2 Wiring of connector ........................................................................................................................... 3- 7

4. SYSTEM STARTUP 4- 1 to 4-20

4.1 Startup procedures ................................................................................................................................... 4- 1 4.2 Check of wiring and ambient environment .............................................................................................. 4- 2 4.3 Position board setting ............................................................................................................................... 4- 2 4.4 Servo amplifier setting .............................................................................................................................. 4- 3 4.5 Parameter setting ..................................................................................................................................... 4- 5

4.5.1 Parameter initialization ...................................................................................................................... 4- 5 4.5.2 System option 1 setting ..................................................................................................................... 4- 6 4.5.3 System option 2 setting ..................................................................................................................... 4- 8 4.5.4 I/O table setting ................................................................................................................................. 4- 9 4.5.5 Control option 1 setting ..................................................................................................................... 4-10 4.5.6 Axis No. assignment.......................................................................................................................... 4-11 4.5.7 Sensor input option setting................................................................................................................ 4-14 4.5.8 Vendor ID and type code setting ...................................................................................................... 4-18

4.6 System startup processing ...................................................................................................................... 4-19

5. OPERATIONAL FUNCTIONS 5- 1 to 5-72

5.1 Summary .................................................................................................................................................. 5- 1 5.1.1 Interface ............................................................................................................................................. 5- 1 5.1.2 Precautions ........................................................................................................................................ 5- 6 5.1.3 Maximum No. of simultaneous start axes ........................................................................................ 5- 7

5.2 JOG operation .......................................................................................................................................... 5- 8 5.2.1 Summary ........................................................................................................................................... 5- 8 5.2.2 Start operation method ...................................................................................................................... 5- 8 5.2.3 Resuming operation .......................................................................................................................... 5- 9

5.3 Incremental feed ....................................................................................................................................... 5-10 5.3.1 Summary ........................................................................................................................................... 5-10 5.3.2 Start operation method ...................................................................................................................... 5-11

5.4 Automatic operation ................................................................................................................................. 5-12 5.4.1 Summary ........................................................................................................................................... 5-12 5.4.2 Start operation method ...................................................................................................................... 5-14 5.4.3 Auxiliary command ............................................................................................................................ 5-15 5.4.4 Other axes start specification ............................................................................................................ 5-21 5.4.5 S-curve ratio ...................................................................................................................................... 5-22 5.4.6 Point table loop method .................................................................................................................... 5-22 5.4.7 Acceleration/deceleration data ......................................................................................................... 5-26

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5.4.8 Auxiliary command 2 ......................................................................................................................... 5-26 5.5 Interpolation operation ............................................................................................................................. 5-27

5.5.1 Summary ........................................................................................................................................... 5-27 5.5.2 Proximity pass function ..................................................................................................................... 5-28

5.6 Linear interpolation ................................................................................................................................... 5-30 5.6.1 Summary ........................................................................................................................................... 5-30 5.6.2 Settings .............................................................................................................................................. 5-33 5.6.3 Start operation method ...................................................................................................................... 5-36 5.6.4 Processing for exceeding speed limit for each axis ......................................................................... 5-37 5.6.5 Restrictions ........................................................................................................................................ 5-39

5.7 Circular interpolation ................................................................................................................................ 5-40 5.7.1 Summary ........................................................................................................................................... 5-40 5.7.2 Settings .............................................................................................................................................. 5-41 5.7.3 Group settings ................................................................................................................................... 5-44 5.7.4 Auxiliary point-specified 2-axis circular interpolation control ........................................................... 5-46 5.7.5 Central point-specified 2-axis circular interpolation control ............................................................. 5-48 5.7.6 Start operation method ...................................................................................................................... 5-52 5.7.7 Exceeding speed limits for each axis ............................................................................................... 5-53 5.7.8 Restrictions ........................................................................................................................................ 5-53

5.8 Home position return ................................................................................................................................ 5-55 5.8.1 Summary ........................................................................................................................................... 5-55 5.8.2 Home position return method ........................................................................................................... 5-57 5.8.3 Start operation method ...................................................................................................................... 5-58 5.8.4 Home position return using a dog method ....................................................................................... 5-59 5.8.5 Home position return using a data set method ................................................................................ 5-61 5.8.6 Home position return using a stopper method ................................................................................. 5-61 5.8.7 Home position return using a dog cradle method ............................................................................ 5-62 5.8.8 Home position return using a limit switch combined method........................................................... 5-64 5.8.9 Home position return using a limit switch front end method ............................................................ 5-64 5.8.10 Home position return using a dog front end method ...................................................................... 5-65 5.8.11 Home position return using a Z-phase detection method .............................................................. 5-67 5.8.12 Home position return using a scale home position signal detection method ................................ 5-70 5.8.13 Home position return using a scale home position signal detection method 2 ............................. 5-71

5.9 Home position reset function (data set function) ..................................................................................... 5-72

6. APPLICATION FUNCTIONS 6- 1 to 6-236

6.1 Command units ........................................................................................................................................ 6- 1 6.1.1 Position command unit - electronic gear .......................................................................................... 6- 1 6.1.2 Settings .............................................................................................................................................. 6- 2 6.1.3 Setting example of electronic gears ................................................................................................. 6- 3 6.1.4 Restrictions ........................................................................................................................................ 6- 3

6.2 Speed unit ................................................................................................................................................ 6- 4 6.2.1 Settings .............................................................................................................................................. 6- 4 6.2.2 Setting example of speed units ......................................................................................................... 6- 4 6.2.3 Speed limit ......................................................................................................................................... 6- 5

6.3 Acceleration/deceleration ......................................................................................................................... 6- 6 6.3.1 Linear acceleration/deceleration ....................................................................................................... 6- 7 6.3.2 Smoothing filter .................................................................................................................................. 6- 8 6.3.3 Start up speed enable ....................................................................................................................... 6- 8

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6.3.4 S-curve acceleration/deceleration (Sine acceleration/deceleration) ............................................... 6- 9 6.3.5 Jerk ratio acceleration/deceleration .................................................................................................. 6-13 6.3.6 Vibration suppression command filter 1 ........................................................................................... 6-17

6.4 Servo off ................................................................................................................................................... 6-20 6.5 Forced stop ............................................................................................................................................... 6-21 6.6 Stop operation .......................................................................................................................................... 6-22 6.7 Rapid stop operation ................................................................................................................................ 6-23 6.8 Limit switch (stroke end) .......................................................................................................................... 6-24 6.9 Software limit ............................................................................................................................................ 6-25 6.10 Interlock .................................................................................................................................................. 6-27 6.11 Rough match output ............................................................................................................................... 6-28 6.12 Torque limit ............................................................................................................................................. 6-29 6.13 Command change .................................................................................................................................. 6-30

6.13.1 Speed change ................................................................................................................................. 6-30 6.13.2 Change of time constants ............................................................................................................... 6-31 6.13.3 Position change ............................................................................................................................... 6-32

6.14 Backlash ................................................................................................................................................. 6-38 6.15 Position switch ........................................................................................................................................ 6-39 6.16 Completion of operation signal .............................................................................................................. 6-40 6.17 Interference check function .................................................................................................................... 6-46

6.17.1 Interface ........................................................................................................................................... 6-48 6.17.2 Interference check operation image diagram ................................................................................. 6-49 6.17.3 Checks prior to start up ................................................................................................................... 6-50 6.17.4 Operation check .............................................................................................................................. 6-51

6.18 Home position search limit ..................................................................................................................... 6-53 6.18.1 Summary ......................................................................................................................................... 6-53 6.18.2 Set items .......................................................................................................................................... 6-53 6.18.3 Home position search limit operation example .............................................................................. 6-54

6.19 Gain changing ........................................................................................................................................ 6-55 6.20 PI-PID switching ..................................................................................................................................... 6-57 6.21 Absolute position detection system ....................................................................................................... 6-58

6.21.1 Parameters ...................................................................................................................................... 6-58 6.21.2 Processing procedure ..................................................................................................................... 6-59 6.21.3 Sequence example ......................................................................................................................... 6-61

6.22 Home position return request ................................................................................................................ 6-63 6.23 Other axes start ...................................................................................................................................... 6-65

6.23.1 Summary ......................................................................................................................................... 6-65 6.23.2 Settings ............................................................................................................................................ 6-65 6.23.3 Interface ........................................................................................................................................... 6-76 6.23.4 Operation example .......................................................................................................................... 6-80

6.24 High response I/F ................................................................................................................................... 6-84 6.24.1 Summary ......................................................................................................................................... 6-84 6.24.2 Interface ........................................................................................................................................... 6-85 6.24.3 Fast start operation ......................................................................................................................... 6-86 6.24.4 Interrupt processing high speed completion .................................................................................. 6-87

6.25 In-position signal .................................................................................................................................... 6-88 6.26 Digital I/O ................................................................................................................................................ 6-89

6.26.1 Summary ......................................................................................................................................... 6-89 6.26.2 Interface ........................................................................................................................................... 6-90

6.27 I/O device ............................................................................................................................................... 6-92

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6.27.1 Summary ......................................................................................................................................... 6-92 6.27.2 Interface ........................................................................................................................................... 6-93

6.28 Servo amplifier general I/O .................................................................................................................... 6-96 6.28.1 Summary ......................................................................................................................................... 6-96 6.28.2 Settings ............................................................................................................................................ 6-99

6.29 Dual port memory exclusive control .................................................................................................... 6-102 6.29.1 Summary ....................................................................................................................................... 6-102 6.29.2 Exclusive control of output signals................................................................................................ 6-102

6.30 Pass position interrupt.......................................................................................................................... 6-104 6.30.1 Summary ....................................................................................................................................... 6-104 6.30.2 Pass position interrupt setting method ......................................................................................... 6-105 6.30.3 Interface ......................................................................................................................................... 6-105 6.30.4 Operation example ........................................................................................................................ 6-120

6.31 Mark detection ...................................................................................................................................... 6-124 6.31.1 Summary ....................................................................................................................................... 6-124 6.31.2 Interface ......................................................................................................................................... 6-127 6.31.3 Function details ............................................................................................................................. 6-134 6.31.4 Operation example ........................................................................................................................ 6-136

6.32 Continuous operation to torque control ............................................................................................... 6-139 6.32.1 Summary ....................................................................................................................................... 6-139 6.32.2 Interface ......................................................................................................................................... 6-141 6.32.3 Control mode switch ...................................................................................................................... 6-150 6.32.4 Operation timing ............................................................................................................................ 6-152 6.32.5 Operation during continuous operation to torque control mode .................................................. 6-156 6.32.6 Stop factors during continuous operation to torque control ......................................................... 6-156 6.32.7 Combinations of continuous operation to torque control and other functions ............................. 6-158 6.32.8 Restrictions on servo amplifier functions ...................................................................................... 6-160

6.33 SSCNET /H head module connection ............................................................................................... 6-161 6.33.1 Summary ....................................................................................................................................... 6-161 6.33.2 Supported functions ...................................................................................................................... 6-162 6.33.3 System startup............................................................................................................................... 6-163 6.33.4 Interface ......................................................................................................................................... 6-165 6.33.5 Example of setting procedure ....................................................................................................... 6-175 6.33.6 SSCNET /H head module disconnect ........................................................................................ 6-174

6.34 Sensing module (station mode) connection ........................................................................................ 6-175 6.34.1 Summary ....................................................................................................................................... 6-175 6.34.2 Supported functions ...................................................................................................................... 6-177 6.34.3 System startup............................................................................................................................... 6-179 6.34.4 Interface ......................................................................................................................................... 6-181 6.34.5 Example of setting procedure ....................................................................................................... 6-212 6.34.6 Sensing module disconnect .......................................................................................................... 6-214

6.35 Sensing module (axis mode) connection ............................................................................................ 6-215 6.35.1 Summary ....................................................................................................................................... 6-215 6.35.2 System startup............................................................................................................................... 6-218 6.35.3 Operation functions ....................................................................................................................... 6-223 6.35.4 Application functions ..................................................................................................................... 6-229 6.35.5 Auxiliary functions ......................................................................................................................... 6-235 6.35.6 Interface mode............................................................................................................................... 6-235

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7. AUXILIARY FUNCTION 7- 1 to 7-130

7.1 Reading/writing parameters ..................................................................................................................... 7- 1 7.1.1 Writing parameters ............................................................................................................................ 7- 1 7.1.2 Reading parameters .......................................................................................................................... 7- 3

7.2 Changing parameters at the servo .......................................................................................................... 7- 4 7.3 Alarm and system error ............................................................................................................................ 7- 6 7.4 Monitor function ........................................................................................................................................ 7- 9

7.4.1 Summary ........................................................................................................................................... 7- 9 7.4.2 Monitor latch function ........................................................................................................................ 7-10 7.4.3 High-speed update of monitor data .................................................................................................. 7-11

7.5 High speed monitor function .................................................................................................................... 7-12 7.5.1 Summary ........................................................................................................................................... 7-12 7.5.2 Monitor latch function ........................................................................................................................ 7-13

7.6 Interrupt .................................................................................................................................................... 7-14 7.6.1 Interrupt sequence ............................................................................................................................ 7-14 7.6.2 Interrupt conditions ............................................................................................................................ 7-16 7.6.3 Factor of interrupt .............................................................................................................................. 7-18 7.6.4 Interrupt processing example............................................................................................................ 7-31

7.7 User watchdog function ........................................................................................................................... 7-32 7.8 Software reboot function .......................................................................................................................... 7-33 7.9 Parameter backup .................................................................................................................................... 7-34 7.10 Test mode ............................................................................................................................................... 7-38

7.10.1 Structural diagram ........................................................................................................................... 7-38 7.10.2 Test operation mode ....................................................................................................................... 7-39

7.11 Reconnect/disconnect function .............................................................................................................. 7-40 7.11.1 Disconnection function summary .................................................................................................... 7-40 7.11.2 Reconnect function summary ......................................................................................................... 7-41 7.11.3 Interface ........................................................................................................................................... 7-43 7.11.4 Disconnection method..................................................................................................................... 7-45 7.11.5 Reconnection method ..................................................................................................................... 7-46 7.11.6 Restrictions ...................................................................................................................................... 7-47

7.12 Sampling ................................................................................................................................................. 7-48 7.12.1 Summary ......................................................................................................................................... 7-48 7.12.2 Command/status bit ........................................................................................................................ 7-50 7.12.3 Command/status data ..................................................................................................................... 7-53 7.12.4 Sampling setting write/read ............................................................................................................. 7-56 7.12.5 Details for sampling function settings ............................................................................................. 7-57 7.12.6 Number of sampled points .............................................................................................................. 7-64 7.12.7 Sampling items ................................................................................................................................ 7-64 7.12.8 Sampling trigger .............................................................................................................................. 7-70 7.12.9 Sampling data read ......................................................................................................................... 7-73 7.12.10 Timing chart for sampling function ................................................................................................ 7-77

7.13 Log .......................................................................................................................................................... 7-86 7.13.1 Summary ......................................................................................................................................... 7-86 7.13.2 Log data details ............................................................................................................................... 7-87 7.13.3 Event code list ................................................................................................................................. 7-88 7.13.4 Information for each event .............................................................................................................. 7-90 7.13.5 Interface ......................................................................................................................................... 7-100

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7.13.6 Timing chart for reading of log data .............................................................................................. 7-102 7.13.7 Log acquiring selection ................................................................................................................. 7-103

7.14 Operation cycle monitor function ......................................................................................................... 7-104 7.14.1 Summary ....................................................................................................................................... 7-104 7.14.2 Interface ......................................................................................................................................... 7-104 7.14.3 Operation timing ............................................................................................................................ 7-105

7.15 External forced stop disabled .............................................................................................................. 7-106 7.15.1 Summary ....................................................................................................................................... 7-106 7.15.2 Interface ......................................................................................................................................... 7-106 7.15.3 Setting method .............................................................................................................................. 7-106

7.16 Amplifier-less axis function .................................................................................................................. 7-107 7.16.1 Summary ....................................................................................................................................... 7-107 7.16.2 Interface ......................................................................................................................................... 7-107 7.16.3 Control details ................................................................................................................................ 7-108

7.17 Alarm history function........................................................................................................................... 7-109 7.17.1 Summary ....................................................................................................................................... 7-109 7.17.2 Alarm history data details .............................................................................................................. 7-110 7.17.3 Interface ......................................................................................................................................... 7-115 7.17.4 Timing chart for alarm history read ............................................................................................... 7-118 7.17.5 Alarm history initialization procedure ............................................................................................ 7-119 7.17.6 List of system errors that do not apply to alarm history storage .................................................. 7-119

7.18 Transient transmit ................................................................................................................................ 7-120 7.18.1 Summary ....................................................................................................................................... 7-120 7.18.2 Interface ......................................................................................................................................... 7-120 7.18.3 Transient commands for servo amplifier ...................................................................................... 7-122 7.18.4 Example of using transient commands ........................................................................................ 7-125 7.18.5 Transient commands for SSCNET /H head module .................................................................. 7-126 7.18.6 Transient commands for sensing module (axis mode) ................................................................ 7-127

7.19 Hot line forced stop function ................................................................................................................ 7-128 7.19.1 Summary ....................................................................................................................................... 7-128 7.19.2 Control details ................................................................................................................................ 7-129 7.19.3 Timing for alarm occurrences ....................................................................................................... 7-130

8. TANDEM DRIVE 8- 1 to 8-32

8.1 Drive modes ............................................................................................................................................. 8- 1 8.1.1 Synchronous mode ........................................................................................................................... 8- 2 8.1.2 Non-synchronous micro-adjustment control mode .......................................................................... 8- 2 8.1.3 Changing of drive mode .................................................................................................................... 8- 3

8.2 Parameter settings ................................................................................................................................... 8- 4 8.2.1 Designation of tandem drive axes .................................................................................................... 8- 4 8.2.2 Servo parameters .............................................................................................................................. 8- 4 8.2.3 Control parameters ............................................................................................................................ 8- 4

8.3 Axis data classifications ........................................................................................................................... 8- 5 8.3.1 Only data from master axis is valid ................................................................................................... 8- 5 8.3.2 Individual data for master axis/slave axis ......................................................................................... 8- 5

8.4 Tandem drive axis operation ................................................................................................................... 8- 6 8.4.1 Home position return during tandem drive ....................................................................................... 8- 6 8.4.2 JOG operation during tandem drive ................................................................................................. 8-23 8.4.3 Incremental feed while using tandem drive ...................................................................................... 8-24

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8.4.4 Automatic operation during tandem drive ......................................................................................... 8-25 8.4.5 Linear interpolation during tandem drive .......................................................................................... 8-26

8.5 Servo on and servo off during tandem drive axis operation ................................................................... 8-28 8.6 Tandem drive axis limit switch ................................................................................................................. 8-29 8.7 Tandem drive axis software limit ............................................................................................................. 8-30 8.8 Tandem drive interference check ............................................................................................................ 8-30 8.9 Tandem drive axis servo alarms .............................................................................................................. 8-31 8.10 Deviation monitoring function ................................................................................................................ 8-31

9. INTERFACE MODE 9- 1 to 9-42

9.1 Summary .................................................................................................................................................. 9- 1 9.2 Combinations with functions .................................................................................................................... 9- 3 9.3 Parameters ............................................................................................................................................... 9- 5 9.4 Interface .................................................................................................................................................... 9- 7 9.5 Control method ......................................................................................................................................... 9-12

9.5.1 Control mode ..................................................................................................................................... 9-12 9.5.2 Position control mode ........................................................................................................................ 9-13 9.5.3 Speed control mode .......................................................................................................................... 9-15 9.5.4 Torque control mode ......................................................................................................................... 9-17 9.5.5 Control method for interrupt output invalid ....................................................................................... 9-19 9.5.6 Control method for interrupt output valid .......................................................................................... 9-22 9.5.7 Procedure for switching control mode .............................................................................................. 9-26 9.5.8 Examples of switching control mode ................................................................................................ 9-28

9.6 Interrupt output cycle ................................................................................................................................ 9-31 9.7 Command data update cycle ................................................................................................................... 9-32 9.8 Event detection function ........................................................................................................................... 9-33 9.9 Servo off ................................................................................................................................................... 9-36 9.10 Home position return .............................................................................................................................. 9-37 9.11 Coordinate management ....................................................................................................................... 9-39

9.11.1 Incremental system ......................................................................................................................... 9-39 9.11.2 Absolute position system ................................................................................................................ 9-40

9.12 Precautions............................................................................................................................................. 9-42

10. TABLE MAP 10- 1 to 10-80

10.1 Table list ............................................................................................................................................... 10- 1 10.1.1 MR- MC2 table ........................................................................................................................ 10- 1 10.1.2 MR- MC3 table ........................................................................................................................ 10- 3

10.2 System information .............................................................................................................................. 10- 5 10.3 System command/status table ............................................................................................................ 10- 7

10.3.1 System commands ........................................................................................................................ 10- 7 10.3.2 System status ................................................................................................................................ 10-13

10.4 Factor of interrupt ................................................................................................................................. 10-20 10.4.1 Information of outputting with factor of interrupt ........................................................................... 10-20 10.4.2 Factor of axis interrupt .................................................................................................................. 10-21 10.4.3 System interrupt factors ................................................................................................................ 10-23 10.4.4 Station interrupt factors ................................................................................................................. 10-32

10.5 Factor of event ..................................................................................................................................... 10-33 10.6 System configuration information table ............................................................................................... 10-35 10.7 Axis data ............................................................................................................................................... 10-36

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10.7.1 Axis data command table .............................................................................................................. 10-36 10.7.2 Axis data status table .................................................................................................................... 10-42

10.8 Axis data (sensing module (axis mode)) ............................................................................................. 10-49 10.8.1 Axis data command table .............................................................................................................. 10-49 10.8.2 Axis data status table .................................................................................................................... 10-54

10.9 Remote I/O data ................................................................................................................................... 10-60 10.9.1 RIO data command table .............................................................................................................. 10-60 10.9.2 RIO data status table .................................................................................................................... 10-63

10.10 Servo parameter change number (SSCNET /H) ............................................................................ 10-66 10.11 Transient transmit command/status table ......................................................................................... 10-68

10.11.1 Transient transmit command table ............................................................................................. 10-68 10.11.2 Transient transmit status table .................................................................................................... 10-68

10.12 Point number offset ............................................................................................................................ 10-69 10.13 Command buffers............................................................................................................................... 10-70

10.13.1 Position command buffer ............................................................................................................ 10-70 10.13.2 Speed command buffer ............................................................................................................... 10-71 10.13.3 Torque command buffer.............................................................................................................. 10-71

10.14 Digital I/O table ................................................................................................................................... 10-72 10.14.1 Digital input table ......................................................................................................................... 10-72 10.14.2 Digital output table ....................................................................................................................... 10-72

10.15 I/O device table .................................................................................................................................. 10-73 10.15.1 Input device table ........................................................................................................................ 10-73 10.15.2 Output device table ..................................................................................................................... 10-74

10.16 Mark detection command/status table .............................................................................................. 10-75 10.16.1 Mark detection command table .................................................................................................. 10-75 10.16.2 Mark detection status table ......................................................................................................... 10-75

10.17 Mark detection data tables ................................................................................................................. 10-76 10.17.1 Mark detection edge data table .................................................................................................. 10-76 10.17.2 Mark detection positioning data table ......................................................................................... 10-77

10.18 Continuous operation to torque control data table ............................................................................ 10-78 10.19 Interpolation group No. being executed table ................................................................................... 10-79

11. PARAMETERS 11- 1 to 11-68

11.1 System parameters .............................................................................................................................. 11- 2 11.2 Servo parameters ................................................................................................................................. 11- 5

11.2.1 Servo amplifier MR-J4(W )- B ................................................................................................... 11- 5 11.2.2 Sensing module (axis mode) ........................................................................................................ 11-18

11.3 Control parameters .............................................................................................................................. 11-22 11.3.1 Servo amplifier MR-J4(W )- B ................................................................................................... 11-22 11.3.2 Sensing module (axis mode) ........................................................................................................ 11-41

11.4 RIO module parameters ...................................................................................................................... 11-54 11.4.1 SSCNET /H head module ........................................................................................................... 11-54 11.4.2 Sensing module (station mode) .................................................................................................... 11-54

11.5 RIO control parameters ........................................................................................................................ 11-66

12. MONITOR NUMBER 12- 1 to 12-18

12.1 Servo information (1)............................................................................................................................ 12- 1 12.2 Servo information (2)............................................................................................................................ 12- 3 12.3 RIO information .................................................................................................................................... 12- 6

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12.4 Operation information .......................................................................................................................... 12- 8 12.5 Operation information (double word) ................................................................................................... 12-11 12.6 RIO control information ........................................................................................................................ 12-12 12.7 System information .............................................................................................................................. 12-13 12.8 Servo parameter information ............................................................................................................... 12-15

13. ALARM NUMBER 13- 1 to 13-20

13.1 System alarm ....................................................................................................................................... 13- 1 13.2 Servo alarm .......................................................................................................................................... 13- 2

13.2.1 Servo amplifier MR-J4(W )- B ................................................................................................... 13- 2 13.2.2 Sensing module (axis mode) ........................................................................................................ 13- 3

13.3 RIO module alarm ................................................................................................................................ 13- 4 13.3.1 SSCNET /H head module ........................................................................................................... 13- 4 13.3.2 Sensing module (station mode) .................................................................................................... 13- 4

13.4 Operation alarm.................................................................................................................................... 13- 5 13.5 RIO control alarm ................................................................................................................................. 13-17 13.6 System error ......................................................................................................................................... 13-18

14. EMC AND LOW VOLTAGE DIRECTIVES 14- 1 to 14- 6

14.1 Requirements for compliance with the EMC directive ........................................................................ 14- 1 14.1.1 Standards relevant to the EMC directive ...................................................................................... 14- 2 14.1.2 Installation instructions for EMC directive .................................................................................... 14- 4 14.1.3 Parts of measure against noise .................................................................................................... 14- 6

14.2 Requirements for compliance with the low voltage directive .............................................................. 14- 6

APPENDIX App.- 1 to App.-88

App. 1 Supplementary explanation for the use of linear servo system .................................................. App.- 1 App. 1.1 Position board ........................................................................................................................ App.- 1 App. 1.2 Position board utility software ................................................................................................ App.- 1 App. 1.3 Servo amplifier ....................................................................................................................... App.- 1 App. 1.4 Operations and functions of the linear servo system ........................................................... App.- 2

App. 2 Supplementary explanation for the use of fully closed loop system ........................................... App.-13 App. 2.1 Position board ........................................................................................................................ App.-13 App. 2.2 Position board utility software ................................................................................................ App.-13 App. 2.3 Servo amplifier ....................................................................................................................... App.-13 App. 2.4 Operations and functions of the fully closed loop control ..................................................... App.-14

App. 3 Supplementary explanation for the use of direct drive servo system ......................................... App.-21 App. 3.1 Position board ........................................................................................................................ App.-21 App. 3.2 Position board utility software ................................................................................................ App.-21 App. 3.3 Servo amplifier ....................................................................................................................... App.-21 App. 3.4 Operations and functions of the direct drive servo system .................................................. App.-22

App. 4 Supplementary explanation for the use of multiple-axis servo amplifier (MR-J4W - B) ....... App.-27 App. 4.1 Position board ........................................................................................................................ App.-27 App. 4.2 Position board utility software ................................................................................................ App.-27 App. 4.3 Servo amplifier ....................................................................................................................... App.-27 App. 4.4 Operations and functions of the servo amplifier ................................................................... App.-28

App. 5 Supplementary explanation for the use of (MR-JE- B(F)) ........................................................ App.-29 App. 5.1 Position board ........................................................................................................................ App.-29

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App. 5.2 Position board utility software ................................................................................................ App.-29 App. 5.3 Servo amplifier ....................................................................................................................... App.-29 App. 5.4 System configuration ............................................................................................................. App.-30

App. 5.4.1 System configuration diagram ....................................................................................... App.-30 App. 5.5 Axis No. setting ...................................................................................................................... App.-31

App. 5.5.1 Servo amplifier setting .................................................................................................... App.-31 App. 5.6 Parameter setting .................................................................................................................. App.-32

App. 5.6.1 System option 1 setting .................................................................................................. App.-32 App. 5.7 Axis No. assignment .............................................................................................................. App.-33 App. 5.8 Sensor input option setting .................................................................................................... App.-34 App. 5.9 Vendor ID and type code setting ........................................................................................... App.-34 App. 5.10 Supported functions ............................................................................................................. App.-35

App. 5.10.1 Application functions .................................................................................................... App.-37 App. 5.10.2 Auxiliary function .......................................................................................................... App.-37

App. 5.11 Table map ............................................................................................................................ App.-38 App. 5.12 Parameters .......................................................................................................................... App.-38

App. 5.12.1 System parameters ...................................................................................................... App.-38 App. 5.12.2 Servo parameters ......................................................................................................... App.-39 App. 5.12.3 Control parameters ...................................................................................................... App.-39

App. 5.13 Monitor ................................................................................................................................. App.-39 App. 5.14 System alarm ....................................................................................................................... App.-40

App. 5.14.1 Servo alarm .................................................................................................................. App.-40 App. 6 Supplementary explanation for the use of SSCNET compatible

servo amplifier (MR-J3(W)- B) ................................................................................................... App.-41 App. 6.1 Position board ........................................................................................................................ App.-41 App. 6.2 Position board utility software ................................................................................................ App.-41 App. 6.3 Connectable units .................................................................................................................. App.-41 App. 6.4 System setting ....................................................................................................................... App.-42 App. 6.5 System configuration ............................................................................................................. App.-42

App. 6.5.1 System configuration diagram ....................................................................................... App.-42 App. 6.6 Axis No. setting ...................................................................................................................... App.-43

App. 6.6.1 Servo amplifier setting .................................................................................................... App.-43 App. 6.7 Parameter setting .................................................................................................................. App.-44

App. 6.7.1 System option 1 setting .................................................................................................. App.-44 App. 6.8 Control option 1 setting .......................................................................................................... App.-45 App. 6.9 Axis No. assignment .............................................................................................................. App.-46 App. 6.10 Sensor input option setting .................................................................................................. App.-47 App. 6.11 Vendor ID and type code setting ......................................................................................... App.-48 App. 6.12 System startup processing .................................................................................................. App.-48 App. 6.13 Restrictions when using J3 compatibility mode .................................................................. App.-49 App. 6.14 Supported functions ............................................................................................................. App.-51

App. 6.14.1 Application functions .................................................................................................... App.-53 App. 6.14.2 Auxiliary function .......................................................................................................... App.-56

App. 6.15 Table map ............................................................................................................................ App.-58 App. 6.15.1 Table list ....................................................................................................................... App.-58 App. 6.15.2 System information ...................................................................................................... App.-60 App. 6.15.3 Servo parameter change number ................................................................................ App.-61

App. 6.16 Parameters .......................................................................................................................... App.-62 App. 6.16.1 System parameters ...................................................................................................... App.-62 App. 6.16.2 Servo parameters ......................................................................................................... App.-63

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App. 6.16.3 Control parameters ...................................................................................................... App.-69 App. 6.17 Monitor ................................................................................................................................. App.-70

App. 6.17.1 Servo information (1) .................................................................................................... App.-70 App. 6.17.2 Servo information (2) .................................................................................................... App.-72 App. 6.17.3 Servo parameter information ....................................................................................... App.-74

App. 6.18 System alarm ....................................................................................................................... App.-76 App. 6.18.1 Servo alarm .................................................................................................................. App.-76

App. 7 Cables ........................................................................................................................................... App.-77 App. 7.1 SSCNET cables .................................................................................................................. App.-77 App. 7.2 Forced stop input cable ......................................................................................................... App.-80 App. 7.3 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric

System & Service .................................................................................................................. App.-81 App. 8 Exterior dimensions ...................................................................................................................... App.-82

App. 8.1 Position board MR-MC2 .................................................................................................. App.-82 App. 8.2 Position board MR-MC3 .................................................................................................. App.-86 App. 8.3 Connectors ............................................................................................................................. App.-87

App. 9 Open source software .................................................................................................................. App.-88

A - 25

About Manuals

The following manuals are also related to this product.

When necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Position Board

Manual Name Manual Number (Model Code)

MR-MC200/MR-MC300 Series Position Board User's Manual (Details) This manual explains specifications of the position board, information on how to establish a system,

maintenance/inspection, trouble shooting, functions for the positioning control of the position board,

programming, dual port memory and others.

IB-0300223 (1XB968)

MR-MC200/MR-MC300 Series Position Board User's Manual (API Library) This manual explains the library of functions and others that the host controller uses to control the position

board.

IB-0300225 (1XB970)

A - 26

(2) Servo amplifier

Manual Name Manual Number (Model Code)

SSCNET /H interface AC Servo MR-J4_B(-RJ)/MR-J4_B4(-RJ)/MR-J4_B1(-RJ) Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC

Servo MR-J4_B(-RJ)/MR-J4_B4(-RJ)/MR-J4_B1(-RJ) Servo amplifier.

SH-030106 (1CW805)

SSCNET /H interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-

axis AC Servo MR-J4W2-_B/MR-J4W3-_B Servo amplifier.

SH-030105 (1CW806)

SSCNET /H interface AC Servo MR-JE-_B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC

Servo MR-JE-_B Servo amplifier.

SH-030152 (1CW750)

SSCNET interface MR-J3- B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3- B Servo amplifier.

SH-030051 (1CW202)

SSCNET Compatible Linear Servo MR-J3- B-RJ004U Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear

Servo MR-J3- B-RJ004U Servo amplifier.

SH-030054 (1CW943)

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

SH-030056 (1CW304)

SSCNET interface 2-axis AC Servo AmplifierMR-J3W-0303BN6/MR-J3W- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis AC Servo Amplifier MR-J3W-0303BN6/MR-J3W- B Servo amplifier.

SH-030073 (1CW604)

SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct

Drive Servo MR-J3- B-RJ080W Servo amplifier.

SH-030079 (1CW601)

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety

integrated MR-J3- B Safety Servo amplifier.

SH-030084 (1CW205)

Manual Page Organization

The symbols used in this manual are shown below.

Symbol Description

MC200 Symbol that indicates correspondence to only MR-MC210/MR-MC211/MR- MC220U3/MR-MC220U6/MR-MC240/MR-MC241.

MC300 Symbol that indicates correspondence to only MR-MC341.

1 - 1

1

1. SUMMARY

1. SUMMARY

1.1 Summary

This manual describes the specifications and handling of SSCNET /H compatible position board MR-MC200 series (MR-MC210/MR-MC211/MR-MC220U3/MR-MC220U6/MR-MC240/MR-MC241) and MR-MC300 series (MR-MC341). In this manual, the following abbreviations are used.

Generic term/Abbreviation Description

MR-MC2 General name for PCI bus compatible position board MR-MC210/MR-MC211/ CompactPCI bus compatible position board MR-MC220U3/MR-MC220U6/ PCI Express bus compatible position board MR-MC240/MR-MC241.

MR-MC3 General name for PCI Express bus compatible position board MR-MC341. Position board General name for MR-MC2 and MR-MC3 . Host controller General name for computer equipped with position board and operates user program. MR-J4(W )- B Servo amplifier model MR-J4- B/MR-J4W - B. MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B. MR-JE- B(F) Servo amplifier model MR-JE- B/MR-JE- BF. Servo amplifier General name for SSCNET /H compatible servo amplifier.

Utility software General name for the Position Board Utility2 (MRZJW3-MC2-UTL) which includes test tool for start-up and examination, and the API library for position board.

Test tool Abbreviation for start-up and examination tool for position board.

API library General name for the library of functions for positioning control that the host controller uses to control the position board.

MR Configurator2 Abbreviation for the Servo set-up software MR Configurator2 version 1.10L or later. User program Program created by the user that operates on the host controller. System program Internal program that controls the position board. SSCNET /H(Note)

High-speed synchronized network between the position board and the servo amplifier. SSCNET (Note) SSCNET (/H)(Note) General name for SSCNET /H, SSCNET . Board Ver. System version of position board. API Ver. Software version of the API library for position board.

Remote I/O module General name for modules that connect I/O modules and intelligent function modules to SSCNET /H, including the sensing module and SSCNET /H head module.

SSCNET /H head module General name for MELSEC L series SSCNET /H head module (LJ72MS15). Sensing module General name for SSCNET /H compatible sensing module MR-MT2000 series Sensing SSCNET /H head module or MR-MT2010

Abbreviation for SSCNET /H head module (MR-MT2010)

Sensing extension module General name for I/O module (MR-MT2100), pulse I/O module (MR-MT2200), analog I/O module (MR-MT2300), encoder I/F module (MR-MT2400)

Sensing I/O module or MR-MT2100 Abbreviation for I/O module (MR-MT2100) Sensing pulse I/O module or MR-MT2200 Abbreviation for pulse I/O module (MR-MT2200) Sensing analog I/O module or MR-MT2300 Abbreviation for analog I/O module (MR-MT2300) Sensing encoder I/F module or MR-MT2400 Abbreviation for encoder I/F module (MR-MT2400)

Remote register (RWr) Information for inputting to the position board from the sensing module, and SSCNET /H head module in a 16-bit (1 word) basis.

Remote register (RWw) Information for outputting to the sensing module, and SSCNET /H head module from the position board in a 16-bit (1 word) basis.

Remote input (RX) Information input from the sensing module, and SSCNET /H head module to the position board in a 1-bit basis.

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1. SUMMARY

Generic term/Abbreviation Description

Remote output (RY) Information output from the position board to the sensing module, and SSCNET /H head module in a 1-bit basis.

Link device Internal devices (RX/RY/RWr/RWw) of the position board, sensing module, and SSCNET /H head module.

Note. SSCNET: Servo System Controller NETwork

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1. SUMMARY

1.1.1 Position board MR-MC2

The following position boards are available for the position board MR-MC2 . PCI bus compatible position board (MR-MC210/MR-MC211) CompactPCI bus compatible position board (MR-MC220U3/MR-MC220U6) PCI Express bus compatible position board (MR-MC240/MR-MC241) The PCI bus compatible position board (MR-MC210/MR-MC211) and PCI Express bus compatible position board (MR-MC240/MR-MC241) are mounted to the host controller, and the CompactPCI bus compatible position board (MR-MC220U3/MR-MC220U6) is mounted to a CompactPCI system. They control our servo amplifiers and remote I/O modules (sensing module (MR-MT2000 series) and SSCNET /H head module (LJ72MS15)). The position board and the servo amplifiers are connected with SSCNET /H, which is a high speed synchronous network.

Position feedback Speed feedback

Servo amplifier(MR-J4(W )- B)

Host controller

MR-MC210/MR-MC211/ MR-MC240/MR-MC241

Position instruction parameters

CompactPCI system

MR-MC220U3/MR-MC220U6

The PCI bus compatible position board (MR-MC210)/CompactPCI bus compatible position board (MR- MC220U3/MR-MC220U6)/PCI Express bus compatible position board (MR-MC240) have one SSCNET control channel (hereinafter: channel(CH)) and one SSCNET communication line (hereinafter: line), and can control positioning for up to 20 axes and remote I/O control for up to 4 stations. The PCI bus compatible position board (MR-MC211)/PCI Express bus compatible position board (MR-MC241) have one SSCNET control channel and two SSCNET communication lines, and can control positioning for up to 32 axes (up to 20 axes per line) and remote I/O control for up to 4 stations. By reading and writing the dual port memory mapped to the memory space of each bus, the host controller can command position board to start operation, and get servo amplifier status. The host controller can also receive position pass and positioning complete interruptions via each bus.

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1. SUMMARY

The position board is equipped with standard mode and interface mode for positioning control. The positioning control mode that corresponds with the application can be selected by parameter. The mode cannot be changed during SSCNET communication (while system is running). Positioning in standard mode is performed using a point table mapped on the dual port memory of the position board. Arbitrary positioning is possible by writing data to this point table from the host controller. Also, startup of JOG operation and home position return, etc. as well as parameter changing and monitoring are possible through accessing this dual port memory on the position board from the host controller. Interface mode is a sequential positioning command method that uses a user program on the host controller. The user program controls the servo amplifier with an arbitrary acceleration/deceleration pattern by writing the position command to the position command buffer of the position board every communication cycle (control cycle). Some functions from standard mode cannot be used, or are restricted when in interface mode.

PCI bus/CompactPCI bus/ PCI Express bus

SSCNET Communication

IC

CH1

CH2

SSCNET Communication

IC

SSCNET /H

SSCNET /H

(Max 20 axes)

(Max 12 axes)

Bus interface

Dual port memory CPU

Local bus

Inside the dotted line: Only when using MR-MC211/MR-MC241

POINT

Depending on the specifications of the host controller, the PCI Express slot may be directly connected to the CPU of the host controller. If the PCI Express compatible position board (MR-MC240/MR-MC241) that was produced in or before October 2018 is mounted to a PCI Express slot that is directly connected to the CPU of the host controller, it may not be able to operate. Mount the PCI Express compatible position board to a PCI Express slot that is not directly connected to the CPU of the host controller (connected to a chipset). The year and month of manufacture for the position board can be checked on the rating plate. Refer to Section 2.4.1 for details.

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1. SUMMARY

1.1.2 Position board MR-MC3

The following position boards are available for the position board MR-MC3 . PCI bus compatible position board (MR-MC341) The PCI Express bus compatible position board (MR-MC341) is mounted to the host controller, and controls our servo amplifiers and remote I/O modules (sensing module (MR-MT2000 series) and SSCNET /H head module (LJ72MS15)). The position board and the servo amplifiers are connected with SSCNET /H, which is a high speed synchronous network.

Position instruction parameters

Position feedback Speed feedback

Host controller

MR-MC341

Servo amplifier(MR-J4(W )- B)

The PCI Express bus compatible position board (MR-MC341) has one SSCNET control channel and two SSCNET communication lines, and can control positioning for up to 64 axes (up to 32 axes per line) and remote I/O control for up to 16 stations (up to 8 stations per line). By reading and writing the dual port memory mapped to the memory space of the PCI Express bus, the host controller can command position board to start operation, and get servo amplifier status. The host controller can also receive position pass and positioning complete interruptions via PCI Express bus. The position board is equipped with standard mode and interface mode for positioning control. The positioning control mode that corresponds with the application can be selected by parameter. The mode cannot be changed during SSCNET communication (while system is running). Positioning in standard mode is performed using a point table mapped on the dual port memory of the position board. Arbitrary positioning is possible by writing data to this point table from the host controller. Also, startup of JOG operation and home position return, etc. as well as parameter changing and monitoring are possible through accessing this dual port memory on the position board from the host controller. Interface mode is a sequential positioning command method that uses a user program on the host controller. The user program controls the servo amplifier with an arbitrary acceleration/deceleration pattern by writing the position command to the position command buffer of the position board every communication cycle (control cycle). Some functions from standard mode cannot be used, or are restricted when in interface mode.

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1. SUMMARY

CH1

CH2

SSCNET Communication

IC

SSCNET /H

SSCNET /H

(Max 32 axes)

(Max 32 axes)

Bus interface

Dual port memory CPU

Local bus

PCI Express bus

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1. SUMMARY

1.2 Features

The position board has the following features. (1) Structuring of SSCNET /H communication servo system by computer control

The position board can be directly connected to the Mitsubishi Electric servo amplifiers of MR-J4-B series using SSCNET /H. (a) By connecting the position board and servo amplifier and servo amplifiers with a high speed

synchronous network by SSCNET /H, the reduction of wiring is achieved. The maximum distance between the position board and servo amplifier, or servo amplifier and servo amplifier for the SSCNET cable on the same bus is 100(328.08)[m(ft.)]. This increases flexibility at system design.

(b) By using SSCNET cable (optical communication), the influence of electromagnetic noise etc. from

servo amplifiers and such is reduced.

(c) The servo parameters can be set on the position board side and written to the servo amplifier, or read from the servo amplifier using the SSCNET communication.

(d) The current feedback position and error description contained in the servo can be checked by the dual

port memory of the position board.

(e) Communication between MR Configurator2 and the servo amplifiers is possible via the position board USB.

(2) Programming in C programming language with the API library

Positioning control for the servo in C programming language is enabled with the API library included with the Position Board Utility2 (MRZJW3-MC2-UTL).

(3) Supports event-driven programming

The host controller is notified by interrupt via PCI bus when the conditions for an interrupt such as passing through a preset point or positioning complete are met. The user program can create event-driven programs according to interrupt factors.

(4) High-speed operation starting time

High-speed operation starting time within the control cycle (0.22ms fastest) is achieved for the maximum number of synchronous startup axes or less.

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1. SUMMARY

(5) Wide variety of positioning control functions

The main functions (such as home position return control, standard mode, and interface mode (sequential positioning command method)) which are required for any positioning system and the sub functions which limit and add functions to those controls are supported. (a) Enhanced home position return control

Additional features of home position return control Ten home position return methods are provided: dog cradle method, dog method, data set method, continuous operation to torque method, limit switch combined method, scale home position signal detection method, limit switch front end method, dog front end method, Z-phase detection method, and scale home position signal detection method 2. Select an applicable method according to the system.

(b) Wide variety of control methods

The control methods shown below are provided for position control. 1) Independent control of each axis

Position control can be performed independently for each axis at any given timing. 2) Interpolation control

Interpolation controls using multiple axes can be performed. When using MR-MC2

2-axis to 4-axis linear interpolation control When using MR-MC3

2-axis to 4-axis linear interpolation control 2-axis circular interpolation control

3) Tandem drive Tandem drive for 2 axes can be performed. In scale home position signal detection method and scale home position signal detection method 2, the deviation between the 2 axes at home position return can be compensated.

4) Interface mode The user program controls the servo amplifier with an arbitrary acceleration/deceleration pattern that is not supported in standard mode by writing the position command to the position command buffer of the position board every communication cycle (control cycle).

(c) Continuous processing of multiple positioning data

Multiple positioning data can be processed continuously within one operation start.

(d) Acceleration/deceleration processing Six acceleration/deceleration processing methods are provided: Linear acceleration/deceleration, S-curve acceleration/deceleration, start up speed, smoothing filter, jerk ratio acceleration/deceleration MC300 , and vibration suppression command filter 1 MC300 . The acceleration/deceleration curve can be selected according to the machine characteristic.

(6) Supports other axes start function

With the other axes start function, the position board can determine the conditions and automatically start other axes, and turn on/off output signals. The position board does not go through user program processing so there are no delays or dispersions. This also lessens the load on the user program.

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1. SUMMARY

(7) High maintainability

Maintainability is enhanced in the position board. (a) Data retention without battery

Parameter data can be stored in the flash ROM inside the position board. This feature allows the retaining of data without a battery.

(b) Alarm collection function

The alarm details when an alarm occurs are automatically stored in the flash ROM inside the position board. Storing the alarm information allows the user to check the alarm from the user program or test tool even after the position board is powered off or reset.

(8) Setting, monitoring, and testing through test tool

Using the test tool of Position Board Utility2 (MRZJW3-MC2-UTL), users can check the validity of the preset parameters and point table by performing test operation of the position board before creating a user program. The control monitor/graph function allows users to debug programs efficiently.

(9) Forced stop function

The batch forced stop is available for connected servo amplifiers by the forced stop input signal of the external input.

(10) Easy application to the absolute position system

(a) The MR-J4(W )- B series servo amplifiers and servo motors support the absolute position system. Absolute position system can be used by connecting the battery for absolute position system to the servo amplifier.

(b) Once the home position has been established, the home position return operation is unnecessary at the

system's power supply ON.

(c) With the absolute position system, the data set method home position return is used to establish the home position. The wiring of proximity dog, etc. is unnecessary.

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1. SUMMARY

1.3 Specifications

1.3.1 General specifications

General specifications of the position board are shown below.

Items Specification

MR-MC2 MR-MC3 Operating ambient temperature

0 to 55C (32 to 131F) 0 to 45C (32 to 113F) (Secure an airflow)

(Note 4) Storage ambient temperature -20 to 65C (-4 to 149F) -25 to 75C (-13 to 167F) Operating ambient humidity 10 to 90% RH, non-condensing 5 to 95% RH, non-condensing Storage ambient humidity 10 to 90% RH, non-condensing 5 to 95% RH, non-condensing Operating ambience Indoors (where not subject to direct sunlight), no corrosive gas, no significant amount of dirt or dust Operating altitude (Note 1) 2000m or less Mounting location Inside control panel Overvoltage category (Note 2) or less Pollution level (Note 3) 2 or less

Cooling method Self cooling Air cooling (cooling fan required) (Note 5)

Recommended cooling fan size (airflow): 60mm or more (10CFM or more)

Power supply

Model Power supply

voltage Leakage current Model

Power supply voltage

Leakage current

MR-MC210

5VDC 5%

450mA or less MR-MC341

3.3VDC 9% 3000mA or less MR-MC211 700mA or less 12VDC 8% 500mA or less MR-MC220U3

450mA or less

MR-MC220U6 MR-MC240

3.3VDC 9% 1100mA or less

MR-MC241 1500mA or less

Note 1. Do not use or store under pressure higher than the atmospheric pressure of altitude 0m. Doing so can cause an operation failure. When using under pressure, please contact our sales representative.

2. This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises. Category applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the rated voltage of 300V is 2500V.

3. This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used. Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.

4. Using CPU cooling fans, PC power supply cooling fans, and PC case fans, be sure to induce an airflow in the PC case of the host controller that the position board is installed.

5. Check with the maker of the cooling fan to be used.

CAUTION The position board must be stored and used under the conditions listed in the table of specifications above. When not using for a long time, disconnect the power line from the servo amplifier. Place the position board and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. Also, execute a trial operation.

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1. SUMMARY

1.3.2 List of specifications of position board

Function Contents

MR-MC2 MR-MC3 System function

Control cycle 0.88ms/0.44ms/0.22ms (Select using parameters.) Control axes MR-MC210 : Up to 20 axes

MR-MC211 : Up to 32 axes MR-MC220U3 : Up to 20 axes MR-MC220U6 : Up to 20 axes MR-MC240 : Up to 20 axes MR-MC241 : Up to 32 axes

MR-MC341: Up to 64 axes

Control stations Up to 4 stations Up to 16 stations Axes and stations per line 24 40 Control mode Standard mode : Position controlling method by position board

Interface mode : Sequential positioning command method by user program SSCNET communication SSCNET /H, SSCNET SSCNET /H

Operation function (Note 1, 2)

JOG operation Provided Incremental feed Provided Automatic operation

Method Point table method, 1 axis control, Continuous operation to torque control Point table size 32 bytes/point 48 bytes/point Number of point tables

320 points for all axes 2048 points for all axes

Linear interpolation Point table method, linear interpolation for up to 4 axes is available (Not available for control cycle 0.22ms)

Interpolation operation Point table method Linear interpolation control for up to 4 axes Circular interpolation for 2 axes (Available for control cycle 0.22ms)

Home position return Dog method, Data set method, Continuous operation to torque control method, Dog cradle method, Limit switch front end method, Dog front end method, Z-phase detection method, Scale home position signal detection method, Scale home position signal detection method 2 (Can indicate direction for home position return, proximity dog is for level detection, can change home position return method while system is running) Home position reset (data set) (The current position can be reset to the home position)

Application function

Electronic gear Electronic gear numerator : 1 to 5242879 Electronic gear denominator : 1 to 589823

Speed units Command unit/min, command unit/s, and r/min can be selected. Acceleration/ deceleration

Command speed limits

1 to speed limit

Limit of start speed

1 to speed limit

Time constant limits

0 to 20000ms/speed limit

Separate setting of constants for deceleration and acceleration

Provided

Setting of constants for separate points

Provided

Acceleration/ deceleration method

Linear acceleration/deceleration, smoothing filter, start up speed, S-curve acceleration/deceleration (sine acceleration/deceleration)

Linear acceleration/deceleration, smoothing filter, start up speed, S-curve acceleration/deceleration (sine acceleration/deceleration), jerk ratio acceleration/deceleration, vibration suppression command filter 1

Note 1. The position board can move within the limits of -2147483648 to 2147483647. Movement outside the limits is not covered with warranty. If software limits have been disabled, be careful not to move it outside of the physical limits.

2. For the absolute position detection system, the command limits of the position after calculation using the electronic gear are also -2147483648 to 2147483647. It is possible for the moveable limits to be narrower than -2147483648 to 2147483647, depending on the electronic gear.

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1. SUMMARY

Function Contents

MR-MC2 MR-MC3 Application function

Stop function Forced stop, Stop operation, Rapid stop operation Limit switch Provided (Hardware stroke limit) Software limit Provided (Software stroke limit) Interlock Provided Rough match output Provided Torque limit Provided Command change Location, speed, time constant Backlash Provided Position switch Provided Completion of operation signal Provided Interference check Provided

(Not available for control cycle 0.22ms) Provided (Available for control cycle 0.22ms)

Home position search limit Provided Gain switching Provided PI-PID switching Provided Absolute position detection system

Provided

Home position return request Provided Other axes start

Data Up to 32 Up to 64 Condition size 24 bytes 40 bytes Operation details size

80 bytes 88 bytes

High response I/F Provided In-position signal Provided Digital I/O Provided Uses I/O device function

(expanded points method) I/O device Bits : Up to 4096 points

Words : Up to 256 points Bits : Up to 9126 points Words : Up to 576 points

Bit data and word data share the point table Servo amplifier general I/O Provided Dual port memory exclusive control

Provided

Pass position interrupt Pass position conditions: Up to 64 Pass position conditions: Up to 128 Mark detection Mark detections: Up to 64 Mark detections: Up to 128 Continuous operation to torque control

Provided

SSCNET /H head module connection

Provided

Sensing module connection Provided (station mode and axis mode) Help function

Reading/writing parameters Provided Changing parameters at the servo

Provided

Alarm and system error Provided Monitor Current command position, Current feedback position, Speed command, Position droop,

Electrical current command, Servo alarm number, External signal status, etc. Can be latched, updated every few seconds Can be latched, updated every few

seconds, can be updated every control cycle with control option 4 (parameter No.0206)

High speed monitor Current command position, Current feedback position, Moving speed, Feedback moving speed, External signal, Electrical current feedback, Position droop (interface mode only) Can be latched, updated every control cycle

Interrupt During start operation/Operation stoppage (During operation, in-position, during smoothing of stopping, rough match, etc.), when alarm goes off (servo alarm/operation alarm), etc. Interrupt conditions during start operation/operation stoppage can be selected

User watchdog function Provided (Processed by the software with the watchdog of the of the user program. (Note 3))

Software reboot function Provided Note 3. This is not the watch dog for the CPU on the position board.

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1. SUMMARY

Function Contents

MR-MC2 MR-MC3 Help function

Parameter backup Parameters can be saved to the flash ROM. Test mode By connecting MR Configurator2 via the position board, the servo amplifier can easily be

tested. Reconnect/disconnect function Provided Sampling The maximum sampling point: 65536.

(Ring buffer of 8192 points) The maximum sampling point: 65536. (Ring buffer of 65536 points)

Log History of start operation, alarms, etc., can be recorded. Operation cycle monitor function Provided External forced stop disabled Provided Amplifier-less axis function Provided Alarm history function Alarm history is saved to the flash ROM. Transient transmit Provided

Tandem drive Up to 2 axes 8 groups Interface mode Positioning control, speed-torque control, event detection function Board ID 0 to 3 (Set with setting switch) DI Limit switch + None

(DI signals are input from the servo amplifier or the dual port memory, etc. by the parameter setting.)

Limit switch - Proximity dog Forced stop 1 point

DO None

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1. SUMMARY

1.3.3 Bus specifications

(1) PCI bus specifications

Items Specification

MR-MC210 MR-MC211 Address bit 32 bit Data bit 32 bit System clock 33MHz System voltage +5V Shape [mm(inch)] Short size: 106.7 167.6 (4.20 6.60) Hot swap Not supported Base address Set configuration register by BIOS

(2) CompactPCI bus specifications

Items Specification

MR-MC220U3 MR-MC220U6 Address bit 32 bit Data bit 32 bit System clock 33MHz System voltage +5V

Shape [mm(inch)] Board size: 100 160 (3.94 6.30)

Front panel length: 128.7 (5.07) Board size: 100 160 (3.94 6.30) Front panel length: 262.05 (10.32)

Connector J1 connector only Hot swap Not supported Base address Set configuration register by BIOS

(3) PCI Express bus specifications

Items Specification

MR-MC240 (Note 1) MR-MC241 (Note 1) MR-MC341 Bus specification PCI Express1.1 PCI Express2.0 Shape [mm(inch)] Short size: 111.15 167.6 (4.38 6.60) Short size: 105.77 128.8 (4.16 5.07) Link width 1 Transfer rate 2.5Gbps 5.0Gbps System voltage +3.3V +3.3V, +12V

Note 1. Depending on the specifications of the host controller, the PCI Express slot maybe directly connected to the CPU of the host controller. If the PCI Express compatible position board (MR-MC240/MR-MC241) that was produced in or before October 2018 is mounted to a PCI Express slot that is directly connected to the CPU of the host controller, it may not be able to operate. Mount the PCI Express compatible position board to a PCI Express slot that is not directly connected to the CPU of the host controller (connected to a chipset). The year and month of manufacture for the position board can be checked on the rating plate. Refer to Section 2.4.1 for details.

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1. SUMMARY

1.4 Name of each section

1.4.1 Name of parts for position board MR-MC2

(1) MR-MC210

5)

4)3)

6)

8)

1)

SW1

(2) MR-MC211

3) 4)

5)

6)

7)

8)

1)

SW1

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1. SUMMARY

(3) MR-MC220U3

1CH

2CH

EMI8)

6)

5)

3) 4) 1CH RUN/ERR.

2CH RUN/ERR.

USB

SW1

1)

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1. SUMMARY

(4) MR-MC220U6

8)

6)

5)

3) 4)

1)

SW1

1CH

2CH

EMI

1CH RUN/ERR.

2CH RUN/ERR.

USB

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1. SUMMARY

(5) MR-MC240

5)

1)

2) 3) 4)

6)

8)

SW1

(6) MR-MC241

5)

1)

2) 3) 4)

6)

8)

SW1

7)

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1. SUMMARY

No. Item Function 1) Setting switch (SW1)

ON

1 2 3 4

Switch 1 Switch 2 Board ID ON ON 3 OFF ON 2 ON OFF 1 OFF OFF 0 (default value)

This switch is provided for manufacturer setting. Make sure the switch is always OFF.

Switch 3 For manufacturer setting OFF

Masks interrupt output when interrupt occurs.

Switch 4 Interrupt output mask ON Valid OFF Invalid (default value)

2) PCI Express link (green) ON : PCI Express link up

OFF : PCI Express disconnected 3) Operation indicator (green) ON : At power ON

Flicker : At system startup OFF : At power OFF

4) Error indicator (red) OFF : Normal ON : At system error (E001 to E302) occurrence

5) USB connector Connector for communication with the position board test tool and MR Configurator2. (connects MR-J3USBCBL3M)

6) SSCNET connector (line 1) (Note 1)

Connector for communication with a servo amplifier. (connects MR-J3BUS M)

7) SSCNET connector (line 2) (Note 1)

8) Forced stop input connector The following is the pin layout and connections of the forced stop input connector as viewed from the front.

1 2 3

Pin No. Signal name 1 EMI 2 No connect 3 EMI.COM

Note. Do not connect to any of the terminals explained as "No connect". Manufacturer Name Model Reference

Molex, LLC

Crimp housing 51103-0300

Crimp terminal 50351-8100 Applicable wire size: AWG28 to AWG22

(0.08 to 0.32mm2) Two crimp terminals are required per housing.

Hand crimp tool 63811-8100 Applicable terminal: 50351

Note 1. Put the SSCNET cable in the duct or fix the cable at the closest part to the position board with bundle material in order to prevent SSCNET cable from putting it's own weight on SSCNET connector.

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1. SUMMARY

1.4.2 Name of parts for position board MR-MC3

(1) MR-MC341 2) 3) 1)4)

5)

6)

7)

8)

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1. SUMMARY

No. Item Function 1) Setting switch (SW1)

ON

1 2 3 4

Switch 1 Switch 2 Board ID ON ON 3 OFF ON 2 ON OFF 1 OFF OFF 0 (default value)

This switch is provided for manufacturer setting. Make sure the switch is always OFF

Switch 3 Switch 4 For manufacturer setting OFF OFF

2) PCI Express link (green) ON : PCI Express link up

OFF : PCI Express disconnected 3) Operation indicator (green) ON : At power ON

Flicker : At system startup OFF : At power OFF

4) Error indicator (red) OFF : Normal ON : At system error (E001 to E302) occurrence

5) USB connector Connector for communication with the position board test tool and MR Configurator2. (connects MR-J3USBCBL3M)

6) SSCNET connector (line 1) (Note 1)

Connector for communication with a servo amplifier. (connects MR-J3BUS M)

7) SSCNET connector (line 2) (Note 1)

8) Forced stop input connector The following is the pin layout and connections of the forced stop input connector as viewed from the front.

2 3

1

Pin No. Signal name 1 EMI 2 No connect 3 EMI.COM

Note. Do not connect to any of the terminals explained as "No connect".

FK-MC0, 5/3-ST-2, 5 (PHOENIX CONTACT GmbH & Co. KG)

AWG28 to AWG20 (0.08 to 0.52mm2) Note 1. Put the SSCNET cable in the duct or fix the cable at the closest part to the position board with bundle material in order to prevent

SSCNET cable from putting it's own weight on SSCNET connector.

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1. SUMMARY

1.5 Bus interface

1.5.1 Configuration register

The following shows the configuration register. (1) PCI bus compatible position board (MR-MC210/MR-MC211)/CompactPCI bus compatible position board

(MR-MC220U3/MR-MC220U6) Address 31 to 24 23 to16 15 to 8 7 to 0 Remarks

00 Device ID 0624

Vendor ID 10BA

Vendor ID: Mitsubishi Electric 10BA Device ID: 0624

04 Status Command

08 Class Code 118000

Revision ID 01

Revision ID: 01 Class Code: 118000 (data processing controller)

0C BIST (Note)

Header Type (Note)

Latency Timer (Note)

Cache Line Size (Note)

10 Base Address Register 0 14 Base Address Register 1

18 Base Address Register 2

Dual port memory (including board ID) leading address Memory Space Indicator (bit0): 0 (Memory space) Type (bit1 to 2): 00 (32 bits, arbitrary position of address space) Prefetchable (bit3): 0 (Prefetch prohibited)

1C Base Address Register 3 (Note) 20 Base Address Register 4 (Note) 24 Base Address Register 5 (Note) 28 Cardbus CIS Pointer (Note)

2C Subsystem ID 0601

Subsystem Vendor ID 10BA

Subsystem Vendor ID: Mitsubishi Electric 10BA Subsystem ID: 0601

30 Expansion ROM Base Address (Note) 34 (Reserved) (Note) CAP_PTR (Note) 38 (Reserved) (Note) 3C Max_Lat (Note) Min_Gnt (Note) Interrupt Pin 01 Interrupt Line Interrupt Pin: 01(INTA use)

Note. Has not been implemented, therefore, if read an indefinite value will be returned.

1 - 23

1. SUMMARY

(2) PCI Express bus compatible position board

(a) When using MR-MC240/MR-MC241 Address 31 to 24 23 to16 15 to 8 7 to 0 Remarks

00 Device ID 0624

Vendor ID 10BA

Vendor ID: Mitsubishi Electric 10BA Device ID: 0624

04 Status Command

08 Class Code 118000

Revision ID 01

Revision ID: 01 Class Code: 118000 (data processing controller)

0C BIST (Note)

Header Type (Note)

Latency Timer (Note)

Cache Line Size (Note)

10 Base Address Register 0 14 Base Address Register 1

18 Base Address Register 2

Dual port memory (including board ID) leading address Memory Space Indicator (bit0): 0 (Memory space) Type (bit1 to 2): 00 (32 bits, arbitrary position of address space) Prefetchable (bit3): 0 (Prefetch prohibited)

1C Base Address Register 3 (Note) 20 Base Address Register 4 (Note) 24 Base Address Register 5 (Note) 28 Cardbus CIS Pointer (Note)

2C Subsystem ID 0601

Subsystem Vendor ID 10BA

Subsystem Vendor ID: Mitsubishi Electric 10BA Subsystem ID: 0601

30 Expansion ROM Base Address (Note) 34 (Reserved) (Note) CAP_PTR (Note) 38 (Reserved) (Note) 3C Max_Lat (Note) Min_Gnt (Note) Interrupt Pin 01 Interrupt Line Interrupt Pin: 01(INTA use) 40 PM Capability NxtCap PM Cap 44 Data BSE PMCSR 48 MSI Control NxtCap MSI Cap MSI Control (bit0): 0 INTA interrupt 4C Message Address (Lower) 50 Message Address (Upper) 54 Reserved Message Data 58 PE Capability NxtCap PE Cap 5C PCI Express Device Capabilities 60 Device Status Device Control 64 PCI Express Link Capabilities 68 Link Status Link Control

6C-FF Reserved Legacy Configuration Space (Returns 0x00000000)

100 Next Cap Capability Version

PCI Express Extended Capability - DSN

104 PCI Express Device Serial Number (1st) 108 PCI Express Device Serial Number (2nd) 10C- FFF

Reserved Extended Configuration Space (Returns Completion with 0x00000000)

Note. Has not been implemented, therefore, if read an indefinite value will be returned.

1 - 24

1. SUMMARY

(b) When using MR-MC341

Address 31 to 24 23 to16 15 to 8 7 to 0 Remarks

00 Device ID 0624

Vendor ID 10BA

Vendor ID: Mitsubishi Electric 10BA Device ID: 0624

04 Status Command

08 Class Code 118000

Revision ID 01

Revision ID: 01 Class Code: 118000 (data processing controller)

0C BIST 00

Header Type (Note)

Latency Timer 00

Cache Line Size (Note)

10 Base Address Register 0

Dual port memory (including board ID) leading address Memory Space Indicator (bit0): 0 (Memory space) Type (bit1 to 2): 00 (32 bits, arbitrary position of address space) Prefetchable (bit3): 0 (Prefetch prohibited)

14 Base Address Register 0 (Upper) 18 Base Address Register 2 (Note) 1C Base Address Register 2 (Upper) (Note) 20 Base Address Register 4 (Note) 24 Base Address Register 4 (Upper) (Note) 28 (Reserved) (Note)

2C Subsystem ID 0601

Subsystem Vendor ID 10BA

Subsystem Vendor ID: Mitsubishi Electric 10BA Subsystem ID: 0603

30 Expansion ROM Base Address (Note) 34 (Reserved) (Note) CAP_PTR 38 (Reserved) (Note) 3C Max_Lat (Note) Min_Gnt (Note) Interrupt Pin 01 Interrupt Line Interrupt Pin: 01(INTA use) 40 (Reserved) (Note) 44 (Reserved) (Note) 48 (Reserved) (Note) 4C (Reserved) (Note) 50 MSI Control NxtCap MSI Cap MSI Control (bit0): 1 MSI interrupt 54 Message Address (Lower) 58 Message Address (Upper) 5C (Reserved) (Note) Message Data 60 (Reserved) (Note) 64 (Reserved) (Note) 68 (Reserved) (Note) 6C (Reserved) (Note) 70 (Reserved) (Note) 74 (Reserved) (Note) 78 PM Capability NxtCap PM Cap 7C Data BSE PMCSR 80 PE Capability NxtCap PE Cap 84 PCI Express Device Capabilities 88 Device Status Device Control 8C PCI Express Link Capabilities 90 Link Status Link Control 94 PCI Express Slot Capabilities (Note) 98 Slot Status (Note) Slot Control (Note) 9C Root Capabilities (Note) Root Control (Note)

1 - 25

1. SUMMARY

Address 31 to 24 23 to16 15 to 8 7 to 0 Remarks

A0 Root Status (Note) A4 PCI Express Device Capabilities2 A8 Device Status2 (Note) Device Control2 (Note) AC PCI Express Link Capabilities2 B0 Link Status2 Link Control2 B4 PCI Express Slot Capabilities2 (Note) B8 Slot Status2 (Note) Slot Control2 (Note)

Note. Has not been implemented, therefore, if read an indefinite value will be returned.

1 - 26

1. SUMMARY

1.5.2 Dual port memory map

The bus width of dual port memory is 32 bits. For the address map of the dual port memory on the position board side, refer to Chapter 10. (1) MR-MC2

PCI bus/CompactPCI bus/PCI Express bus Offset address

+000000h

+00FFFFh

Memory space of 1CH

+010000h

+01FFFFh

Reserved

+020000h +02000Fh

Board information

(2) MR-MC3

PCI Express bus Offset address

+000000h Memory space of 1CH

+800000h Note. Board information is allocated within the memory space of 1CH. Refer to Section 1.5.3 for details.

1 - 27

1. SUMMARY

1.5.3 Board information

The (R)s in the table designate read only, while the (W)s designate write only capability. Address

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MR-MC2 MR-MC3

020000 001000 Bus type (R) Implemented CH information (R)

Interrupt output mask

information (R) (Note 1)

Reserved Board ID information (R)

020001 001001 Reserved Number of SSCNET

lines (R) 020002 001002

Reserved 020003 001003

020004 001004 Reserved Signal during interrupt

output (R) (Note 1) 020005 001005

Reserved 020006 001006 020007 001007

020008 001008 Reserved Interrupt signal clear register (1CH) (W)

(Note 1) 020009 001009

Reserved

02000A 00100A 02000B 00100B 02000C 00100C 02000D 00100D 02000E 00100E 02000F 00100F

001010 001011 001012 001013 001014 001015 001016 001017 001018 001019 00101A 00101B 00101C 00101D 00101E 00101F

Note 1. Reserved when using MR-MC3 .

1 - 28

1. SUMMARY

(1) Board ID information

Status set with the dip switch is displayed. bit1 bit0 Content 0 0 0 0 1 1 1 0 2 1 1 3

(2) Interrupt output mask information MC200

Status set with the dip switch is displayed. bit3 Content 0 Invalid 1 Valid

(3) Implemented CH information

bit5 bit4 Content 0 0 1CH 0 1 Reserved 1 0 Reserved 1 1 Reserved

(4) Bus type

bit7 bit6 Content 0 0 PCI bus 0 1 CompactPCI bus 1 0 PCI Express bus 1 1 Reserved

(5) Number of SSCNET lines

bit1 bit0 Content 0 0 1 line 0 1 2 lines 1 0 Reserved 1 1 Reserved

(6) Signal during interrupt output MC200

bit1 bit0 Content 0 0 Interrupts are not generated 0 1 During interrupt output

(7) Interrupt signal clear register (1CH) MC200

bit1 bit0 Content 0 0 Invalid 0 1 1CH interrupt signal is cleared

1 - 29

1. SUMMARY

1.6 SSCNET cables

Connect the position board and servo amplifiers, or servo amplifier and servo amplifier by SSCNET cable. When using MR-MC210/MR-MC220U3/MR-MC220U6/MR-MC240, the SSCNET cable for connecting servo amplifiers can be used for one line only. When using MR-MC211/MR-MC241/MR-MC341, the SSCNET cable for connecting servo amplifiers can be used for up to two lines (use 1CH and 2CH). (1) SSCNET cable specifications

Model name Cable length [m(ft.)] Description

MR-J3BUS M

MR-J3BUS015M 0.15 (0.49)

Position board Servo amplifier Servo amplifier Servo amplifier

MR-J3BUS03M 0.3 (0.98) MR-J3BUS05M 0.5 (1.64) MR-J3BUS1M 1 (3.28) MR-J3BUS3M 3 (9.84)

MR-J3BUS M-A MR-J3BUS5M-A 5 (16.40) MR-J3BUS10M-A 10 (32.81) MR-J3BUS20M-A 20 (65.62)

MR-J3BUS M-B MR-J3BUS30M-B 30 (98.43) MR-J3BUS40M-B 40 (131.23) MR-J3BUS50M-B 50 (164.04)

(2) Connection between the position board and servo amplifiers

Connect the SSCNET cables to the following connectors. Refer to Section 3.2.1 for the connection and disconnection of SSCNET cable.

1CH

2CH (Note)

Servo amplifier Servo amplifier

Servo amplifier Servo amplifier

CN1A

CN1B

CN1A

CN1B

CN1A

CN1B

CN1A

CN1B

Cap

Cap

Note. It cannot communicate if the connection of CN1A and CN1B is mistaken.

SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.) MR-J3BUS M-B use 1) 50m(164.04ft.)

Attach a cap to connectors of channel not being used.

1)

1)

1)

1)

Position board

(Note) MR-MC211/ MR-MC241/

MR-MC341 only

SSCNET /H Line 2

SSCNET /H Line 1

1 - 30

1. SUMMARY

1.7 Forced stop input terminal

(1) Table of the forced stop input terminal specifications

Item Specifications

MR-MC2 MR-MC3 Number of input points Forced stop signal: 1 point Input method Positive common/Negative common shared type Rated input current 2.4mA Isolation method Photocoupler

Operating voltage range 20.4 to 26.4VDC

(+10/ -15%, ripple ratio 5% or less) ON voltage/current 17.5VDC or more/2.0mA or more OFF voltage/current 1.8VDC or less/0.18mA or less Input resistance Approx. 10k

Response time OFF to ON

1ms or less ON to OFF

External connector type 3 pin connector Recommended wire size 0.08 to 0.32mm2 (AWG28 to AWG22) 0.08 to 0.52mm2 (AWG28 to AWG20)

(2) Forced stop circuit

(a) Positive common

+24V

24G EMI.COM

EMI

Forced stop input connector

Forced stop

Control circuit

Position board side

10k

Stabilizing power supply

(b) Negative common

EMI.COM

EMI

Forced stop input connector

Forced stop

Control circuit

Position board side

10k +24V

24G

Stabilizing power supply

2 - 1

2

2. SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

This section describes the system configuration and equipment settings for the position board. 2.1 Position board MR-MC2 system configuration

2.1.1 MR-MC210/MR-MC211 system configuration

Axis 1 Axis 2 Axis 20

Axis 1 Axis 2 Axis 12

PCI bus compatible position board

MR-MC210/MR-MC211

USB

EMI

SSCNET line 1

SSCNET line 2 (Note 1)

Note 1: MR-MC211 only

DI signal Forced stop (EMI 1)

SSCNET cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

SSCNET /H compatible servo amplifier MR-J4(W)- B

SSCNET /H compatible remote I/O module

Station 1 Station 4

SSCNET /H head module LJ72MS15

Sensing module MR-MT2000 series

DI signal + side limit switch (LSP 1) - side limit switch (LSN 1) Proximity dog(DOG 1) (Note): DI signal (LSP/LSN/DOG) from servo amplifier and input module connected to remote I/O module can be input

POINT Refer to Section 4.5.6, Section 6.33.3, Section 6.34.3, and Section 6.35.2 to

change the number of axes (stations) distributed to line 1 and line 2.

2 - 2

2. SYSTEM CONFIGURATION

2.1.2 MR-MC220U3/MR-MC220U6 system configuration

Station 1

SSCNET cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

DI signal Forced stop (EMI 1)

Axis 1 Axis 2 Axis 20

SSCNET /H compatible servo amplifier MR-J4(W)- B

SSCNET /H head module LJ72MS15

DI signal + side limit switch (LSP 1) - side limit switch (LSN 1) Proximity dog (DOG 1) (Note): DI signal (LSP/LSN/DOG) from servo amplifier and input module connected to remote I/O module can be input

CompactPCI bus compatible position board MR-MC220U3/ MR-MC220U6

USB

EMI

SSCNET

Station 4

Sensing module MR-MT2000 series

SSCNET /H compatible remote I/O module

2 - 3

2. SYSTEM CONFIGURATION

2.1.3 MR-MC240/MR-MC241 system configuration

(Note 1)

Note 1: MR-MC241 only

PCI Express bus compatible position board

MR-MC240/MR-MC241

USB

EMI

SSCNET line 1

SSCNET line 2

SSCNET cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

Axis 1 Axis 2 Axis 20

Axis 1 Axis 2 Axis 12

SSCNET /H compatible servo amplifier MR-J4(W)- B

Station 1

SSCNET /H head module LJ72MS15

Station 4

Sensing module MR-MT2000 series

SSCNET /H compatible remote I/O module

DI signal Forced stop (EMI 1)

DI signal + side limit switch (LSP 1) - side limit switch (LSN 1) Proximity dog (DOG 1) (Note): DI signal (LSP/LSN/DOG) from servo amplifier and input module connected to remote I/O module can be input

POINT

Refer to Section 4.5.6, Section 6.33.3, Section 6.34.3, and Section 6.35.2 to change the number of axes (stations) distributed to line 1 and line 2.

2 - 4

2. SYSTEM CONFIGURATION

2.2 Position board MR-MC3 system configuration

2.2.1 MR-MC341 system configuration

Station 1

USB

EMI

SSCNET line 1

SSCNET line 2

PCI Express bus compatible position board

MR-MC341 SSCNET cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

Axis 1 Axis 2 Axis 32

Axis 1 Axis 2 Axis 32

SSCNET /H compatible servo amplifier MR-J4(W)- B

DI signal Forced stop (EMI 1)

Station 1

SSCNET /H head module LJ72MS15

Station 8

Station 8

Sensing module MR-MT2000 series

SSCNET /H compatible remote I/O module

DI signal + side limit switch (LSP 1) - side limit switch (LSN 1) Proximity dog (DOG 1) (Note): DI signal (LSP/LSN/DOG) from servo amplifier and input module connected to remote I/O module can be input

POINT Refer to Section 4.5.6, Section 6.33.3, Section 6.34.3, and Section 6.35.2 to change the number of axes (stations) distributed to line 1 and line 2.

2 - 5

2. SYSTEM CONFIGURATION

2.3 System configuration equipment

(1) MR-MC2 related module Part name Model name (Note 1) Description

Position board

MR-MC210 Up to 20 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, PCI bus compatible (Note 2) MR-MC211 Up to 32 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, PCI bus compatible (Note 2) MR-MC220U3 Up to 20 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, CompactPCI bus compatible (Note 2) MR-MC220U6 Up to 20 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, CompactPCI bus compatible (Note 2) MR-MC240 Up to 20 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, PCI Express bus compatible (Note 2) MR-MC241 Up to 32 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, PCI Express bus compatible (Note 2)

MR-MC341 Up to 64 axes control, Operation cycle 0.22ms, 0.44ms, 0.88ms, PCI Express bus compatible (Forced stop input connector is attached) (Note 2)

USB cable MR-J3USBCBL3M Position board MR-MC2 /MR-MC3 host controller

SSCNET cable

MR-J3BUS M MR-MC2 /MR-MC3 MR-J4(W )- B/MR-J4(W )- B MR-J4(W )- B Standard cord for inside panel 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.)

MR-J3BUS M-A MR-MC2 /MR-MC3 MR-J4(W )- B/MR-J4(W )- B MR-J4(W )- B Standard cable for outside panel 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)

MR-J3BUS M-B (Note 3)

MR-MC2 /MR-MC3 MR-J4(W )- B/MR-J4(W )- B MR-J4(W )- B Long distance cable 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)

Note 1. =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 25: 25m(82.02ft.), 30: 30m(98.43ft.), 40: 40m(131.23ft.), 50: 50m(164.04ft.)

2. Cable for forced stop input is not attached to the position board. The cable should be made by the customer. 3. Please contact your nearest Mitsubishi Electric sales representative for the cable of less than 30m(98.43ft.). (2) Equipment with SSCNET (/H) connection

Part name Model name Description Remarks

MR-J4 series servo amplifier

MR-J4- B

Refer to the servo amplifier instruction manuals.

MR-J4- B-RJ MR-J4W- B For 2-axis type, 3-axis type

MR-J3 series servo amplifier

MR-J3- B MR-J3W- B For 2-axis type MR-J3- B-RJ006 For fully closed control MR-J3- B-RJ004 For linear servo motor MR-J3- B-RJ080W For direct drive motor MR-J3- B Safety For drive safety servo MR-J3W-0303BN6 For 2-axis type

MR-JE series servo amplifier

MR-JE- B

MR-JE- BF SSCNET /H head module

LJ72MS15 Maximum link points input 64 bytes, output 64 bytes

Refer to MELSEC-L SSCNET /H Head Module User's manual.

Sensing module

MR-MT2010 Sensing SSCNET /H head module

Refer to the sensing module instruction manuals. MR-MT2100 Sensing I/O module MR-MT2200 Sensing pulse I/O module MR-MT2300 Sensing analog I/O module MR-MT2400 Sensing encoder I/F module

2 - 6

2. SYSTEM CONFIGURATION

(3) Software packages

(a) Utility software Model name Software package

Position Board Utility2 MRZJW3-MC2-UTL

(b) Servo set-up software package

Model name Software package MR Configurator2 SW1DNC-MRC2-E

2 - 7

2. SYSTEM CONFIGURATION

2.4 Checking serial number and operating system software version

Checking for the serial number of position board and software version are shown below. 2.4.1 Checking serial number

(1) Rating plate The rating plate is on the position board. The position board serial number is printed on the SERIAL line, and the year and month of manufacture is printed on the DATE line.

Rating plate

SE R

IAL A21001999 3.3VDC

1.5A

See M

R -M

C 240

instruction m anual.

Voyez M

R -M

C 240

m ode d' em

ploi.

M AD

E IN JA

PA N

80M 1 IND. C

O NT. EQ

.

US LISTED UL

C M

ITSUBISHI ELECTRIC

M SIP

-R EI-M

E K-

D A

TE 2014-02

PASSED

TC 510A874G

51

TO KYO

100-8310, JA PAN

M R

-M C

240

M ITSUBISHI ELECTRIC CO

RPORATION BC

370C 286H

01

Serial number

Year and month of manufacture

POINT When the position board is mounted to the host controller, the serial number

cannot be checked. Take note of the serial number before mounting. MC200 (2) System information MC300

The position board serial number can be checked on the serial number (0000C0 to 0000CF) of system information. The serial number is stored as ASCII code.

Note. In (): ASCII code

Serial No.

0000CF Address 0000C0

0 (30h)

1 (31h)

0 (30h)

1 (31h)

8 (38h)

1 (31h)

0 (30h)

1 (31h)

0 (30h)

0 (30h)

0 (30h)

0 (30h)

0 (30h)

0 (30h)

0 (30h)

0 (30h)

API LIBRARY

To check the serial number, use the sscGetBoardSerialNumber function.

2 - 8

2. SYSTEM CONFIGURATION

2.4.2 Checking software version

The software version of the position board can be checked on the system program software version (0030 to 003F MC200 /0000D0 to 000DF MC300 ) of system information. System program software version is stored as ASCII code.

0030 Address

0000D0 0000DF

B (42h)

C (43h)

D (44h)

- (2Dh)

B (42h)

4 (34h)

8 (38h)

W (57h)

1 (31h)

0 (30h)

1 (31h)

- (2Dh)

A (41h)

0 (30h) (20h)

003F

\0 (00h)

Software type name Version

System program software version

Note. In (): ASCII code : Space

Type name Example) 101: MR-MC2 181: MR-MC3

API LIBRARY

To check the software version, use the sscGetBoardVersion function.

2 - 9

2. SYSTEM CONFIGURATION

2.5 Restrictions by the software's version

There are restrictions in the function that can be used by the version of the software.

Function/Item name Change details Software version

MR-MC2 MR-MC3 MRZJW3-MC2-UTL Digital I/O Addition A1 or later 1.20 or later Servo amplifier general I/O Addition A1 or later 1.20 or later Digital output signal control for the other axes start

Addition A1 or later 1.20 or later

Dual port memory exclusive control Addition A1 or later 1.20 or later Pass position interrupt Addition A1 or later 1.20 or later Interface mode Addition A3 or later 1.50 or later Alarm history function Addition A3 or later 1.50 or later Addition of waiting for SSCNET response (0009h) to system status code

Addition A3 or later 1.50 or later

Speed-torque control (interface mode only)

Addition A4 or later 1.60 or later

Addition of operation cycle alarm to system alarms

Addition A4 or later 1.60 or later

Addition of position droop to high speed monitor (interface mode only)

Addition A4 or later 1.60 or later

Mark detection function compatible Addition A5 or later 1.70 or later Change home position return method while system is running.

Addition A5 or later 1.70 or later

Continuous operation to torque control (automatic operation in standard mode only)

Addition A5 or later 1.70 or later

External forced stop disabled function Addition A5 or later 1.70 or later Point table loop method Addition A6 or later 1.70 or later Servo amplifier (MR-JE- B) compatible Addition A7 or later 1.70 or later Addition of forced stop to system interrupt factor

Addition A7 or later 1.70 or later

SSCNET /H head module connection Addition A8 or later 1.80 or later Transient transmit compatible Addition A8 or later 1.80 or later Addition of station No. in order of connection to monitor

Addition A8 or later 1.80 or later

I/O device compatible Addition A8 or later 1.80 or later Changeable interpolation group Addition A9 or later 1.90 or later Position change during deceleration Addition A9 or later 1.00 or later Sensing module (station mode) connection Addition B1 or later 1.90 or later SSCNET /H head module 0.22ms connection

Addition B1 or later 1.80 or later

Sensing module (axis mode) connection Addition B3 or later 1.90 or later Position board MR-MC341 compatible Addition Not supported 3.00 or later Serial number display Addition Not supported 3.00 or later Jerk ratio acceleration/deceleration Addition Not supported 3.00 or later Vibration suppression command filter 1 Addition Not supported 3.00 or later Circular interpolation Addition Not supported A1 or later 3.10 or later Proximity pass function Addition Not supported A1 or later 3.10 or later USB communication connection function Addition A1 or later 3.10 or later

: No restriction by version.

2 - 10

2. SYSTEM CONFIGURATION

MEMO

3 - 1

3

3. INSTALLATION AND WIRING

3. INSTALLATION AND WIRING

3.1 Board installation

This section explains instructions for handling and installation environment of the position board. 3.1.1 Instructions for handling

The following explains instructions for handling.

CAUTION Do not touch any connectors while power is ON. Doing so may cause electric shock or malfunction. Do not directly touch any conductive parts and electronic components of the board. Doing so may

cause malfunction or failure of the board. Do not disassemble or modify the board. Doing so may cause failure, malfunction, injury, or fire. Before handling the board, touch a conducting object such as a grounded metal to discharge the static

electricity from the human body. Failure to do so may cause the board to fail or malfunction. Handle the board in a place where static electricity will not be generated. Failure to do so may cause a

failure or malfunction. The board is included in a static electricity preventing vinyl bag. When storing or transporting it, be sure

to put it in the static electricity preventing vinyl bag. Failure to do so may cause a failure or malfunction. Do not drop or apply a strong impact to the board. Doing so may cause a failure or malfunction.

3.1.2 Installation environment

For installation of the host controller in which the position board is installed, refer to the manual for the host controller. (1) Instructions for board installation environment

Use the board in an environment that meets the general specifications in this manual. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

(2) Instructions for host controller installation environment

Always ground the host controller to the protective ground conductor. Failure to do so may cause a malfunction.

3 - 2

3. INSTALLATION AND WIRING

3.2 Connection and disconnection of cable

3.2.1 SSCNET cable

(1) Precautions for handling the SSCNET cable Do not stamp the SSCNET cable. When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend

radius is less than the minimum cable bend radius, it may cause malfunctions due to characteristic deterioration, wire breakage, etc.

For connection and disconnection of SSCNET cable, hold surely a tab of cable connector.

1CH

2CH

Position board

(2) Connection of SSCNET cable For connection of SSCNET cable to the position board, connect it to the SSCNET connector 1CH or

2CH of position board while holding a tab of SSCNET cable connector. Be sure to insert it until it clicks. If the cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause

malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (3) Disconnection of SSCNET cable

For disconnection of SSCNET cable, pull out it while holding a tab of SSCNET cable connector or the connector.

After disconnection of SSCNET cable, be sure to put a cap (attached to position board or servo amplifier) to the position board and servo amplifier.

For SSCNET cable, attach the tube for protection optical cord's end face on the end of connector.

3 - 3

3. INSTALLATION AND WIRING

(4) Precautions of SSCNET cable wiring

SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative option of servo amplifier, or servo motor. Be sure to use optical fiber within the range of operating temperature described in this manual. Read described item of this section carefully and handle it with caution.

(a) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of position board and servo amplifier. When closing the door of control panel, pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius.

Model name of SSCNET cable Minimum bend radius[mm(inch)]

MR-J3BUS M 25(0.98)

MR-J3BUS M-A Enforced covering cord : 50 (1.97) Cord : 25 (0.98)

MR-J3BUS M-B Enforced covering cord : 50 (1.97) Cord : 30 (1.18)

(b) Tension

If tension is added on the SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET cable or damage of SSCNET connector may occur. For cable laying, handle without putting forced tension.

Model name of SSCNET cable Tension strength [N]

MR-J3BUS M =015 70 =03 to 3 140

MR-J3BUS M-A 420 (Enforced covering cord) MR-J3BUS M-B 980 (Enforced covering cord)

(c) Lateral pressure

If lateral pressure is added on the SSCNET cable, the cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of SSCNET cable may occur. As the same condition also occurs at cable laying, do not tighten up SSCNET cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of control panel or others.

(d) Twisting

If SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst.

3 - 4

3. INSTALLATION AND WIRING

(e) Disposal

When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of SSCNET cable, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

POINT

Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the position board and servo amplifier cannot be communicated.

Forced removal of the SSCNET cable from the position board will damage the position board and SSCNET cables.

After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions.

Do not remove the SSCNET cable while turning on the power supply of position board and servo amplifier. Do not see directly the light generated from SSCNET connector of position board or servo amplifier and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)

If the SSCNET cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or brakes, and optical transmission will not be available. Be sure to take care enough so that the short SSCNET cable is added a twist easily.

Be sure to use the SSCNET cable within the range of operating temperature described in this manual. Especially, as optical fiber for MR-J3BUS M and MR- J3BUS M-A are made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative option of servo amplifier, or servomotor.

When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.

Put the SSCNET cable in the duct or fix the cable at the closest part to the position board with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing. If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.

3 - 5

3. INSTALLATION AND WIRING

POINT

Migratable plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected.

Optical cord Cable

SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

: Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migratable plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migratable plasticizer (phthalate ester), may affect MR-J3BUS M and MR-J3BUS M-A cables (made of plastic). In addition, MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.

If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the cord part.

When keeping the position board or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector.

SSCNET connector to connect the SSCNET cable is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before connecting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap.

Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

When exchanging the position board or servo amplifier, make sure to put a cap on SSCNET connector. When asking repair of position board or servo amplifier for some troubles, make also sure to put a cap on SSCNET connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required.

3 - 6

3. INSTALLATION AND WIRING

3.2.2 Forced stop input cable

(1) Precautions for handling the forced stop input cable For connection or removal of the forced stop input cable, do it surely while holding a connector of forced

stop input cable. Position board

Tab

(2) Connection of the forced stop input cable For connection of a forced stop input cable to the position board, connect it surely to an EMI connector of

position board while holding a connector. Be sure to insert it until it clicks. (3) Removal of the forced stop input cable

For removal of the forced stop input cable, push a tab and pull out the cable while holding a connector.

POINT The following handling will damage the position board or forced stop input cable. Forced removal of the forced stop input cable from the position board. The forced stop input cable is twined other cables. Excessive power is applied at cable laying. Wire the cable correctly.

3 - 7

3. INSTALLATION AND WIRING

3.3 Wiring

This section explains instructions for wiring. Refer to "14 EMC Directives" for grounding method and measure against noise. 3.3.1 Instructions for wiring

DANGER Completely turn off the power used in the system externally before board installation or placing wiring.

Not doing so could result in electric shock or damage to the product. When turning on the power supply or operating after wiring, be sure that the cover of the equipment the

board is connected to is correctly attached. Not attaching the cover could result in electric shock.

CAUTION Be sure to ground the host controller. Not doing so could result in electric shock or operation failure.

(Ground resistance: 100 or less) Be sure there are no foreign matters such as sawdust or wiring debris inside the host controller. Such

debris could cause fire, damage, or operation failure. When removing the cable from the board, do not pull the cable. Hold the connector that is connected to

the board. Pulling the cable that is still connected to the board may cause malfunction or damage to the board or cable.

3.3.2 Wiring of connector MC300

Specialized tools are not required for wiring the external forced stop cable connector because plugs with spring connection are used. (1) Applicable wire size and wire fabrication

(a) Applicable wire size The applicable wire size for external forced stop cable connector is shown below.

Connector Model Applicable wire size Forced stop input connector FK-MC0, 5/3-ST-2,5 0.08 to 0.52mm2 (AWG28 to AWG20)

(b) Wire fabrication

Strip the wire according to stripped length indicated in the figure below. Slide the sheath off the wire and gently twist and straighten the strands. When using the wire, be careful not to short with stray strands entering the neighboring poles. Do not use solder on the wire's core as this may lead to insufficient contact.

Approx. 8mm (0.31 inch)

Sheath Core

3 - 8

3. INSTALLATION AND WIRING

1) Using a ferrule

A ferrule can also be used to connect with the connector. Use the ferrules in the table below for the external forced stop cable connector.

Connector Wire size Ferrule model

Crimping tool Manufacturer For 1 wire For 2 wires

External forced stop cable connector

AWG21 AI0.5-8 OG CRIMPFOX-ZA3 PHOENIX CONTACT GmbH & Co. KG

Cut the wire sticking out from the end of the ferrule to 0.5 mm (0.02 inch) or less.

0.5mm (0.02 inch or less)

(2) Inserting wire

1) Press the connector release with a tool such as a flathead screwdriver. 2) While holding the release down, insert the wire all the way in.

2)

Wire

1)

Release

Note. When using a ferrule, make sure the bumpy side is facing towards the release. When inserting 2 wires into one terminal, use a twin ferrule.

Insert the wire with the bumpy side facing the release.

4 - 1

4

4. SYSTEM STARTUP

4. SYSTEM STARTUP

The following explains the preparations and settings for system startup. When using a SSCNET /H head module, and a sensing module, refer to the following. SSCNET /H head module ......................... Section 6.33 Sensing module (station mode) ................. Section 6.34 Sending module (axis mode) ...................... Section 6.35 4.1 Startup procedures

Check of wiring and ambient environment

Position board setting

Servo amplifier setting

Parameter setting

System startup

Perform operation

Visually check whether the position board and servo amplifier are wired correctly. Also check the ambient environment. (Refer to "Section 4.2 Check of wiring and ambient environment".)

Set board ID by position board ID selection (SW1). (Refer to "Section 4.3 Position board setting".)

Set axis No. on the axis selection rotary switch of the servo amplifier. (Refer to "Section 4.4 Servo amplifier setting".)

Set parameter initialization (system command code: 0003h). After parameter initialization, set the parameters according to the system for control cycle, control option 1, sensor input option, vendor ID, and type code. For other parameters, set them according to need. (Refer to "Section 4.5 Parameter setting".)

Set start system startup (system command code: 000Ah). (Refer to "Section 4.6 System startup processing".)

Then operate where necessary.

POINT

When a test operation is necessary before creating a user program, parameter settings, system startup, operation and such can be performed using the test tool attached to the utility software.

4 - 2

4. SYSTEM STARTUP

4.2 Check of wiring and ambient environment

(1) Wiring Refer to "Chapter 3 INSTALLATION AND WIRING".

(2) Cable treatment

The wiring cables should not be strained. The connector part should not be strained.

(3) Environment

Signal cables and bus of host controller are not shorted by wire offcuts and metallic dust. 4.3 Position board setting

Board ID is set by board ID selection (SW1) switch of the position board. (1) Board ID

Board ID and board ID selection switch No. are correlated as shown on the table below. Set board ID so that it will not be duplicated. If it is duplicated, it may interfere with board identification on the host controller side.

Board ID selection

Board ID Switch 1 Switch 2 3 ON ON 2 OFF ON 1 ON OFF 0 OFF OFF

The following is a setting example for controlling four position boards.

Bus on host controller

Other companys board Position board

Board ID: 0

Position board

Board ID: 2

Position board

Board ID: 1

Position board

Board ID: 3

Board ID Switch 1 Switch 2 0 OFF OFF 2 OFF ON 1 ON OFF 3 ON ON

POINT

The board ID may be in no particular order, and can be arbitrarily selected between 0 to 3.

No. of connectable position boards vary by bus specifications of the host controller.

USB connections between one personal computer and multiple position boards set to an overlapping board ID may interfere with board identification on the personal computer-side. As such, do not perform multiple USB connections at the same time.

4 - 3

4. SYSTEM STARTUP

4.4 Servo amplifier setting

(1) MR-J4(W )- B Axis No. of MR-J4(W )- B is set by the axis selection rotary switch (SW1) and the axis No. auxiliary setting (SW2) on the servo amplifier.

Axis selection rotary switch Axis 1 to 32 (Note)

Note. For when set with the axis No. auxiliary setting

ON

1 2 3 4

3-digit, 7-segment LED

Axis No. auxiliary setting switch

Axis selection rotary switch Axis 1 to 32 (Note)

3-digit, 7-segment LED

Axis No. auxiliary setting switch

ON

321 4 5 6

MR-J4- B MR-J4W - B

Servo amplifier axis No.

Axis selection rotary switch

Axis No. auxiliary setting switch

Servo amplifier display (3-digit, 7-segment LED)

d1 0

ON OFF

01 d2 1 02 d3 2 03 d4 3 04 d5 4 05 d6 5 06 d7 6 07 d8 7 08 d9 8 09 d10 9 10 d11 A 11 d12 B 12 d13 C 13 d14 D 14 d15 E 15 d16 F 16 d17 0

ON OFF

17 d18 1 18 d19 2 19 d20 3 20 d21 4 21 d22 5 22 d23 6 23 d24 7 24 d25 8 25 d26 9 26 d27 A 27 d28 B 28 d29 C 29 d30 D 30 d31 E 31 d32 F 32

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4. SYSTEM STARTUP

POINT

For each switch setting, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

If the "An axis that has not been mounted exists" (system error E400) occurred, the axis with wrong axis No. set can be confirmed with "information concerning axis that is not mounted" (monitor No.0480 to 0482).

The servo amplifier axis No. and the axis No. to be managed on the position board are different. For details, refer to Section 4.5.6.

The following is a setting example for controlling six axes (MR-J4- B) for each line by control cycle 0.88ms using MR-MC211.

Servo amplifier

d15

Line 1

d20 d1 d2 d5 d6

Servo amplifierPosition board Servo

amplifier Servo

amplifier Servo

amplifier Servo

amplifier

Servo amplifier

d17

Line 2

d16 d1 d2 d5 d6

Servo amplifier

Servo amplifier

Servo amplifier

Servo amplifier

Servo amplifier

Line 1 Line 2

Servo amplifier axis No.

Axis selection rotary switch

Axis No. auxiliary setting switch

Servo amplifier axis No.

Axis selection rotary switch

Axis No. auxiliary setting switch

3 4 3 4 d15 E OFF OFF d17 0 OFF ON d20 3 OFF ON d16 F OFF OFF d1 0 OFF OFF d1 0 OFF OFF d2 1 OFF OFF d2 1 OFF OFF d5 4 OFF OFF d5 4 OFF OFF d6 5 OFF OFF d6 5 OFF OFF

POINT

The servo amplifier axis No. may be in no particular order, and can be arbitrarily selected between d1 to d20 for MR-MC2 , and d1 to d32 for MR- MC3 .

No. of connectable servo amplifiers vary by control cycle.

4 - 5

4. SYSTEM STARTUP

4.5 Parameter setting

After parameter initialization, set the parameters according to the system such as for control cycle and external signal (sensor) input option. 4.5.1 Parameter initialization

After turning on the position board power, initialize parameter and set before system startup starts.

Position board

3) 1)

2)

Servo amplifier

Host controller

Dual port memory

Parameter data

(Internal memory)

Parameter initial value

Parameter backup (Flash ROM)

Figure 4.1 Parameter data flow during parameter initialization Procedure Description Remarks

1 Confirm system preparation completion (system status code 0001h) Confirmation of system preparation completion uses sscGetSystemStatusCode.

2 To read parameter initial values, perform the parameter initialization (system command code: 0003h).

To read parameters from the flash ROM, perform the flash ROM parameter read (system command code: 0004h).

1) and 2) in Fig. 4.1 Always initialize parameter or read parameter from the flash ROM. Procedure 2 and procedure 3 of parameter initialization uses the sscResetAllParameter function.

3 Check the parameter initialization completion (system status code: 0003h).

Check the flash ROM parameter read completion (system command code: 0004h).

4 Write parameter from user program if required 3) in Fig. 4.1 Parameter writing uses sscChangeParameter/sscChange2Parameter.

4 - 6

4. SYSTEM STARTUP

4.5.2 System option 1 setting

SSCNET communication method and control cycle is set by System option 1 (parameter No.0001). SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET /H method is available. Control cycle is a cycle in which the position board controls command import, position control, status output, and communication with servo amplifier and 0.88ms, 0.44ms and 0.22ms are available. Number of servo amplifier axes which a position board can control is shown below for each control cycle. (1) MR-MC2

(a) For MR-MC210/MR-MC220U3/MR-MC220U6/MR-MC240

Control cycle Maximum No. of axes

connected Maximum No. of axes

connected for each line Controllable axis No.

0.88ms 20 axes 20 axes Axis 1 to 20

0.44ms 16 axes 16 axes Axis 1 to 16 0.22ms 8 axes 8 axes Axis 1 to 8

Note 1. Do not connect more servo amplifiers than the maximum No. of axes connected. When more servo amplifiers are connected than the maximum No. of axes connected, system setting error (alarm No. 38, detail 01) will occur.

2. Use servo amplifier software version A3 or later when the control cycle is 0.22ms, and the 3-axis servo amplifier MR- J4W3- B is used.

(b) For MR-MC211/MR-MC241

Control cycle Maximum No. of axes

connected Maximum No. of axes

connected for each line Controllable axis No.

0.88ms 32 axes 20 axes Axis 1 to 32

0.44ms 16 axes 16 axes Axis 1 to 16 0.22ms 8 axes 8 axes Axis 1 to 8

Note 1. Do not connect more servo amplifiers than the maximum No. of axes connected. When more servo amplifiers are

connected than the maximum No. of axes connected, system setting error (alarm No. 38, detail 01) will occur. 2. Use servo amplifier software version A3 or later when the control cycle is 0.22ms, and the 3-axis servo amplifier MR-

J4W3- B is used. (2) MR-MC3

(a) For MR-MC341

Control cycle Maximum No. of axes

connected Maximum No. of axes

connected for each line Controllable axis No.

0.88ms 64 axes 32 axes Axis 1 to 64

0.44ms 64 axes 32 axes Axis 1 to 64 0.22ms 32 axes 16 axes Axis 1 to 32

Note 1. Do not connect more servo amplifiers than the maximum No. of axes connected. When more servo amplifiers are

connected than the maximum No. of axes connected, system setting error (alarm No. 38, detail 01) will occur. 2. Use servo amplifier software version A3 or later when the control cycle is 0.22ms, and the 3-axis servo amplifier MR-

J4W3- B is used. 3. The 2-axis servo amplifier MR-J4W2- B cannot allocate axis 16 onwards. The 3-axis servo amplifier MR-J4W3- B cannot

allocate axis 15 onwards.

4 - 7

4. SYSTEM STARTUP

Control cycle settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) System parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

0001 *SYSOP1 System option 1

0000h 0000h to 0002h 0 0

Control cycle setting Set the control cycle. 0: 0.88ms 1: 0.44ms 2: 0.22ms SSCNET communication method Set the SSCNET communication method. 0: SSCNET /H Note. SSCNET communication

method is shared in lines 1 and 2.

(2) System information

Address Name Description

MR-MC2 MR-MC3 0004 000004 Control cycle status 0001h: 0.88ms

0002h: 0.44ms 0003h: 0.22ms

0005 000005 0006 000006 Reserved 0007 000007

4 - 8

4. SYSTEM STARTUP

4.5.3 System option 2 setting

Set control mode (standard mode or interface mode) by System option 2 (parameter No.0002). When using interface mode, select "1: Interface mode". When interface mode is assigned and system is startup, the in interface mode signal (IFMO) turns ON. Control mode setting is imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) System parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

0002 *SYSOP2 System option 2

0000h 0000h to

1101h Axis/station No. assignment Set 1 when validating axis/station No. assignment. When axis/station No. assignment is invalid, axis/station No. is automatically assigned. 0: Invalid 1: Valid

0

Control mode selection Set the control mode. 0: Standard mode 1: Interface mode

Consistency check selection at system startup Set whether to perform consistency check for controlled axes setting at system startup. 0: Valid 1: Invalid

4 - 9

4. SYSTEM STARTUP

4.5.4 I/O table setting

Set the I/O table to be used (digital I/O table or I/O device table) by I/O table (parameter No.004A). I/O table setting is imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) System parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

004A *IOTBL I/O table 0000h 0000h to 0001h MC200

0000h to 0002h MC300

00 0

I/O table selection Set the I/O table to be used. 0: Use digital I/O table 1: Use I/O device table (MR-MC2 method) 2: Use I/O device table (expanded points method) MC300

POINT

In relation to the digital I/O function, the following functions are expanded for the I/O device function. We recommend using the I/O device function. Expansion of I/O points used Supports control of I/O word devices

4 - 10

4. SYSTEM STARTUP

4.5.5 Control option 1 setting

When controlling servo amplifier, set "1: control" for control axis of control option 1 (parameter No.0200). When the axis No. is set out of the controllable range, a system setting error (alarm No. 38) will occur at the corresponding axis, and the axis cannot be controlled. If the servo amplifier set is in a state where communication cannot be made, such as not connected or control circuit power is off, the "An axis that has not been mounted exists" (system error E400) will occur during system startup (system command code: 000Ah).

POINT If the "An axis that has not been mounted exists" (system error E400)

occurred, the axis with wrong No. set can be confirmed with "information concerning axis that is not mounted" (monitor No.0402).

Control axis settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) Control parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

0200 *OPC1 Control option 1

0000h 0000h to

2111h Control axis Set 1 when controlling servo amplifier. 0: Do not control 1: Control

No home position Set 1 when setting the position at the time of power on as the home position. After returning to home position, the home position will be the position where home position return is complete. 0: Invalid 1: Valid

Speed unit Set the speed command unit. 0: Position command unit / min 1: Position command unit / s 2: r/min

Amplifier-less axis function Set 1 when not communicating with servo amplifier. When setting 1 with control axis, operation without servo amplifier (simulation) is available. 0: Invalid 1: Valid

POINT When the amplifier-less axis function is valid, the position board simulates the

operations of servo amplifier and operates as if it is connected. Operation can be checked without connecting the servo amplifier. When the setting is valid, the position board do not communicate with the servo amplifier.

4 - 11

4. SYSTEM STARTUP

4.5.6 Axis No. assignment

With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. (1) When Axis No. assignment is invalid

When Axis No. assignment is invalid, correspondence between the axis No. on a position board and the axis No. on a servo amplifier is shown in the following table.

(a) When SSCNET communication method is SSCNET /H

1) Using MR-MC2 Servo amplifier

axis No. Line 1

d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d17 d18 d19 d20 Axis No.

0.88ms 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 0.44ms 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 - - - - 0.22ms 1 2 3 4 5 6 7 8 - - - - - - - - - - - -

Servo amplifier

axis No. Line 2

d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d17 d18 d19 d20 Axis No.

0.88ms 21 22 23 24 25 26 27 28 29 30 31 32 - - - - - - - - 0.44ms - - - - - - - - - - - - - - - - - - - - 0.22ms - - - - - - - - - - - - - - - - - - - -

2) Using MR-MC3

Servo amplifier axis No.

Line 1 d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d30 d31 d32

Axis No.

0.88ms 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 30 31 32 0.44ms 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 30 31 32 0.22ms 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 - - - -

Servo amplifier

axis No. Line 2

d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d30 d31 d32 Axis No.

0.88ms 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 62 63 64 0.44ms 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 62 63 64 0.22ms 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 - - - -

POINT When axis No. assignment is invalid and both line 1 and line 2 are set to

connect to the servo amplifier, the system will not run unless there is a servo amplifier connected to line 1.

4 - 12

4. SYSTEM STARTUP

(2) When Axis No. assignment is valid

When Axis No. assignment is valid, the axis Nos. (1 to 32 MC200 /1 to 64 MC300 ) (on the position board) can be assigned by the servo amplifier axis Nos. (d1 to d20 MC200 /d1 to d64 MC300 ) arbitrarily. To assign the axis Nos., set the following parameters.

POINT

To set servo amplifier axis Nos., use the axis No. assignment (parameter No.0203). Valid servo amplifier axis Nos. differ depending on the control cycle. Up to 20 axes can be set when using MR-MC2 , and up to 32 axes when using MR-MC3 .

Control cycle

SSCNET /H MR-MC2 MR-MC3 0.88ms 1 to 20 1 to 32 0.44ms 1 to 16 1 to 32 0.22ms 1 to 8 1 to 16

(a) System parameter Parameter

No. Symbol Name Function

0002 *SYSOP2 System option 2

0

Axis/station No. assignment selection Set 1 when validating axis/station No. assignment. When axis/station No. assignment is invalid, axis/station No. is automatically assigned. 0: Invalid 1: Valid

0 0

(b) Control parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

0203 *AXALC Axis No. assignment

0000h 0000h to

011Fh MC200

0000h

to 012Fh MC300

0

Servo amplifier line No. Set the servo amplifier line No. to be assigned to the axis Nos. on the position board. 0 to 1: Line No.-1

Servo amplifier axis No. Set the servo amplifier axis No. to be assigned to the axis Nos. on the position board. 00h: No axis No. assignment 01h to 14h: Axis No. 01h to 20h: Axis No. Example) 0Ah: Axis No. 10

MC200 MC300

Note 1. An axis No. out of the valid range causes the system setting error (alarm No. 38, detail 03). 2. Regardless of the control axis setting (parameter No.0200), set the axis No. so that the axis No. assignment is not duplicated.

(Except for 00: No axis No. assignment) Duplicated axis Nos. cause the system setting error (alarm No. 38, detail 04). 3. When Control is set in the control axis setting (parameter No.0200), always set the axis Nos. When 0 is set, system setting error

(alarm No. 38, detail 02) will occur.

4 - 13

4. SYSTEM STARTUP

The following is a setting example for controlling six axes for each line.

Servo amplifier

d1 Axis 1

Line 1

d2 Axis 2

d3 Axis 3

d4 Axis 4

d5 Axis 10

d6 Axis 11

Servo amplifierPosition board Servo

amplifier Servo

amplifier Servo

amplifier Servo

amplifier

Servo amplifier

d1 Axis 5

Line 2

d2 Axis 6

d3 Axis 7

d4 Axis 8

d5 Axis 12

d6 Axis 13

Servo amplifier

Servo amplifier

Servo amplifier

Servo amplifier

Servo amplifier

Axis No. 1 2 3 4 5 6 7 8 10 11 12 13

Control parameter No.0203 setting value

0001h 0002h 0003h 0004h 0101h 0102h 0103h 0104h 0005h 0006h 0105h 0106h

Servo amplifier axis No.

Line 1 d1

Line 1 d2

Line 1 d3

Line 1 d4

Line 2 d1

Line 2 d2

Line 2 d3

Line 2 d4

Line 1 d5

Line 1 d6

Line 2 d5

Line 2 d6

4 - 14

4. SYSTEM STARTUP

4.5.7 Sensor input option setting

External signal (sensor) is connected by setting sensor input options (parameter No.0219). Parameter

No. Symbol Name Initial Value Units

Setting range

Function

0218 *SSIA Sensor signal input assignment MC300

0000h 0000h to 0111h

Only valid when the I/O table (parameter No.004A) setting is "I/O device table (expanded points method)".

0 Input device assignment (LSP) Set the input device assignment connecting LSP to valid/invalid. 0: Assignment not set 1: Assignment valid Input device assignment (LSN) Set the input device assignment connecting LSN to valid/invalid. 0: Assignment not set 1: Assignment valid Input device assignment (DOG) Set the input device assignment connecting DOG to valid/invalid. 0: Assignment not set 1: Assignment valid

0219 *SOP Sensor input options

0000h 0000h to 0304h 0

Sensor input system Set the input system of the sensor (LSP, LSN, DOG). 0: Not use 1: Driver input 2: Digital or input device input 3: Not connected (does not detect LSP, LSN, DOG) 4: Dual port memory input Limit switch signal selection Set valid / invalid of limit switch. 0: LSP/LSN are valid 1: LSP is valid, LSN is invalid 2: LSP is invalid, LSN is valid 3: LSP/LSN are invalid

0

4 - 15

4. SYSTEM STARTUP

Parameter

No. Symbol Name Initial Value Units

Setting range

Function

021A *SLSP Sensor signal (LSP) connection specification

0000h 0000 to FFF1h MC200

0000 to FFFFh MC300

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where LSP is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where the LSP is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where LSP is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where the LSP is connected. 000h to FFFh: DVI_000 to DVI_FFF

[When using a I/O device table (expanded points method)] MC300

Set the input device assignment connecting LSP to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where the LSP is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF 021B *SLSN Sensor signal

(LSN) connection specification

0000h 0000 to FFF1h MC200

0000h to FFFFh MC300

Assigns the input of the sensor signal (LSN). The settings are the same as parameter No.021A

021C *SDOG Sensor signal (DOG) connection specification

0000h 0000 to FFF1h MC200

0000h to FFFFh MC300

Assigns the input of the sensor signal (DOG). The settings are the same as parameter No.021A

4 - 16

4. SYSTEM STARTUP

(1) When selecting the driver input

When 1 (driver input) is selected as the sensor destination, the sensor (LSP, LSN, DOG) status connected to the driver (such as a servo amplifier) is imported via SSCNET. (a) MR-J4(W )- B is used as a servo amplifier

1) MR-J4- B Signal Name Destination connector pin No. Symbol

LSP CN3-2 D11 LSN CN3-12 D12 DOG CN3-19 D13

2) MR-J4W2- B

Signal Name Destination connector pin No. Symbol

( : A, B) A-axis B-axis LSP CN3-7 CN3-20 DI1 LSN CN3-8 CN3-21 DI2 DOG CN3-9 CN3-22 DI3

3) MR-J4W3- B

Signal Name Destination connector pin No. Symbol

( : A, B, C) A-axis B-axis C-axis LSP CN3-7 CN3-20 CN3-1 DI1 LSN CN3-8 CN3-21 CN3-2 DI2 DOG CN3-9 CN3-22 CN3-15 DI3

POINT For sensor connection to the driver, refer to the instruction manual of the

driver. If communication error (system error E401 to E407) occurs, sensor (LSP,

LSN, DOG) input status turns off. If communication error (system error E400) occurs, the input status of the

corresponding axis turns off. (2) When selecting the digital input/input device

When 2 (digital or input device input) is selected as the sensor destination, the setting target differs depending on the I/O table (parameter No.004A) setting. Refer to Section 6.26 to 6.28, 6.33, and 6.35.

I/O table (parameter No.004A) setting Used input signal Parameter specifying the input signal connection Use digital I/O table Digital input signal

(DI_ ) Sensor signal (LSP) connection specification (parameter No.021A) Sensor signal (LSN) connection specification (parameter No.021B) Sensor signal (DOG) connection specification (parameter No.021C) Use I/O device table

(MR-MC2 method) Input device signal (DVI_ )

Use I/O device table (expanded points method) MC300

Input device signal (DVI_ )

Sensor signal input assignment (parameter No.0218) Sensor signal (LSP) connection specification (parameter No.021A) Sensor signal (LSN) connection specification (parameter No.021B) Sensor signal (DOG) connection specification (parameter No.021C)

4 - 17

4. SYSTEM STARTUP

(3) When selecting not connected

When 3 (not connected) is selected as the sensor destination, the sensor (LSP/LSN/DOG) is not detected. Limit switch functions are always invalid. In the home position return using the proximity dog, the position board operates without detected proximity dog.

(4) When selecting dual port memory

When 4 (dual port memory input) is selected as the sensor destination, + side limit switch input signal (LSPC), - side limit switch input signal (LSNC) and proximity dog input signal (DOGC) are imported as substitutes for sensors.

Address (Note)

Bit Symbol Signal Name When in tandem drive MR-MC2 MR-MC3

1004 005004 0 ITL Interlock Master 1 RMONR High speed monitor latch

command Each axis

2 Reserved

3 4 LSPC side limit switch input Each axis 5 LSNC side limit switch input Each axis 6 DOGC Proximity dog input Each axis 7 Reserved

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value

for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

POINT When the sensor input command (LSPC, LSNC, DOGC) is turned on, a

normally-open contact turns on (a normally-closed contact turns off). The polarity of the limit switch input command is the normally closed contact. The polarity of the proximity dog input command can be changed by proximity dog input polarity (parameter No.0240).

CAUTION When "1: driver input" and "2: digital or input device input" are selected as sensor destinations, a delay

occurs due to the communication to detect the signal status. Take the delay time due to communication into consideration when installing each sensor. Communication delay when control cycle is 0.88ms: approx. 2ms Communication delay when control cycle is 0.44ms: approx. 1.5ms Communication delay when control cycle is 0.22ms: approx. 1.3ms

4 - 18

4. SYSTEM STARTUP

4.5.8 Vendor ID and type code setting

Available functions, parameter settings and ranges will vary by servo amplifier type. At the time the communication with the servo amplifier has started, the position board will perform consistency check between vendor ID and type code of the servo amplifier connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output, therefore set correct vendor ID and type code.

POINT If driver type code error (system error E405) occurred, the axis that has set an

incorrect type code can be confirmed with "type code erroneous axis information" (monitor No.0484 to 0485).

(1) Control parameters

Parameter No.

Symbol Name Function

021D *VEND Vendor ID Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code Set the type code. 1000h: MR-J4(W )- B 1200h: MR-JE- B(F)

4 - 19

4. SYSTEM STARTUP

4.6 System startup processing

(1) System startup procedure After parameter initialization, start system startup before performing operations.

Position board 1)

Servo amplifier

Host controller

Dual port memory

Parameter data

(Internal memory)

Parameter initial value

Parameter backup (Flash ROM)

Figure 4.2 Parameter data flow during system startup

Procedure Description Remarks 1 The number of seconds passed since 0000hrs, January 1,

1970 is stored in system startup time. The time is used to create data for alarm history function. When using the API library, the time is automatically set in the sscSystemStart API function.

2 Set the time synchronization information. When using the API library, the time is automatically set in the sscSystemStart API function.

3 Perform the start system startup command (system command code 000Ah)

1) of Figure 4.2 The position board will start communicating with the servo amplifier and write the servo parameters according to the parameters set (refer to Section 4.5.1), and system running will be in process (system status code: 000Ah). Start of system startup uses the sscSetSystemCommandCode function.

4 Confirm the during system running (system status code 000Ah).

Confirmation of during system running uses the sscSetSystemCommandCode function.

API LIBRARY Use the sscSystemStart function to start system startup. For a detailed procedure for system startup, refer to the sample programs

(InterruptDrive/AllParamWrite) contained on the utility software.

4 - 20

4. SYSTEM STARTUP

(2) Sequence example

sscResetAllParameter function

sscChangeParameter function

sscSystemStart function

sscGetSystemStatusCode function

Turn Power ON sscOpen function

Wait for completion of system preparation (Wait until the system is preparing code 0001h is set in the system status code)

Parameter initialization command (set the system command code to 0003h)

Waiting for completion of parameter initialization (wait until the system status code is set to 0003h)

Perform writing of parameters as needed. (data flow 3 in Fig. 4.1)

Start system startup (set the system command code to 000Ah.)

Start system startup

System startup completion

Wait for completion of system startup (wait until the system status code is set to 000Ah.)

User program Position board

System initialization such as memory check

System preparation completion (Set "system is preparing code" 0001h in the system status code)

Waiting for parameter initialization command (wait until the system command code is set to 0003h)

Complete parameter initialization (set the system status code to 0003h) (data flow 1 in Fig. 4.1)

Waiting for system startup command (wait until the system command code is set to 000Ah.)

Start of communication with servo amplifiers (data flow 1 in Fig. 4.2)

Complete system startup (set the system status code to 000Ah.)

Initialization of operation functions

Board search and dual port memory access preparation(open memory access)

Setting of system startup time (set the number of seconds passed since 0000hrs, January 1, 1970)

Waiting for SSCNET response (Set system status code to 0009h)

Time synchronization information setting

Note 1. If an error occurs during system startup, an error code is set in the system status code.

Refer to "Section 13.6 System error" concerning error codes. 2. When the system status code does not become 000Ah (an error code is not stored either.), the following is possible: the SSCNET

communication cable is disconnected, the connected equipment is turned off, the SSCNET communication method (parameter No.0001) is incorrect. The set communication method can be confirmed in SSCNET communication method.

3. Communication with the axes for which parameter No.0200 control axis is set to "1: control performed" will be implemented, therefore be sure to set the control axis parameters.

4. The parameter initialization process (sscResetAllParameter function) is listed for compatibility with older models. It can be omitted for MR-MC2 /MR-MC3 .

5 - 1

5

5. OPERATIONAL FUNCTIONS

5. OPERATIONAL FUNCTIONS

5.1 Summary

There are six modes in operational functions. Operation mode Details

JOG operation Operates while the start operation signal (ST) is ON. Incremental feed Sends a fixed amount. Automatic operation Positions according to the point table. Linear interpolation MC200 Performs linear interpolation control for up to 4 axes, according to the point table.

Interpolation operation MC300 Performs linear interpolation control for up to 4 axes and circular interpolation control for 2 axes according to the point table.

Home position return Moves to the home position, and establishes the home position. Home position reset Sets the current position as the home position. After selecting the operation mode, operation is started by turning ON the start operation signal (ST)/fast start operation signal (FST). During operation the during operation signal (OP) turns ON, and when operation is completed, the completion of operation signal (OPF) turns ON. 5.1.1 Interface

(1) Axis command/axis status bit The common axis command/status bits for operational functions are as follows. (a) Axis command bits

Address (Note) Bit Symbol Signal name

Address (Note) Bit Symbol Signal name MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1001 005001 0 ST Start operation 1002 005002 0 AUT Automatic operation mode 1 DIR Movement direction 1 ZRN Home position return mode 2 STP Stop operation 2 JOG JOG operation mode 3 RSTP Rapid stop 3 S Incremental feed mode 4 Reserved 4 Reserved

5 ORST Operation alarm reset 5 LIP

Linear interpolation mode MC200

Interpolation operation mode MC300

6 Reserved

6 DST Home position reset mode 7 7 Reserved

Address (Note)

Bit Symbol Signal name

MR- MC2

MR- MC3

1006 005006 0 FST Fast start operation 1

Reserved

2 3 4 5 6 7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

5 - 2

5. OPERATIONAL FUNCTIONS

1) Details concerning axis command bits

Symbol Signal name Function details

Function Operation

ST Start operation

Starts operation. When the start operation signal (ST) is turned ON while operation is stopped, the selected operation mode starts. For JOG operation, deceleration begins when the start operation signal (ST) is turned OFF. For other operation modes, operation does not stop even when the start operation signal (ST) is turned OFF. When the start operation signal (ST) is turned ON during operation, it is invalid.

DIR Movement direction

Specify the movement direction. Use in JOG operation mode/incremental feed.

When the movement direction signal (DIR) is turned ON, and the operation start signal (ST) is turned ON, operation starts in the reverse direction. When the movement direction signal (DIR) is turned OFF, and the operation start signal (ST) is turned ON, operation starts in the forward direction.

AUT Automatic operation mode

Specify automatic operation mode. When the automatic operation mode signal (AUT) is turned ON, automatic operation mode is specified. When the automatic operation mode signal (AUT) is turned OFF, automatic operation mode is cancelled.

ZRN Home position return mode

Specify home position return mode. When the home position return mode signal (ZRN) is turned ON, home position return mode is specified. When the home position return mode signal (ZRN) is turned OFF, home position return mode is cancelled.

JOG JOG operation mode

Specify JOG operation mode. When the JOG operation mode signal (JOG) is turned ON, JOG operation mode is specified. When the JOG operation mode signal (JOG) is turned OFF, JOG operation mode is cancelled.

S Incremental feed mode

Specify incremental feed mode. When the incremental feed mode signal (S) is turned ON, incremental feed mode is specified. When the incremental feed mode signal (S) is turned OFF, incremental feed mode is cancelled.

LIP

Linear interpolation mode MC200

Specify linear interpolation mode. When the linear interpolation mode signal (LIP) is turned ON, linear interpolation mode is specified. When the linear interpolation mode signal (LIP) is turned OFF, linear interpolation mode is cancelled.

Interpolation operation mode MC300

Specify interpolation operation mode. When the interpolation operation mode signal (LIP) is turned ON, interpolation operation mode is specified. When the interpolation operation mode signal (LIP) is turned OFF, interpolation operation mode is cancelled.

DST Home position reset mode

Specify home position reset mode. When the home position reset mode signal (DST) is turned ON, home position reset mode is specified. When the home position reset mode signal (DST) is turned OFF, home position reset mode is cancelled.

FST Fast start operation

Starts operation. Instead of using start operation signal (ST), by using fast start operation signal (FST), the time take to start operation from the second time and after can be reduced. Not compatible with JOG operation.

When the fast start operation signal (FST) is turned ON while operation is stopped, the selected operation mode starts. When start operation is accepted, the fast start operation signal (FST) turns OFF. When the fast start operation signal (FST) is turned ON during operation, it is invalid.

5 - 3

5. OPERATIONAL FUNCTIONS

API LIBRARY

The fast start operation bit (FST) is used in the internal processing of all start operation functions (sscAutoStart function etc.), except for JOG operation.

(b) Axis status bits Address (Note)

Bit Symbol Signal name Address (Note)

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1061 0050A1

0 OP During operation 1062 0050A2

0 AUTO In automatic operation mode

1 CPO Rough match 1 ZRNO In home position return mode

2 PF Positioning finish 2 JO In JOG operation mode

3 ZP Home position return complete

3 SO In incremental feed mode

4 SMZ During smoothing of stopping

4 Reserved

5 OALM Operation alarm 5 LIPO

In linear interpolation mode MC200

In interpolation operation mode MC300

6 OPF Completion of operation 6 DSTO In home position reset mode

7 PSW Position switch 7 Reserved

Address (Note) Bit Symbol Signal name

MR- MC2

MR- MC3

1064 0050A4 0 ISTP Interlock stop

1 RMRCH High speed monitor is latched

2 POV Stop position over-bound

3 STO Start up acceptance complete

4 Reserved

5

6 ZREQ Home position return request

7 Reserved

Note. The addresses in the able are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

5 - 4

5. OPERATIONAL FUNCTIONS

1) Details concerning axis status bits

Symbol Signal name Function details

Function Operation

OP During operation

Notifies the axis is in operation. The start operation signal (ST)/fast start operation signal (FST) turned ON, and operation started.

Operation is completed.

PF Positioning finish

Notifies the normal completion of positioning of the end point in operations that use the point table. Unlike the completion of operation signal (OPF), it does not turn ON at alarms and the stop operation signal (STP) etc.

The positioning of the end point completed normally.

The start operation signal (ST)/fast start operation signal (FST) turned ON, and the next operation started. The operation mode was changed.

ZP Home position return complete

Notifies the normal completion of home position return.

The home position return completed normally.

The start operation signal (ST)/fast start operation signal (FST) turned ON, and the next operation started. The operation mode was changed.

SMZ During smoothing of stopping

Notifies the stopping of the output of command pulses to the servo amplifier. For linear interpolation mode MC200 /interpolation operation mode MC300 , it notifies the stopping of the output of command pulses for all axes set to the same group.

All of the conditions below have been established, and the output of command pulses has stopped. (1) The operation of command pulses (before filter) has

completed, or is temporarily stopped. (During pauses such as positioning complete and interlocks)

(2) The command pulse to the servo amplifier is 0. (3) When using smoothing filter, or vibration suppression

command filter MC300 , the droop of the internal operation of the filter (for command pulses that have not been output) is 0.

(4) During linear interpolation MC200 /interpolation operation MC300 , all axes in the group have established the conditions (1) to (3) above.

When one of the conditions above has not been established, and the output of command pulses has started.

OPF Completion of operation

Notifies the axis has completed operation.

Operation has completed.

The start operation signal (ST)/fast start operation signal (FST) turned ON, and the next operation started.

AUTO In automatic operation mode

Notifies the axis is in automatic operation mode.

The automatic operation mode signal (AUT) is ON.

The automatic operation mode signal (AUT) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

5 - 5

5. OPERATIONAL FUNCTIONS

Symbol Signal name Function details

Function Operation

ZRNO In home position return mode

Notifies the axis is in home position return mode.

The home position return mode signal (ZRN) is ON.

The home position return mode signal (ZRN) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

JO In JOG operation mode

Notifies the axis is in JOG operation mode.

The JOG operation mode signal (JOG) is ON.

The JOG operation mode signal (JOG) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

SO In incremental feed mode

Notifies the axis is in incremental feed mode.

The incremental feed mode signal (S) is ON.

The incremental feed mode signal (S) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

LIPO

In linear interpolation mode MC200

Notifies the axis is in linear interpolation mode.

The linear interpolation mode signal (LIP) is ON.

The linear interpolation mode signal (LIP) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

In interpolation operation mode MC300

Notifies the axis is in interpolation operation mode.

The interpolation operation mode signal (LIP) is ON.

The interpolation operation mode signal (LIP) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

DSTO In home position reset mode

Notifies the axis is in home position reset mode.

The home position reset mode signal (DST) is ON.

The home position reset mode signal (DST) is OFF. Multiple operation modes are selected. An incompatible operation mode is selected.

POV Stop position over- bound

Notifies the stop position was exceeded by continuous operation, or position change.

The stop position was exceeded.

The start operation signal (ST) turned ON, and the next operation started. The operation mode was changed.

STO Start up acceptance complete

Notifies the start operation signal (ST) has been accepted.

The start operation signal (ST) is ON.

The start operation signal (ST) is OFF.

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5. OPERATIONAL FUNCTIONS

5.1.2 Precautions

The precautions common to each operation mode are described below. (1) When operation is started before selecting operation mode, operation mode error (operation alarm 20,

detail No.02) occurs, and operation does not occur. Be sure to select operation mode before starting operation.

(2) When multiple operation modes are selected and operation started, operation mode error (operation alarm

20, detail No.01) occurs, and operation does not occur. Be sure to select one operation mode and start operation.

(3) When operation mode is changed during operation, mode change during operation (operation alarm 23,

detail No.01) occurs, and operation stops. Do not change operation mode during operation. (4) When starting operation, be sure to check that the start up acceptance complete signal (STO) (or the fast

start operation signal (FST)) is turned OFF before turning ON the start operation signal (ST) (or the fast start operation signal (FST)). The signals are read every control cycle, therefore the leading edge of the start operation signal (ST) (or the fast start operation signal (FST)) may not be able to be checked.

API LIBRARY With regard to (4), checking that the start up acceptance complete signal (STO)

(or the fast start operation signal (FST)) are OFF is performed in the internal processing of all start operation functions (sscAutoStart function etc.), therefore this process is not required in the user program.

POINT

Refer to Chapter 10 for the table bit for each signal.

5 - 7

5. OPERATIONAL FUNCTIONS

5.1.3 Maximum No. of simultaneous start axes

There are restrictions for the number of axes which can start simultaneously in each operation function and in start operation using other axes start. When the number of started axes exceeds the maximum number of simultaneous start axes, start operation will be performed for the rest of axes in the next control cycle or later.

Control cycle Maximum No. of simultaneous start axes

MR-MC2 MR-MC3 0.88ms 16 32 0.44ms 6 12 0.22ms 2 4

POINT

For the start operation of linear interpolation MC200 /interpolation operation MC300 , one group is regarded to consist of four axes, irrespective of the number of axes in the group.

For the start operation of tandem drive, one group is regarded to consist of one axis.

Start operation by other axes start takes priority, the other axes start in order. When the number of axes which is set in start axis designation of the other axes

start table exceeds the maximum number of simultaneous start axes, other axes start error occurs when the other axes start conditions are fulfilled.

The following shows the operation when axes 9 to 14 are started by other axes start by control cycle of 0.44ms with maximum No. of simultaneous start axes of 6, and the other 14 axes are started in normal start operation.

Cycle n + 1Cycle n

Axis01 Axis02

Axis09 Axis10 Axis11 Axis12 Axis13 Axis14

Axis03 Axis04 Axis05 Axis06

Axis10 Axis11 Axis12 Axis13 Axis14

3)

1)

2)

Operation start axis

Axis01 Axis02 Axis03 Axis04 Axis05 Axis06 Axis07 Axis08 Axis09 Axis10 Axis11 Axis12 Axis13 Axis14 Axis15 Axis16 Axis17 Axis18 Axis19 Axis20

Axis09

Cycle n + 3Cycle n + 2

Axis01 Axis02 Axis03 Axis04 Axis05 Axis06 Axis07 Axis08 Axis09 Axis10 Axis11 Axis12 Axis13 Axis14 Axis15 Axis16 Axis17 Axis18 Axis19 Axis20

Axis01 Axis02 Axis03 Axis04 Axis05 Axis06 Axis07 Axis08

Axis10 Axis11 Axis12 Axis13 Axis14 Axis15 Axis16

: Normal start axis

: Other axes start axis

: After start axis

Axis09

Axis17 Axis18

3)

4)

5 - 8

5. OPERATIONAL FUNCTIONS

5.2 JOG operation

5.2.1 Summary

When the movement direction is specified and the start operation signal (ST) input, it starts in the designated direction and movement continues until the start operation signal (ST) is turned OFF. When the start operation signal (ST) is turned off, it slows and comes to a stop. JOG operation can be used without completing home position return. JOG operation can be used without completing home position return (home position return request (ZREQ) is ON).

Speed

Start operation (ST) Stop of operationStart of operation

ON OFF

ON OFF

ON OFF

ON OFF

JOG mode (JOG)

Completion of operation (OPF)

Movement direction (DIR)

sscJogStart function sscJogStop function

5.2.2 Start operation method

Start operation is performed according to the following procedure. (1) Turn on the JOG operation mode signal (JOG). (2) Set the manual feed speed, manual feed acceleration time constant, and manual feed deceleration time

constant. (3) Use the movement direction signal (DIR) to set the movement direction of the axis.

When the movement direction signal (DIR) is OFF, the axis moves in the direction. And when it is ON, the axis moves in the direction.

(4) Turn on the start operation signal (ST).

POINT The manual feed speed, manual feed acceleration time constant, manual feed

deceleration time constant, and movement direction signal (DIR) are read at the leading edge of the start operation signal (ST). It follows that after start operation, even if there are changes to the data or signal, they are ignored.

API LIBRARY

Use the sscJogStart function to perform procedures (1) to (4) above. Use the sscJogStop or sscJogStopNoWait functions to perform stop operation.

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5. OPERATIONAL FUNCTIONS

5.2.3 Resuming operation

When the start operation signal (ST) is turned off, deceleration is started; however, if the start operation signal (ST) is turned back on while decelerating, it does not completely stop but reaccelerates.

Speed

Start operation (ST)

Start of operation Stop of operation Start of operation ON OFF

ON OFF

Completion of operation (OPF)

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5. OPERATIONAL FUNCTIONS

5.3 Incremental feed

5.3.1 Summary

A prescribed feed amount is implemented for each fast start operation signal (FST). The feed amount is defined using the incremental feed movement amount. Incremental feed can be used without completing home position return (home position return request (ZREQ) is ON).

sscWaitIntDriveFin function/ sscGetDriveFinStatus functionsscIncStart function

After moving the movement amount designated as the incremental feed movement amount, it stops.

Speed

Start of operation

ON OFF

ON OFF

ON OFF

ON OFF

Fast Start operation (FST)

Incremental feed mode (S)

Completion of operation (OPF)

Movement direction (DIR)

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5. OPERATIONAL FUNCTIONS

5.3.2 Start operation method

Start operation is performed according to the following procedure. (1) Turn on the incremental feed mode signal (S). (2) Set the manual feed speed, manual feed acceleration time constant, and manual feed deceleration time

constant. (3) Set the incremental feed movement amount. (4) Use the movement direction signal (DIR) to set the movement direction of the axis.

When the movement direction signal (DIR) is OFF, the axis moves in the + direction and when it is ON, the axis moves in the - direction.

(5) Turn on the fast start operation signal (FST).

POINT The manual feed speed, manual feed acceleration time constant, manual feed

deceleration time constant, movement direction signal (DIR), and incremental feed movement are read at the leading edge of the fast start operation signal (FST). It follows that after start operation, even if there are changes to the data or signal, they are ignored.

Only positive numbers are valid for the incremental feed movement amount. Movement direction is designated by the movement direction signal (DIR).

API LIBRARY

Use the sscIncStart function to perform procedures (1) to (5) above. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation. Use the sscDriveStop or sscDriveStopNoWait functions to perform stop

operation.

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5. OPERATIONAL FUNCTIONS

5.4 Automatic operation

5.4.1 Summary

Automatic operation (positioning) uses the point table for operation. Position data and feed speed designation is set in the point table. When the fast start operation signal (FST) is turned on, instructions are executed in order from the instruction set at the start point No. to the end point No. If automatic operation is started prior to completion of home position return (home position return request (ZREQ) is ON), a home position return not complete error (operation alarm 90, detail 01) occurs upon starting operation and the operation stops.

POINT The start point No. for each of the axis point tables is 0000h. The start point for each of the axis point tables can be designated using point

number offset. Refer to Section 10.12 concerning point number offset. (1) Point table

Point

Position data [Command

units]

Feed speed [Speed units]

Acceleration time constant [ms] (Note 1)

Deceleration time constant [ms] (Note 1)

Dwell/ predwell [ms]

(Note 1)

Auxiliary command

Other axes start

specification

S-curve ratio [%]

4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 bytes 1 bytes

0000 2000 2000 20 30 0 0000h 00000000h 0 0001 5000 2000 30 50 0 0000h 00000000h 0

: : : : : : : : :

Reserved Interpolation

axis No.

Arc coordinate

MC300 (Note 2, 3)

Acceleration/ deceleration

data 1 MC300

Acceleration/ deceleration

data 2 MC300

Acceleration/ deceleration

data 3 MC300

Acceleration/ deceleration

data 4 MC300

Auxiliary command 2

MC300

Reserved MC300

3 bytes 4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 6 bytes 0 00000002h 0 2000 2000 20 30 0000h 0 0 00000002h 0 5000 2000 30 50 0000h 0 : : : : : : : : :

Note 1. Time specified by the acceleration constant, the deceleration constant and the dwell are rounded off based on the control cycle.

(The value is rounded to the nearest integer.) For example, the dwell is specified to 10ms with the control cycle of 0.88ms, the time until executing point is completed after the completion of the point movement is 11 control cycles (approx. 9.778ms).

2. Not used in automatic operation. The setting is invalid. 3. "Reserved" when using MR-MC2 .

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5. OPERATIONAL FUNCTIONS

Speed

0 1 2 0

Positioning complete (PF)

(Note) Rough match (CPO)

sscAutoStart function sscWaitIntDriveFin function/ sscGetDriveFinStatusfunction

Start of operation

Stops after moving to the end point position.

Rough match output limits (parameter No. 0230, 0231)

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Fast Start operation (FST)

Completion of operation (OPF)

Automatic operation mode (AUT)

Operation point No.

Note. The rough match signal (CPO) is determined when the end point is executed. Therefore, it does not turn on when passing points on the way.

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5. OPERATIONAL FUNCTIONS

5.4.2 Start operation method

Start operation is performed according to the following procedure. (1) Set up the point table. (2) Set the start point No. and the end point No. (3) Turn on the automatic operation mode signal (AUT). (4) Turn on the fast start operation signal (FST).

POINT For stoppage of operation midway, turn on the stop operation signal (STP). The current operation point No. can be checked through the operation point No.

of the axis status table (same as monitor No.030A). The point number starts from 0. The point table is a total of 320 MC200 /2048 MC300 points for all axes. The

number of points distributed to each axis can be adjusted using the point number offset. For details, refer to Section 10.12.

API LIBRARY

Use the sscSetPointDataEx function to set up point table in (1) above. Use the sscAutoStart function to perform procedures (2) to (4) above. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation. Use the sscDriveStop or sscDriveStopNoWait functions to perform stop

operation. Use the sscSetPointOffset/sscCheckPointOffset functions to set/get point

number offset. For a detailed procedure from startup of automatic operation to check

completion of operation, refer to the sample programs (InterruptDrive/PollingDrive) contained on the utility software.

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5. OPERATIONAL FUNCTIONS

5.4.3 Auxiliary command

The auxiliary command can be set in the following procedure.

Note 1. The interpolation method cannot be used with automatic operation. The setting is invalid. 2. "Reserved" when using MR-MC2 .

b15 b12

0

b8 b4

0 0

b0

Position command system(bit0) Reserved(bit1)

Reserved(bit3)

Vibration suppression command filter 1 specification (bit2) (Note 2)

Deceleration check system(bit4 to 5) Speed switching point specification(bit6) Dwell specification(bit7) Pass position interrupt specification(bit8) Continuous operation to torque control specification(bit9) Reserved (bit10) Loop specification (bit11 to 12) Interpolation method (bit13 to 15) (Note 1, 2)

(Example) For designation of position command system as 1 (relative position command) and the deceleration check system as 2 (continue operation), set to "0021h".

(1) Position command system

Select the position data command system. 0: Absolute position command 1: Relative position command

POINT

If the setting of the position command system is incorrect, it causes a point table setting error (operation alarm 25, detail 01) and operation is stopped.

(a) Absolute position command Position data is position from the home position.

(b) Relative position command

Position data is the movement distance from the current command position. (2) Vibration suppression command filter 1 specification MC300

Select whether to enable/disable vibration suppression command filter 1. 0: Vibration suppression command filter 1 disabled 1: Vibration suppression command filter 1 enabled

POINT

Refer to Section 6.3.6 for vibration suppression command filter 1.

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5. OPERATIONAL FUNCTIONS

(3) Deceleration check system

Designates the point movement completion conditions. 0: In-position stop 1: Smoothing stop 2: Continue operation

POINT

If the setting of the deceleration check system is incorrect, it causes a point table setting error (operation alarm 25, detail 02) and operation is stopped.

(a) In-position stop After completion of the command pulse output, if it is in-position, the point movement is completed.

Movement to next pointActual speed

Command speed

When the actual position is within the in-position boundaries, movement to the next point is started.

(b) Smoothing stop After completion of the command pulse output, point movement is complete.

Actual speed

Command speed

Movement to next point

If the command is zero, movement to the next point is started.

(c) Continue operation After arriving at the position commanded to go to, the speed is changed to the speed commanded for the next point and movement to the next point is started. The acceleration and deceleration time constants for changing speeds are set to the acceleration and deceleration time constants of the next point. However, continuous operation is not performed under the following conditions. When a dwell is set

If there is a dwell defined, after coming to a smoothing stop and completion of the dwell time setting, movement to the next point is started.

When there is end point Operation that is the same as a smoothing stop is performed.

Command speed

Movement to next point

After arriving at the position commanded to go to, speed is changed to the speed commanded for the next point and movement to the next point is started.

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5. OPERATIONAL FUNCTIONS

For the end point of continuous operation, if the position after deceleration stop exceeds the command position. A selection can be made from the following control option 2 (parameter No.0201).

1) Stop by the alarm 2) After completion of the deceleration stop, return to the command position 3) Stop at the command position

For selection 2), the stop position over-bound signal (POV) is turned on. The stop position over-bound signal (POV) is turned off at the next start up.

2) After completion of the deceleration stop, return to the command position

Deceleration time constant

Speed limit value

Command speed

Previous point position

Next point position

3) Stop at the command position Deceleration time constant

Speed limit value

Command speed

Previous point position

Next point position

POINT

There are times, such as that shown below, where the deceleration position exceeds the command position. This causes a position exceeded during positioning (operation alarm 24, detail 01) and operation is stopped. For when the movement direction is reversed when position of the next point

from the point designated by the deceleration check system under continuous operation.

For the case where deceleration check system goes from continuous operation (point n) to smoothing stop (point n+1) or in-position stop and then goes to reverse direction (point n+2) even when the point table is in this order, if point n+1 positioning distance is not satisfied by the necessary deceleration distance from the point n command speed.

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5. OPERATIONAL FUNCTIONS

(4) Speed switching point specification

If "2: Continue operation" is selected in the deceleration check system, a point where speed change is completed can be specified.

0: After point switching 1: Before point switching

(a) After point switching

Command speed 2

Command speed 1

n n + 1Operation point No.

(b) Before point switching

Command speed 2

Command speed 1

n n + 1Operation point No.

POINT If "1: Before point switching" is specified, the point table (feed speed) of the next

point is imported (read) at start operation or timing when the point switches next point. If the setting of the point table of the next point is incorrect, it causes a point table setting error (operation alarm 25, detail 01) and operation is stopped.

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5. OPERATIONAL FUNCTIONS

(5) Dwell specification

Specify the system of dwell. 0: Dwell 1: Predwell

(a) Dwell

Specify the time until executing point is completed after the point movement is completed. For the pass point, after the time specified with dwell has elapsed, the next point starts moving. For the end point, after the time specified with dwell has elapsed, the completion of operation signal (OPF) turns on.

POINT

The setting range of dwell is 0 to 65535ms.

1) When the deceleration check system is Smoothing stop Time is counted after the during smoothing of stopping signal (SMZ) turns on. The following shows the case for the pass point.

During operation (OP)

During smoothing of stopping (SMZ)

ON OFF

ON OFF

Speed

Dwell

Point 0 is moving. Point 1 is moving.

Point 0 is being executed. Point 1 is being executed.

2) When the deceleration check system is In-position stop Time is counted after the in-position signal (INP) turns on after the during smoothing of stopping signal (SMZ) turns on. The following shows the case for the end point.

Dwell

During operation (OP)

During smoothing of stopping (SMZ)

ON OFF ON OFF

Speed

Point 0 is being executed.

Point 0 is moving.

In-position (INP) ON OFF

Completion of operation (OPF)

ON OFF

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5. OPERATIONAL FUNCTIONS

3) When the deceleration check system is Continue operation

When dwell is set, the condition of point movement completion is a smoothing stop. Therefore, the control is the same as when Smoothing stop is set to the decelerate check system.

(b) Predwell

Point starts moving after the time specified with predwell has elapsed.

POINT The setting of predwell is valid only in the start point. If predwell is set in the

other points, it causes a point table setting error (operation alarm 25, detail 0A) and operation is stopped.

In the initial setting, the setting range of predwell is 0 to 3000ms. If the value which is out of the range is set, it causes a point table setting error (operation alarm 25, detail 0A) and operation is stopped. To remove the limit of the setting range, set 1: 0 to 65535ms to predwell setting range (parameter No.0206).

CAUTION If large value is set by mistake, the wait time of axis is long and it may look as if axes did not operate. In

that case, it is dangerous to approach the moving part because axes operate unexpectedly. Do not approach the moving parts even when axes do not operate while during operation signal (OP) is on because the axes may operate.

During operation (OP)

During smoothing of stopping (SMZ)

ON OFF

ON OFF

Speed

Point 1 is moving.Point 0 is moving.

Point 1 is being executed.

Point 0 is being executed.

Predwell

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5. OPERATIONAL FUNCTIONS

(6) Pass position interrupt specification

Select valid or invalid for the pass position interrupt. 0: Pass position interrupt invalid 1: Pass position interrupt valid

POINT

This setting in the point data of the start point No. is valid only. If the point data after the start point No. are set, it causes a point table setting error (operation alarm 25, detail 0C) and the operation is stopped.

(7) Continuous operation to torque control specification

Select valid or invalid for continuous operation to torque control. 0: Continuous operation to torque control invalid 1: Continuous operation to torque control valid

POINT

Refer to Section 6.32 for continuous operation to torque control. (8) Loop specification

Specify the start and end when using the point table in loop method. 0: Not using point table method 1: Loop start point 2' Loop end point

POINT

Refer to Section 5.4.6 for loop specification. 5.4.4 Other axes start specification

Set other axes start data number (1 to 32 MC200 /1 to 64 MC300 ). When the other axes start data number is set, the position board starts the other axes according to other axes start conditions and operation details of their start data. Up to 2 other axes start data number can be set. For details concerning other axes start function, refer to Section 6.23.

POINT If the setting of the other axes start specification is incorrect, it causes a point

table setting error (operation alarm 25, detail 09) and operation is stopped.

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5. OPERATIONAL FUNCTIONS

5.4.5 S-curve ratio

Perform S-curve acceleration/deceleration for acceleration/deceleration selected in speed options (parameter No.0220). For automatic operation, this setting is valid regardless of the setting of S-curve ratio (parameter No.0221).

0: S-curve acceleration/deceleration invalid 1 to 100: S-curve acceleration/deceleration

5.4.6 Point table loop method

Point table loop method can be used by setting the loop specification of auxiliary command. When using the point table in loop method, refer to/set the following data. (1) Axis data command/status table

(a) Axis data command table Address (Note 1)

Content Setting range

MR-MC2 MR-MC3 MR-MC2 MR-MC3 102C 00503C

Start point No. 0 to 319 0 to 2047 102D 00503D 102E 00503E

End point No. 0 to 319 0 to 2047 102F 00503F 103A 00504A

Latest command point No. (Note 2) 1 to 320 1 to 2048 103B 00504B

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

2. Set the latest command point No. to the value of the point number + 1.

(b) Axis data status table Address (Note 1)

Content Output range

MR-MC2 MR-MC3 MR-MC2 MR-MC3 108C 0050DC

Operation point No. 0 to 320 0 to 2048 108D 0050DD

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

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5. OPERATIONAL FUNCTIONS

(2) Axis status bit

Address (Note) Bit Symbol Signal name When in tandem drive

MR-MC2 MR-MC3 1067 0050A7 0 PPIOP Pass position interrupt Master

1 PPIFIN Pass position interrupt complete Master

2 PPIERR Pass position interrupt incomplete

Master

3

Reserved 4 5 6 7 AUTLO In point table loop Master

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

(a) Details on axis command bit

Symbol Signal name Function details

Function Operation AUTLO In point table loop Indicates that the point table is being

used in loop method.

The operation of loop start point set by the auxiliary command loop specification of the operation start point has started.

One of the following conditions is not satisfied. The operation of loop end point set by auxiliary

command loop specification is completed. During the operation of a point set by auxiliary

command loop specification, an alarm or stop caused the operation to complete.

(3) Controlling method for using the point table in loop method

The controlling method for using the point table in loop method is as follows. 1) Set the point table and latest command point No. 2) Set the start point No. and end point No. to the start point No. and end point No. of the loop. 3) Turn ON the automatic operation mode signal (AUT). 4) Turn ON the fast start operation signal (FST). 5) After the completion of operation for each point, update (overwrite) the point table, and set the latest

command point No. 6) At the completion of operation, set the loop end point to the auxiliary command loop specification,

and set the latest command point No.

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5. OPERATIONAL FUNCTIONS

POINT

When operation point No. matches the latest command point No., operation waits until the latest command point No. is updated. (Operation is not completed, and remains in a stopped state.)

When a speed change is conducted during standby, speed change error signal (SCE) turns ON, and speed cannot be changed.

When a time constant change is conducted during standby, acceleration time constant change error signal (TACE), or deceleration time constant change error signal (TDCE) turns ON, and time constant cannot be changed.

When the loop start point is specified but the latest command point No. is 0, a point table loop error (operation alarm 5F, detail 01) occurs, and operation does not start.

When the loop start point is set in one-point operation (start point No. and end point No. are matching), a point table loop error (operation alarm 5F, detail 02) occurs, and operation does not start.

When a value smaller than start point No. + 1, or a value larger than end point No. + 1 is input to the latest command point No., a point table loop error (operation alarm 5F, detail 03) occurs, followed by a deceleration stop.

Only the point data for the start point No. is valid for the loop start point of this setting. Point data after the loop start point that is set to the loop start point is invalid.

After the operation of a point which specifies continuous operation, when the next point has not been updated, a point table loop error (operation alarm 5F, detail 04) occurs, and operation is cancelled with a deceleration stop.

During an operation that does not use loop method, when the loop end point is specified, a point table loop error (operation alarm 5F, detail 05) occurs, and operation is cancelled with a deceleration stop.

When specifying switch before point in speed switching point specification, use more three or more points.

When specifying switch before point in speed switching point specification, update the next point before the start of operation for the specified point. When the next point is not updated before start of operation of the specified point, a point table loop error (operation alarm 5F, detail 06) occurs, and operation is cancelled with a deceleration stop.

The settings for which only the point of the start point No. is valid (pass position interrupt specification, etc.) are only valid for the start operation point. When setting to a point other than the start operation point, the operation is the same as when setting point data after the start point No.

5 - 25

5. OPERATIONAL FUNCTIONS

API LIBRARY

Use the sscSetPointDataEx function for setting of the point table. Use the sscSetLatestPointNumber function for setting of the latest command

point No. Use the sscAutoStart function to perform the procedures in (3) 2) to 4) of this

section. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation. Use the sscDriveStop or sscDriveStopNoWait functions to perform stop

operation. Use the sscSetPointOffset/sscCheckPointOffset functions to set/get point

number offset. For a detailed procedure from startup of automatic operation to check

completion of operation, refer to the sample program "DrivePointLoop" contained on the utility software.

(4) Operation example

The following is an operation example of using point number 0 to 7. (a) Before start of operation

Point table 0 1 2 3 4 5 6 7 8 9 10

Write before operation start (Note) 0

7

8

0

Start point No.

End point No.

Latest command point No.

Operation point No.Set point number + 1

Loop start point is specified to start operation point

Note. Writing point data for the entire area used in the loop before operation start is not necessary.

(b) During operation

Point table 0 1 2 3 4 5 6 7 8 9 10

Note. Do not update the point table of operation point No.

After conducting operation, the point table is updated successively

Loop from start point to end point

0

7

2

5

Start point No.

End point No.

Latest command point No.

Operation point No.

(c) At operation completion

Point table 0 1 2 3 4 5 6 7 8 9 10

Loop end point is specified to end point

0

7

6

2

Start point No.

End point No.

Latest command point No.

Operation point No.

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5. OPERATIONAL FUNCTIONS

5.4.7 Acceleration/deceleration data MC300

Sets the acceleration/deceleration data 1 to 4. Refer to Section 6.3.5 for details. 5.4.8 Auxiliary command 2 MC300

The following can be specified in auxiliary command 2. b15 b12

000000

b8 b4

0000000

b0

Acceleration/deceleration method (bit0 to 2) Reserved (bit3 to 15)

(1) Acceleration/deceleration method Select the acceleration/deceleration method 0: Linear acceleration/deceleration/S-curve acceleration/deceleration 1: Jerk ratio acceleration/deceleration

POINT Refer to Section 6.3.5 for jerk ratio acceleration/deceleration.

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5. OPERATIONAL FUNCTIONS

5.5 Interpolation operation MC300

5.5.1 Summary

Interpolation operation performs interpolation control for multiple axes. This system enables a maximum of 4- axis linear interpolation control or circular interpolation control for 2 axes. When the feed speed and position data are defined in the point table and the fast start operation signal (FST) is input after changing to interpolation operation mode, all of the axes set up in the group perform interpolation operation. The axis that has the fast start operation signal (FST) input into it is referred to as the "primary axis", and all other axes are referred to as an "auxiliary axis". Refer to Section 5.6 and Section 5.7 for details concerning interpolation control.

Primary axis position

Start of operation

0 1(point 0) 2(point 1) 0

Point 0 (Linear interpolation)

sscWaitIntDriveFin function/ sscGetDriveFinStatus functionsscInterpolationStart function

Point 1 (Circular interpolation)

Primary axis Operation point No.

Auxiliary axis position

Stops after moving to the end point position.

Primary axis Interpolation operation mode(LIP)

Primary axis Fast start operation(FST)

Primary axis Positioning finish(PF)

Primary axis Completion of operation (OPF)

Auxiliary axis Interpolation operation mode(LIP)

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

POINT

It is possible to switch between linear interpolation and circular interpolation at each point during interpolation operation for 2 axes.

Interpolation group cannot be changed during operation.

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5. OPERATIONAL FUNCTIONS

5.5.2 Proximity pass function

The proximity pass function suppresses machine vibrations that occur at point data switching when performing continuous operation via interpolation control. To enable proximity pass, set "1: Proximity pass" in trajectory processing during continuous operation (parameter No.0261). While proximity pass is enabled, the surplus movement amount at the end of each successively executed point data is transferred over to the next point data. By not performing position adjustment, output speed losses are reduced, and machine vibrations that occur when the speed changes can be suppressed. As position adjustment is not performed, a trajectory that passes through the proximity of the position set as position data for the point table serves as the control. The following shows the trajectory when continuous operation has been performed using 2-axis linear interpolation control. (1) When trajectory processing during continuous operation (parameter No.0261) is set to "0: Position

adjustment" (initial value)

Primary axis position

As maintaining constant speed will exceed the position data (target position) of point 0, speed is reduced and position adjustment is executed.

Auxiliary axis position

Point 1 trajectory Point 0 trajectory

Point 0 position data (target position)

Point 0

Vector speed

Point 1 Time

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5. OPERATIONAL FUNCTIONS

(2) When trajectory processing during continuous operation (parameter No.0261) is set to "1: Proximity pass"

Point 0 Point 1 Time

Primary axis position

Auxiliary axis position

Vector speed

Point 0 trajectory Point 1 trajectory

Point 0 position data (target position)

Trajectory control is executed so that the total vector movement amount before and after point switch (B+C) is equal to the vector movement amount of each control cycle (A).

Vector movement amount (C)Vector movement

amount (B)

Vector movement amount of each control cycle (A)

Suppresses speed decline. If the changes in vector speed direction are small, speed decline will be lessened. When there are no changes in vector speed direction, speed decline is eliminated.

POINT

When performing continuous operation, if the movement amount specified in the position data is small the output speed may fail to reach the command speed.

During interpolation operation a movement direction check is not performed, so a deceleration stop will not occur even if there is a change in movement direction. As such, a rapid reversal may occur if there is a change in movement direction. To avoid a rapid reversal, do not select continuous operation when using the deceleration check method on the point data for the pass point. Instead, use either an in-position stop or a smoothing stop.

Trajectory processing is performed through position adjustment when the target position is reached within a control cycle where a position, speed, or time constant change was executed.

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5. OPERATIONAL FUNCTIONS

5.6 Linear interpolation

5.6.1 Summary

Linear interpolation operation has linear interpolation control performed for the axes set up as a group. This system enables a maximum of 4-axis linear interpolation control. When the feed speed and position data are defined in the point table and the fast start operation signal (FST) is input, all of the axes set up in the group perform linear interpolation operation. If linear interpolation operation is started prior to completion of home position return (home position return request (ZREQ) is ON), a home position return not complete error (operation alarm 90, detail 01) occurs upon starting operation and the operation stops. From this point on, the axis that has the fast start operation signal (FST) input into it is referred to as the "primary axis", and all other axes are referred to as an "auxiliary axis".

ON OFF

0 1 2 0

Start of operation

ON OFF

ON OFF

ON OFF

ON OFF

sscLinearStart function sscWaitIntDriveFin function/ sscGetDriveFinStatus function

Stops after moving to the end point position.

Primary axis completion of operation (OPF)

Primary axis fast start operation (FST)

Primary axis operation point No.

Auxiliary axis linear interpolation mode / interpolation operation mode (LIP)

Primary axis linear interpolation mode / interpolation operation mode (LIP)

Primary axis positioning complete (PF)

Auxiliary axis speed

Primary axis speed

MC200

sscInterpolationStart function

MC200

MC300

MC300

C20

MC300

MC200

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5. OPERATIONAL FUNCTIONS

POINT

When the interpolation axis setting method (parameter No.004C) is "0: Use control parameter", the group setting is set using the linear interpolation group MC200 /interpolation group MC300 (parameter No.0260). If the group number is set to 0, the axis becomes an independent axis, making it so linear interpolation operation can not be performed. The number of groups that can be defined differs with the control cycle. When the interpolation axis setting (parameter No.004C) is "1: Use point table", the axis set to the interpolation axis No. of the point table becomes a linear interpolation group, and the valid number of groups simultaneously execute interpolation control.

Control cycle

Valid group number MR-MC2 MR-MC3 Control parameter Point table Control parameter Point table 0.88 ms 1 to 8 1 to 16 0.44 ms 1 to 4 1 to 8 0.22 ms 0 1 to 4 Even when the linear interpolation group is within the valid group number range,

depending on the combination of functions used, operation cycle alarm signal (OCME), and operation cycle warning (OCMW) may turn ON.

The fast start operation signal (FST) is only to be input on a primary axis.

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5. OPERATIONAL FUNCTIONS

An example of the feed speed and speed of axis 1 and 2 when each axis is interpolated is shown below.

Linear interpolation speed limit value

Feed speed

Actual acceleration time

Actual deceleration time

Acceleration time constant

Deceleration time constant

1st axis speed

2nd axis speed

Speed for each axis is figured out by dividing feed speed by distance ratio.

Axis 2 speed

Start position

Feed speed

Axis 1 Axis 1 speed

End point

Axis 2

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5. OPERATIONAL FUNCTIONS

5.6.2 Settings

Set the following items when performing linear interpolation. Refer to Section 5.4 for details concerning the point table. (1) Setting 1: Items set for system parameter

Items Content Remarks System parameter Interpolation axis setting method (parameter

No.004C) Set the input method of the interpolation axis No. for linear interpolation MC200 /interpolation operation MC300 .

(2) Setting 2: Items set for all axes to be interpolated

Items Content Remarks Point table Position data Define setting within maximum moveable limits.

(Maximum moveable limit 999999999) Other axes start specification Define the setting when using the other axes start. Pass position interrupt specification Define the setting when using the pass position

interrupt. Axis data Start point No.

End point No. Define the settings such that the number of points between start and finish is the same for all axes in the group configuration.

Axis data (command bit) Linear interpolation mode signal MC200 / interpolation operation mode signal MC300 (LIP)

Turn on this bit.

Control parameter Linear interpolation group MC200 / interpolation group MC300 (parameter No.0260)

When interpolation axis setting method (parameter No.004C) is "0: Use control parameter", define the linear interpolation group number. The maximum number of axes that can be defined for a group is 4. For tandem drive axes, only the master axis must be set.

Speed limit value (parameter No.0222, 0223) Defines the speed limit for each axis. Used when selecting "speed clamp" or "alarm stop" as control options for excessive speed processing.

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5. OPERATIONAL FUNCTIONS

(3) Setting 3: Items defined for the primary axis

Items Content Remarks Point table for primary axis Feed speed

Acceleration time constant (ms) Deceleration time constant (ms) Dwell (ms) Auxiliary command S-curve ratio [%] Interpolation axis No. Interpolation method MC300 Vibration suppression command filter1 specification MC300

The interpolation axis No. is only required when the interpolation axis setting method (parameter No.004C) is "1: Use point table". Only the start point No. setting is valid. This setting cannot be changed during operation.

Control parameters for the primary axis

Speed units (parameter No.0200) Linear interpolation options MC200 / interpolation options MC300 (parameter No.0261) Linear interpolation speed limit value MC200 / interpolation speed limit value MC300 (parameter No.0262, 0263) Start up speed (parameter No.0224, 0225) Speed units multiplication factor (parameter No.020E, 020F)

The r/min of the units for speed cannot be set.

Command data for the primary axis

Latest command point No. Set when using the point table loop method.

(4) Point table

Point

Position data [Command

units]

Feed speed [Speed units]

Acceleration time constant [ms] (Note 1)

Deceleration time constant [ms] (Note 1)

Dwell/ predwell [ms]

(Note 1)

Auxiliary command

Other axes start

specification

S-curve ratio [%]

4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 bytes 1 bytes

0000 2000 2000 20 30 0 0000h 00000000h 0 0001 5000 2000 30 50 0 0000h 00000000h 0

: : : : : : : : :

Reserved Interpolation

axis No.

Arc coordinate

MC300 (Note 2)

Acceleration/ deceleration

data 1 MC300

(Note 2)

Acceleration/ deceleration

data 2 MC300

(Note 2)

Acceleration/ deceleration

data 3 MC300

(Note 2)

Acceleration/ deceleration

data 4 MC300

(Note 2)

Auxiliary command 2

MC300 (Note 2)

Reserved MC300

3 bytes 4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 6 bytes 0 00000002h 0 0 0 0 0 0000h 0 0 00000002h 0 0 0 0 0 0000h 0 : : : : : : : : :

Note 1. Time specified by the acceleration constant, the deceleration constant and the dwell are rounded off based on the control cycle. (The value is rounded to the nearest integer.) For example, the dwell is specified to 10ms with the control cycle of 0.88ms, the time until executing point is completed after the completion of the point movement is 11 control cycles (approx. 9.778ms).

2. Not used in linear interpolation.

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5. OPERATIONAL FUNCTIONS

(a) Interpolation axis No.

bit31 24 16 8 0 Interpolation axis No. 3Reserved Interpolation axis

No. 2 Interpolation axis No. 1

Interpolation axis No. 1 to 3 Specify the axis Nos. of auxiliary axes set to the same group during linear interpolation Example) Set 00040302h when setting axis 2, 3, and 4 to interpolation axes No. 1 to 3 respectively

which have axis 1 as primary axis.

1) Cause of alarm When an axis No. exceeding the maximum number of control axes is set to interpolation axis No. 1

to 3, interpolation axis No. incorrect (operation alarm 41, detail 03) occurs and operation is stopped. When the number of linear interpolation MC200 /interpolation operation MC300 groups operating

simultaneously exceeds the number of valid groups, number of valid interpolation groups exceeded (operation alarm 41, detail 04) occurs and operation is stopped.

(b) Auxiliary command

b15 b12

0

b8 b4

0 0

b0

Position command system(bit0) Reserved(bit1)

Reserved(bit3)

Vibration suppression command filter 1 specification (bit2) (Note 1)

Deceleration check system(bit4 to 5) Speed switching point specification(bit6) Dwell specification(bit7) Pass position interrupt specification(bit8) Continuous operation to torque control specification(bit9) Reserved (bit10) Loop specification (bit11 to 12) Interpolation method (bit13 to 15) (Note 1)

Note 1. "Reserved" when using MR-MC2 .

Interpolation method Select the control method for interpolation operation. 0: Linear interpolation 1: Auxiliary point-specified circular interpolation control (Note 2) 2: Central point-specified circular interpolation control (CW) (Note 2) 3: Central point-specified circular interpolation control (CCW) (Note 2) Note 2. Not used in linear interpolation.

POINT If the interpolation method is set outside the range a point table setting error

(operation alarm 25, detail No.11) occurs and operation is stopped.

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5.6.3 Start operation method

Start operation is performed according to the following procedure. (1) Define the linear interpolation group MC200 /interpolation group MC300 , the linear interpolation speed limit

value MC200 /interpolation speed limit value MC300 , and the linear interpolation options MC200 /interpolation options MC300 in the control parameters. The group number is only required when interpolation axis setting method (parameter No.004C) is "0: Use control parameter", and is valid during system startup. Other than that it is valid during writing of parameters.

(2) Set up the point table. At this time, all items are set up for the primary axis and only position data is set up

for auxiliary axes. Settings for other items are invalid. (3) Set the start point No. and end point No. for all of the axes in the group configuration.

Define the setting so that the number of points for all of the axes is the same. (4) Turn on the linear interpolation mode signal (LIP) for all of the axes in the group. (5) Turn on the fast start operation signal (FST) for the primary axis.

POINT To stop the operation, turn on stop operation signal (STP) of any axis in the

linear interpolation group. The current operation point No. can be checked through the operation point No.

of the axis status table (same as monitor No.030A). The start point No. for the point table is 0. The point table is a total of 320 MC200 /2048 MC300 points for all axes. The

number of points distributed to each axis can be adjusted using the point number offset. For details, refer to Section 10.12.

When using the point table in loop method, the primary axis setting values are valid for the latest command point No. and the start point No. /end point No. of the loop. Update the latest command point No. after writing the point tables of all axes in the group.

The specifications when using "1: Use point table" as the interpolation axis setting method (parameter No.004C) are shown below. Specification of interpolation axis No. is only valid for starting point. Linear interpolation group (parameter No.0260) is invalid even when specified. The startup method does not change. Changeable interpolation group signal (IPCH) turns ON. Linear interpolation outputs the interpolation group number being executed to

the primary axis and auxiliary axis being executed. The interpolation group number for the primary axis and auxiliary axis for

which linear interpolation has ended is cleared and becomes 0.

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5. OPERATIONAL FUNCTIONS

API LIBRARY

Use the sscSetPointDataEx function to set up point data as shown above in (2). Use the sscLinearStart function to perform procedures (3) to (5) above. When

using MR-MC3 , use the sscInterpolationStart function. Use the sscDriveStop or sscDriveStopNoWait functions to perform stop

operation. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation. Use the sscSetPointOffset/sscCheckPointOffset functions to set/get point

number offsets. 5.6.4 Processing for exceeding speed limit for each axis

Processing is different concerning exceeding speed limit for each axis depending on the setting for excessive speed processing (parameter No.0261). (1) Using a speed clamp

When parameter No.0261 is set to 0, if there is an axis that exceeds the speed limit, other axes grouped with the axis are also clamped. The actual acceleration time is the time until the feed speed after clamping is reached.

Start operation (ST)

Operation alarm (OALM)

Actual acceleration time Actual deceleration time

Speed of each axis after clamp

Feed speed after clamp

Original feed speed

Original speed of each axis

ON OFF

ON OFF

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5. OPERATIONAL FUNCTIONS

(2) For using alarm stop (example for continuous operation point change)

When parameter No.0261 is set to 1, if there is an axis that exceeds the speed limit for point toggling other than start up or continuous operation, an alarm is set and start up can not be performed. During continuous operation, if there is an axis that exceeds the speed limit, an alarm is set and deceleration to a stop is performed.

Operation alarm (OALM)

Start operation (ST)

Speed for each axis for next point

ON OFF

ON OFF

Speed for each axis

Actual deceleration time

Speed limit for each axis

Point change

(3) No processing

When parameter No.0261 is set to 2, normal operation is continued even if the speed limit is exceeded.

Start operation (ST)

ON OFF

Speed limit for each axis Speed of each axis

Feed speed

Note. This enables operation at the limits of the motor; however, there is the possibility of setting overload or over speed alarms.

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5. OPERATIONAL FUNCTIONS

5.6.5 Restrictions

The following restrictions apply concerning use of linear interpolation. (1) A primary axis "linear interpolation start up error MC200 /interpolation start up error MC300 (operation alarm

40)" occurs for the following. If axes that have been set to something besides linear interpolation mode MC200 /interpolation operation

mode MC300 (LIP) are included in the same group. (operation alarm 40, detail 01) If a single group is defined with 5 or more axes. (operation alarm 40, detail 02) If a group number that exceeds the valid group number is defined when performing start operation for

linear interpolation. (operation alarm 40, detail 03) If the axes in the group are defined with a varying number of points. (operation alarm 40, detail 04) If the speed unit (parameter No.0200) is defined to be "2: r/min". (operation alarm 40, detail 05)

(2) A primary axis linear interpolation point data error MC200 /interpolation point data error MC300 (operation

alarm 41) and an auxiliary axis group error (operation alarm 16, detail 01) occur for the following. If there is an axis within the group whose movement amount exceeds the maximum of 999999999.

(operation alarm 41, detail 01) If the speed limit for the group configured axis is exceeded. (operation alarm 41, detail 02)

(If excessive speed processing (parameter No.0261) is defined to be "1: alarm stop".) (3) If there is an auxiliary axis in operation or has an alarm set upon starting linear interpolation mode MC200 /

interpolation operation mode MC300 , can't start linear interpolation auxiliary axis error MC200 /can't start interpolation auxiliary axis error MC300 (operation alarm 42) occurs on the primary axis.

(4) If an alarm occurs during operation, the axis that caused the error has the corresponding alarm occur; all

the other axes in the group have the "group error" (operation alarm 16, detail 01) occur. (5) If any of the axes defined below is within the group, "out of software limit boundaries (operation alarm A1)"

or "reached software limit (operation alarm A2)" occurs. If there is movement from within Software limits to outside the limits. (operation alarm A1, detail 01) If there is movement from outside Software limits in the direction of outside the limits. (operation alarm A2,

detail 01) (6) The command change signal is input to the primary axis. Input of the signal to auxiliary axes is invalid.

When changing speeds. When changing time constants. When changing position.

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5.7 Circular interpolation MC300

5.7.1 Summary

Circular interpolation operation performs circular interpolation control for axes set to the group. This system can perform circular interpolation control for 2 axes. There are 2 types of arc specification methods, the auxiliary point-specified method and the central point-specified method. When the feed speed and position data are defined in the point table and the fast start operation signal (FST) is input, the 2 axes set up in the group will perform interpolation operation (circular interpolation). If circular interpolation operation is performed prior to completion of home position return (home position return request (ZREQ) is ON), a home position return not complete error (operation alarm 90, detail 01) occurs at operation start-up and operation is stopped. From this point on, the axis that has the fast start operation signal (FST) input into it is referred to as the "primary axis", and all other axes are referred to as the "auxiliary axis".

0 1 0

Primary axis position

Primary axis Interpolation operation mode(LIP)

Primary axis Fast start operation(FST)

Primary axis Positioning finish(PF)

Primary axis Completion of operation (OPF)

Start of operation

Primary axis Operation point No.

Auxiliary axis Interpolation operation mode(LIP)

sscWaitIntDriveFin function/ sscGetDriveFinStatus functionsscInterpolationStart function

Auxiliary axis position

Stops after moving to the end point position.

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Trajectory determined by circular interpolation

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5.7.2 Settings

Set the following items when performing circular interpolation. Refer to Section 5.4 for details concerning the point table. (1) Setting 1: Items set for system parameter

Items Content Remarks System parameter Interpolation axis setting method

(parameter No.004C) Set the interpolation axis No. input method for interpolation operation.

(2) Setting 2: Items set for all axes to be interpolated

Items Content Remarks Point table Position data Define the setting within the end point range.

Arc coordinate Define positions for the auxiliary or central points.

Other axes start specification Define the setting when using the other axes start. Pass position interrupt specification Define the setting when using the pass position

interrupt. Axis data Start point No.

End point No. Define the settings such that the number of points between start and finish is the same for all axes in the group configuration.

Axis data (command bit) Interpolation operation mode signal (LIP) Turn on this bit. Control parameter Interpolation group (parameter No.0260) When interpolation axis setting method (parameter

No.004C) is "0: Use control parameter", define the interpolation operation group number. Define 2 axes for a group. For tandem drive axes, only the master axis must be set.

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(3) Setting 3: Items defined for the primary axis

Items Content Remarks Point table for primary axis Feed speed

Acceleration time constant (ms) Deceleration time constant (ms) Dwell (ms) Auxiliary command S-curve ratio [%] Interpolation axis No. Interpolation method Vibration suppression command filter1 specification

For auxiliary point-specified circular interpolation, define the auxiliary command interpolation method as "auxiliary point-specified circular interpolation". For central point-specified circular interpolation, define the auxiliary command interpolation method as either "central point-specified circular interpolation (CW)" or "central point-specified circular interpolation (CCW)" so as to match the rotation direction. The interpolation axis No. is only required when the interpolation axis setting method (parameter No.004C) is "1: Use point table". Only the start point No. setting is valid. This setting cannot be changed during operation. Feed speed is clamped according to the interpolation speed limit value.

Control parameters for the primary axis

Speed units (parameter No.0200) Interpolation options (parameter No.0261) Interpolation speed limit value (parameter No.0262, 0263) Start up speed (parameter No.0224, 0225) Speed units multiplication factor (parameter No.020E, 020F) Circular interpolation range (parameter No.02CC, 02CD) (Note 1)

The r/min of the units for speed cannot be set.

Command data for the primary axis

Latest command point No. Set when using the point table loop method.

Note 1. Used only when performing central point-specified circular interpolation control. (4) Point table

Point

Position data [Command

units]

Feed speed [Speed units]

Acceleration time constant [ms] (Note 1)

Deceleration time constant [ms] (Note 1)

Dwell/ predwell [ms]

(Note 1)

Auxiliary command

Other axes start

specification

S-curve ratio [%]

4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 bytes 1 bytes

0000 2000 2000 20 30 0 0000h 00000000h 0 0001 5000 2000 30 50 0 0000h 00000000h 0

: : : : : : : : :

Reserved Interpolation

axis No. Arc

coordinate

Acceleration/ deceleration

data 1 (Note 2)

Acceleration/ deceleration

data 2 (Note 2)

Acceleration/ deceleration

data 3 (Note 2)

Acceleration/ deceleration

data 4 (Note 2)

Auxiliary command 2

(Note 2)

Reserved

3 bytes 4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 6 bytes 0 00000002h 0 0 0 0 0 0000h 0 0 00000002h 0 0 0 0 0 0000h 0 : : : : : : : : :

Note 1. Time specified by the acceleration constant, the deceleration constant and the dwell are rounded off based on the control cycle. (The value is rounded to the nearest integer.) For example, the dwell is specified to 10ms with the control cycle of 0.88ms, the time until executing point is completed after the completion of the point movement is 11 control cycles (approx. 9.778ms).

2. Not used in circular interpolation.

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5. OPERATIONAL FUNCTIONS

(a) Interpolation axis No.

bit31 24 16 8 0 Interpolation axis No. 3 (Note 1)Reserved

Note 1. Not used.

Interpolation axis No. 2 (Note 1)

Interpolation axis No. 1

Interpolation axis No.1 Specify the axis Nos. of auxiliary axes set to the same group during interpolation operation Example) Set 00000002h when setting axis 2 to interpolation axis No.1. Note. The interpolation axis No. is only required when the interpolation axis setting method (parameter No.004C) is

"1: Use point table".

(b) Auxiliary command

b15 b12

0

b8 b4

0 0

b0

Position command system(bit0) Reserved(bit1)

Reserved(bit3)

Vibration suppression command filter 1 specification (bit2) (Note 1)

Deceleration check system(bit4 to 5) Speed switching point specification(bit6) Dwell specification(bit7) Pass position interrupt specification(bit8) Continuous operation to torque control specification(bit9) Reserved (bit10) Loop specification (bit11 to 12) Interpolation method (bit13 to 15)

Interpolation method Select the control method for interpolation operation. 0: Linear interpolation (Note 1) 1: Auxiliary point-specified circular interpolation 2: Central point-specified circular interpolation (CW) 3: Central point-specified circular interpolation (CCW) Note 1. Not used in circular interpolation.

POINT

If the interpolation method is set outside the range a point table setting error (operation alarm 25, detail No.11) occurs and operation is stopped.

(c) Arc coordinate

Defines the coordinates of the auxiliary point or the central point for the arc. Settings vary by interpolation method.

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5.7.3 Group settings

Group settings for circular interpolation are set in either control parameters or the point table depending on the interpolation axis setting method (parameter No.004C) being used. When setting in control parameters, the group cannot be changed after system start. When setting in the point table it is possible to change the group even after system start, but to do so the interpolation axis Nos. of the point table must be set through a user program or other means.

POINT The valid number of groups varies by control cycle. When the interpolation axis

setting method (parameter No.004C) is set to "1: Use point table", the axes set to the interpolation axis Nos. of the point table become an interpolation operation group, and the valid number of groups can simultaneously execute interpolation control.

Control cycle

Valid group number Control parameter Point table 0.88 ms 1 to 16 0.44 ms 1 to 8 0.22 ms 1 to 4

(1) Control parameters

When the interpolation axis setting method (parameter No.004C) is "0: Use control parameter", set the group No. for the primary axis and the auxiliary axis in interpolation group (parameter No.0260).

Parameter

No. Symbol Name Initial Value Units

Setting range

Function When in

tandem drive 0260 *LGRP Interpolation

group 0000h 0000h

to 0010h

0 0 Group number Set the group number for the interpolation operation group. 00h : Invalid 01h to 10h: Group number Example. 0Ah: Group number 10

Master

(2) Point table

When the interpolation axis setting method (parameter No.004C) is "1: Use point table", set the group axis (auxiliary axis) to the interpolation axis No. of the point table for the primary axis.

POINT

Specification of interpolation axis No. is only valid for starting point. Interpolation group (parameter No.0260) is invalid even when specified. The startup method does not change. Changeable interpolation group signal (IPCH) turns ON. Interpolation operation outputs the interpolation group No. being executed to the

primary axis and auxiliary axis being executed. The interpolation group No. being executed for the primary axis and auxiliary

axis for which interpolation operation has ended is cleared and becomes 0.

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5. OPERATIONAL FUNCTIONS

(a) Cause of alarm

When an axis No. exceeding the maximum number of control axes is set to interpolation axis No.1 to 3, interpolation axis No. incorrect (operation alarm 41, detail 03) occurs and operation is stopped.

When the number of interpolation operation groups operating simultaneously exceeds the number of valid groups, number of valid interpolation groups exceeded (operation alarm 41, detail 04) occurs and operation is stopped.

When the axis No. of the interpolation operation auxiliary axis overlaps with the primary axis No. or another auxiliary axis No., interpolation point data error (operation alarm 41, detail 05) occurs and operation is stopped.

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5. OPERATIONAL FUNCTIONS

5.7.4 Auxiliary point-specified 2-axis circular interpolation control

Auxiliary point-specified 2-axis circular interpolation control performs positioning from the current command position (start point) to the position set as position data for point data (end point) using an arc trajectory which passes through the auxiliary point set as the arc coordinate. The control trajectory is the center of the arc of the point of intersection between the perpendicular bisectors of either the start point (current command position) to the auxiliary point (arc coordinate) or the auxiliary point (arc coordinate) to the end point (position data). When absolute position command is used as the position command method

Auxiliary axis position

Arc central point

Auxiliary point (Arc coordinate)

Primary axis positionHome position

Start point (Current command position)

End point (Position data)

Trajectory determined by circular interpolation

When relative position command is used as the position command method The auxiliary point and end point are specified by their relative position (incremental value) from the start point.

Auxiliary axis position

Primary axis positionHome position

Arc central point

Auxiliary point (Arc coordinate)

Start point (Current command position)

Movement amount to auxiliary point (Incremental value)

Movement amount to auxiliary point (Incremental value)

Movement amount to end point (Incremental value)

Movement amount to end point (Incremental value)

End point (Position data)

Trajectory determined by circular interpolation

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5. OPERATIONAL FUNCTIONS

(1) Restrictions

The following restrictions apply concerning use of auxiliary point-specified 2-axis circular interpolation. In the cases below, the interpolation point data error (operation error 41) occurs and operation cannot be started. For cases that occur during operation, an immediate stop will occur when an operation alarm is detected. When the radius exceeds "536870912 (=229)". (Operation alarm 41, detail 1A) When the position of the auxiliary point is outside the range of "-2147483648 (-231) to 2147483647 (231-1)".

(Operation alarm 41, detail 14) When the position of the end point is outside the range of "-2147483648 (-231) to 2147483647 (231-1)".

(Operation alarm 41, detail 16) When the position of the central point is outside the range of "-2147483648 (-231) to 2147483647 (231-1)".

(Operation alarm 41, detail 19) When the start point = end point. (Operation alarm 41, detail 15) When the start point = auxiliary point. (Operation alarm 41, detail 11) When the end point = auxiliary point. (Operation alarm 41, detail 12) When the start point, auxiliary point, and end point form a straight line. (Operation alarm 41, detail 13)

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5.7.5 Central point-specified 2-axis circular interpolation control

Central point-specified 2-axis circular interpolation control performs position control using an arc trajectory with the arc coordinate at its center while interpolating in accordance with the designated arc direction. The following shows a trajectory determined by circular interpolation that has a controllable arc angle and the rotation direction set according to the interpolation method.

Interpolation method Rotation direction Controllable arc angle Positioning path Central point-specified circular interpolation (CW)

Clockwise 0 < 360

Central point

0 < 360 Start point (Current command position)

End point (Position data)

Trajectory determined by circular interpolation

Central point-specified circular interpolation (CCW)

Counterclockwise

End point (Position data)

Central point

0 < 360 Start point (Current command position)

Trajectory determined by circular interpolation

(1) When absolute position command is used as the position command method

Performs interpolation control from the current command position (start point coordinate) to the position set as position data for point data (end point coordinate) using an arc trajectory with the central point coordinate set as the arc coordinate at its center.

End point (Position data)

Start point (Current command position)

Auxiliary axis position

Arc central point (Arc coordinate)

Primary axis position

Radius

Home position

Trajectory determined by circular interpolation

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5. OPERATIONAL FUNCTIONS

If the end point coordinate (position data) is set to be identical to the start point coordinate, interpolation control for a perfect circle that has a radius comprised of the start point coordinate and the arc central point is possible.

Auxiliary axis position

Arc central point (Arc coordinate)

Primary axis positionHome position

Start point (Current command position) = End point (Position data)

Trajectory determined by circular interpolation

(2) When relative position command is used as the position command method Performs interpolation control from the current command position (start point) to the movement amount (incremental value) position(s) set as position data for the point data using an arc trajectory with the central point coordinate set as the arc coordinate at its center.

End point (Position data)

Start point (Current command position)

Auxiliary axis position

Primary axis position

Radius

Home position

Arc central point (Arc coordinate)

Trajectory determined by circular interpolation

Movement amount to central point (Incremental value)

Movement amount to end point (Incremental value)

Movement amount to end point (Incremental value)

Movement amount to central point (Incremental value)

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5. OPERATIONAL FUNCTIONS

By setting position data for point data to "0", interpolation control for a perfect circle that has a radius comprised of the start point and the central point is possible.

Auxiliary axis position

Arc central point (Arc coordinate)

Primary axis positionHome position

Position data = 0

Trajectory determined by circular interpolation

(3) Error compensation For central point-specified 2-axis circular interpolation control the arc trajectory calculated from the start point and the central point may not coincide with the position of the end point set as position data for the point data. When the calculated error is within the allowable error range for circular interpolation (parameter No.02CC, 02CD), both interpolation control to the set end point and error compensation are performed simultaneously. (This is known as "spiral interpolation".)

End point (Position data)

Start point (Current

command position)

Auxiliary axis position

Primary axis position

End point determined by calculation

Trajectory determined by spiral interpolation

Error

Home position

Arc central point (Arc coordinate)

For central point-specified 2-axis circular interpolation control the radius is calculated from the start and central points; the top of this radius is then used to calculate angular speed on the assumption that it is operating at feed speed, following which radius compensation is performed in proportion to the angular speed by which it moved from the start point. However, when there is a difference (error) between the "radius calculated from the start point and the central point (start point radius)" and the "radius calculated from the end point and the central point (end point radius)", vector speed and feed speed will vary as shown below.

(a) When the start point radius > end point radius

As it approaches the end point, speed lowers more than it would in a situation with no errors.

(b) When the start point radius < end point radius As it approaches the end point, speed increases more than it would in a situation with no errors.

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5. OPERATIONAL FUNCTIONS

(4) Restrictions

The following restrictions apply concerning use of central point-specified 2-axis circular interpolation. In the cases below, the interpolation point data error (operation error 41) occurs and operation cannot be started. For cases that occur during operation, an immediate stop will occur when an operation alarm is detected. When the radius exceeds "536870912 (=229)". (Operation alarm 41, detail 1A) When the start point coordinate = central point coordinate. (Operation alarm 41, detail 17) When the end point coordinate = central point coordinate. (Operation alarm 41, detail 18) When the central point coordinate is outside the range of "-2147483648 (-231) to 2147483647 (231-1)".

(Operation alarm 41, detail 19) When the position of the end point is outside the range of "-2147483648 (-231) to 2147483647 (231-1)".

(Operation alarm 41, detail 16) When the difference between the radius of the start/central points and the radius of the end/central points

exceeds the allowable error range for circular interpolation (parameter No.02CC and 02CD). (Operation alarm 41, detail 10)

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5.7.6 Start operation method

Start operation is performed according to the following procedure. (1) Set the interpolation group, the interpolation speed limit value, and the interpolation options in control

parameters. The group number is only required when the interpolation axis setting method (parameter No.004C) is "0: Use control parameter" and is valid during system startup. It is also valid during writing of parameters.

(2) Set the point table. At this time, set all items for the primary axis but only position data for the auxiliary axis.

Settings for other items are invalid. (3) Set the start point No. and the end point No. for all of the axes in the group configuration.

At this time, make all axes have an identical number of points. (4) Turn on the interpolation operation mode signal (LIP) for all of the axes in the group. (5) Turn on the fast start operation signal (FST) for the primary axis.

POINT Only input the fast start operation signal (FST) for the primary axis. For stoppage of operation midway, turn on the stop operation signal (STP) for

any selected axis in the interpolation group. The current operation point No. can be checked through the operation point No.

of the axis status table (same as monitor No.030A). The start point No. for the point table is 0. The point table is a total of 2048 points for all axes. The number of points

distributed to each axis can be adjusted using the point number offset. Refer to Section 10.11 for details.

When using the point table in loop method, the primary axis setting values are valid for the latest command point No. and the start point No./end point No. of the loop. Update the latest command point No. after writing the point tables of all axes in the group.

API LIBRARY

Use the sscSetPointDataEx function to set up point data as shown above in (2). Use the sscInterpolationStart function to perform procedures (3) to (5) above. Use the sscDriveStop or sscDriveStopNoWait functions to perform stop

operation. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation. Use the sscSetPointOffset function to set point number offsets and the

sscCheckPointOffset function to get point number offsets.

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5.7.7 Exceeding speed limits for each axis

The setting for interpolation option (parameter No.0261) is invalid for circular interpolation. In feed speed, set the value for each axis so that the speed does not exceed the speed limit value. (Speeds calculated by the position board are not restricted by speed limit values.) 5.7.8 Restrictions

The following restrictions apply concerning use of circular interpolation. (1) A primary axis interpolation start up error (Operation alarm 40) occurs for the following.

If an axis with anything other than interpolation operation mode (LIP) selected exists in the same group. (Operation alarm 40, detail 01)

If a single group is defined with either 1 axis or 3 or more axes. (Operation alarm 40, detail 02) If operation start for interpolation operation was done using a group number that exceeds the valid group

number. (Operation alarm 40, detail 03) If the axes in the group have a varying number of points. (Operation alarm 40, detail 04) If the speed units (parameter No.0200) are "2: r/min". (Operation alarm 40, detail 05)

(2) If the auxiliary axis is in operation or it has an alarm occur when in interpolation operation mode, the can't

start interpolation auxiliary axis error (operation alarm 42) occurs on the primary axis. (3) If an alarm occurs during operation, the axis that caused the error has the corresponding alarm occur; all

the other axes in the group have the group error (operation alarm 16, detail 01) occur. (4) If any of the axes defined below is within the group, the "out of software limit boundaries (operation alarm

A1)" or "reached software limit (operation alarm A2)" occurs. If the start point coordinate is outside software limits and there is movement away from the direction of the

movement allowed area (operation alarm A1, detail 01). If either the end point or auxiliary point (when using auxiliary point-specification) coordinates are outside

software limits. (Operation alarm A1, detail 01) If software limits are reached during operation. (Operation alarm A2, detail 01) In this case, a deceleration

stop will occur when the limit is reached. (5) The command change signal is input into the primary axis. Inputs made into the auxiliary axis are invalid.

When changing speeds. When changing time constants. Note. Not compatible when changing position. The position change error will occur.

(6) Continuous operation position over-bound processing operates through "2: Stop firmly at command

position" regardless of continuous operation position over-bound processing (parameter No.0201) settings.

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(7) Circular interpolation is not supported by the interference check function. The interference check axis

setting error (operation alarm 43, detail 0F) is output at circular interpolation operation start up and operation start up is stopped. For continuous operation, a deceleration stop occurs.

(8) When using the other axes start, if the self-axis pass data for other axis start up is either "start point

coordinate end point coordinate < self-axis pass position data" or "self-axis pass position data < end point coordinate start point coordinate", the self-axis judgement coordinate is judged as being outside limits. (Operation alarm 4D, detail No.12) Segment the arc trajectory and set the point table as necessary.

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5.8 Home position return

5.8.1 Summary

The home position return enables the establishment of a start position (home position) in positioning control. By performing a home position return, instructed coordinates and machine coordinates will be consistent. When the incremental system method is used, a home position return is required for each power supply. On the other hand, when the absolute positioning detection system is used, performing a home position return restores the current command position even after power supply is turned off. This makes a home position return unnecessary after power is supplied again. Refer to Section 6.21 concerning absolute position detection systems. The following table shows the methods of home position return. Select the optimum method according to the configuration and application of the machine with the home position return option 1 (parameter No.0240). For any home position return method, when a home position return is completed, the current command position is a position set in the home position coordinates (parameter No.0246, 0247).

Method Description Dog method A method that uses the first Z-phase after the proximity dog rear end as the home position. Data set method A method that uses a current position as the home position. No proximity dog or Z-phase is necessary. Stopper method A method that uses the position of the collision stop caused by JOG operation or something similar as the

home position. No proximity dog or Z-phase is necessary. Dog cradle method A method that uses the first Z-phase after the proximity dog front end as the home position. Limit switch combined method

A method that uses the Z-phase prior to the limit switch of the opposite direction to the home position return direction as the home position.

Limit switch front end method

A method that uses the limit switch front end of the opposite direction to the home position return direction as the home position. No proximity dog or Z-phase is necessary.

Dog front end method A method that uses the proximity dog front end as the home position. No Z-phase is necessary. Z-phase detection method A method that uses the nearest Z-phase as the home position. No proximity dog is necessary. Scale home position signal detection method

A method that uses the linear scale home position signal as the home position.

Scale home position signal detection method 2

A method that uses the nearest linear scale home position signal as the home position for home return direction. No proximity dog is necessary.

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5. OPERATIONAL FUNCTIONS

POINT

When using the following home position return methods, set proximity dog signal and limit switch signal so that the Z-phase can be passed during home position return. Dog method Dog cradle method Limit switch combined method

When performing Z-phase detection method home position return, the Z-phase is required to be passed through with the JOG operation etc. When the Z-phase is not passed, not passing Z-phase (operation alarm 91, detail 01) occurs. However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the home position setting condition selection of parameter No.1190 (servo parameter PC17 function selection C-4), the home position return can be executed even when the Z-phase is not passed, and the restriction above is removed.

Set 1 (valid) in No home position of the control option 1 (parameter No.0200) when setting the position at the time of power on as the home position. Once a home position return is performed, a position determined by the home position return is set to the home position.

In the home position return, smoothing filter is invalid. In the Z-phase detection method, shortcut direction can be selected for home

position return direction (parameter No.0240). When shortcut direction is selected in other home position return methods than Z-phase detection method, home position return parameter setting error (operation alarm 9D, detail 03) occurs when the operation starts.

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5. OPERATIONAL FUNCTIONS

5.8.2 Home position return method

Home position return method is set with the home position return option 1 (parameter No.0240). (1) Using MR-MC2

(a) Software version A4 or before Set the home position return method with home position return method (parameter No.0240). The value at system startup is effective. Therefore, the system needs to be restarted if the parameters are changed.

(b) Software version A5 or later

The home position return method (parameter No.0240) can be changed while system is running. (2) Using MR-MC3

(a) No restriction by software version The home position return method (parameter No.0240) can be changed while system is running.

POINT When home position return method is changed during home position return, the

new home position return method becomes valid at the startup of the next home position return.

Home position return direction and proximity dog input polarity cannot be changed while system is running.

When Z-phase detection is set to home position return method and shortcut direction is set for home position return direction, the home position return method cannot be changed while system is running. If the home position return is changed, a home position return parameter setting error (operation alarm 9D, detail No.03) occurs at the next home position return startup.

When a home position return method that does not exist in the home position return setting range is selected, a home position return parameter setting error (operation alarm 9D, detail No.04) occurs at the home position return startup.

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5.8.3 Start operation method

Start operation is performed according to the following procedure. (1) Set parameters "home position return to speed" (parameter No.0242, 0243), "home position return

acceleration time constant" (parameter No.0244), "home position return deceleration time constant" (parameter No.0245), "home position coordinates" (parameter No.0246, 0247), "creep speed" (parameter No.024C), and "home position return direction" (parameter No.0240).

(2) Turn on the "home position return mode signal" (ZRN). (3) Turn on the "fast start operation signal" (FST). (4) When the home position return is completed, the home position return request (ZREQ) turns off and the

home position return complete signal (ZP) turns on.

ON OFF

Creep speed

sscHomeReturnStart function sscWaitIntDriveFin function/ sscGetDriveFinStatusfunction

Home position return direction Home position return speed

Proximity dog

Amount of home position shift

Home position

Z-phase pulse

Home position return complete (ZP)

Home position return request (ZREQ)

Completion of operation (OPF)

ON OFF

ON OFF

ON OFF

ON OFF

Fast Start operation (FST)

Home position return mode (ZRN)

POINT

Set the "amount of home position shift" (parameter No.0248, 0249) and "home position search limit" (parameter No.024A, 024B) if required.

When a home position return is complete, the home position return complete signal (ZP) turns on. The home position return complete signal (ZP) turns off at the next start operation or at an operation mode change.

The home position return request (ZREQ) turns on when a home position return starts.

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5. OPERATIONAL FUNCTIONS

API LIBRARY

Use the sscHomeReturnStart function to perform procedures (2) to (3) above. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation. Use the sscDriveStop or sscDriveStopNoWait functions to perform stop

operation. For a detailed procedure from startup of home position return to check

completion of operation, refer to the sample programs (InterruptDrive/PollingDrive) contained on the utility software.

5.8.4 Home position return using a dog method

The deceleration is started at the front end of the dog, and the first Z-phase after passing the rear end of the dog is defined as the home position. (1) When there is a proximity dog in the direction of home position return

Amount of home position shift

Home position (Note 1, 2)Creep speed

Proximity dog

Home position return direction Home position return speed

Start operation

Speed

Z-phase pulse

(Note 3)

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is zero, the servo stops above the Z-phase. 3. The polarity of the proximity dog input signal can be changed using home position return option 1 (parameter

No.0240). (The above figure shows the case of the normally closed contact.) (2) When the dog is on at start operation

Home position return direction

Amount of home position shift

Home position Creep speed

Home position return speed

Start operation

Proximity dog

Z-phase pulse

Speed

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5. OPERATIONAL FUNCTIONS

(3) When the proximity dog is in the opposite direction against the direction of home position return

Home position return direction

Limit switch

Start operation

Amount of home position shift

Creep speed Home position

Home position return speed

Z-phase pulse

Speed

Proximity dog

(4) If a limit switch is detected at the start operation position If a limit switch in the direction of home position return is detected, the home position return should be executed by the (3) pattern. Also, if the limit switch is in the opposite direction against the direction of home position return, the home position return should be executed by the (1) pattern.

(5) When the start operation position is on a dog and when moving in the opposite direction the Z-phase was

not traveled through until the dog is turned off

If the Z-phase is never passed at the end of the proximity dog, continue movement in the opposite direction until the Z-phase is passed.

Proximity dog

Home position

Home position return direction

Creep speed

Home position return speed

Home position return speed

Start operation

Z-phase pulse

Speed

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5.8.5 Home position return using a data set method

The command position at the start operation of the home position return is defined as the home position. It is necessary to move to home position using JOG operation or something similar in advance. (1) When the home position is the current command position

Speed

Move to home position using JOG operation or something similar.

The current command position is changed to the home position coordinates.

Start operation

Note. If limit switch signal is turned off when operation is started, a limit switch (operation alarm A0, detail 01) occurs and home position return cannot be executed.

5.8.6 Home position return using a stopper method

When start operation is performed for home position return using stopper method, droop pulse is cleared and current feedback position is defined as the home position. It is necessary to move using JOG operation or something similar in advance and to execute the collision stop from the stopper using torque limit functions. For the torque limit, refer to Section 6.12.

Speed

Stopper

Move using JOG operation or something similar

Start operation

Home potion

Note1. If torque limit effective signal (TLC) is turned off when operation is started, "Not limiting torque" (operation alarm 95, detail 01) occurs and home position return cannot be executed.

2. If the home position return direction and the stopper method direction are opposite, a home position return direction error (operation alarm 94, detail 01) occurs and the home position return cannot be executed.

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5. OPERATIONAL FUNCTIONS

5.8.7 Home position return using a dog cradle method

A method where deceleration is started at the front end of the dog, then return briefly to the front end of the dog, and start moving again at a creep, and that uses the first Z-phase after the dog front end passes as the home position. (1) When there is a proximity dog in the direction of home position return

(Note 1, 2) Home position

Creep speed

Proximity dog

(Note 3)

Home position return direction

Home position return speed

Start operation

Z-phase pulse

Speed Amount of home position shift

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is zero, the servo stops above the Z-phase. 3. The polarity of the proximity dog input signal can be changed using home position return option 1 (parameter

No.0240). (The above figure shows the case of the normally closed contact.)

(2) When the proximity dog is in the opposite direction against the direction of home position return.

Limit switch

Home position return direction

Home position

Amount of home position shift

Creep speed

Start operation

Proximity dog

Z-phase pulse

Speed

Home position return speed

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5. OPERATIONAL FUNCTIONS

(3) When the start operation position is on the dog

Proximity dog

Amount of home position shift

Home position

Home position return direction

Creep speed

Z-phase pulse

Speed

Start operation

(4) If a limit switch is on at the start operation position If the limit switch in the direction of home position return is on, the home position return should be executed by the (2) pattern. Also, if the limit switch in the opposite direction against the direction of home position return is on, the home position return should be executed by the (1) pattern.

(5) When the start operation position is on a dog and when moving in the opposite direction the Z-phase is not

traveled through until the dog is turned off

Proximity dog

Home position return direction Home positionHome position return speed

Creep speed

Start operation

Home position return speed

If the Z-phase is not passed at the end of the near-point dog, continue movement in the opposite direction until the Z-phase is passed.

Z-phase pulse

Speed

(6) When the start operation position is on a dog and when moving in the opposite direction the Z-phase is not traveled through until the dog is turned off

Home position return direction

Z-phase pulse

Speed Home positionCreep speed

If the Z-phase is not passed at the end of the near-point dog, continue movement in the opposite direction until the Z-phase is passed.

Start operation

Home position return speed

Proximity dog

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5. OPERATIONAL FUNCTIONS

5.8.8 Home position return using a limit switch combined method

The Z-phase prior to the limit switch of the opposite direction to the home position return direction is defined as the home position.

(Note 3)

Limit switch

Creep speed

Home position

(Note 1, 2)

Home position return speed Home position return direction

Start operation Amount of home

position shift

Z-phase pulse

Speed

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is zero, the servo stops above the Z-phase. 3. Polarity of the limit switch signal is only defined for normally-closed contact.

5.8.9 Home position return using a limit switch front end method

In the home position return using a limit switch front end method, the limit switch front end that is opposite to the home position direction is defined as the home position.

Speed

Home position return direction

Start operation

Home position return speed

Home position

(Note 1 and 2)

Creep speed (Note 3)

Limit switch

Amount of home position shift

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is zero, the servo stops at the limit switch front end. 3. Polarity of the limit switch signal is only defined for normally-closed contact.

POINT

A dispersion of the home position occurs depending on the detection timing of the limit switch front end. When this dispersion is a problem, the dispersion can be smaller by reducing the creep speed.

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5. OPERATIONAL FUNCTIONS

5.8.10 Home position return using a dog front end method

In the home position return using a dog front end method, the motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. (1) When there is a proximity dog in the direction of home position return

Speed

Home position return direction Home position return speed

Creep speed

Start operation

Home position

(Note 1)

(Note 2)

Proximity dog

Amount of home position shift

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is zero, the servo stops at the proximity dog front end.

POINT

A dispersion of the home position occurs depending on the detection timing of the dog front end. When this dispersion is a problem, the dispersion can be smaller by reducing the creep speed.

(2) When the proximity dog is in the opposite direction against the direction of home position return

Speed

Home position return speed

Home position

Creep speed

Home position return speed

Home position return direction

Start operation

Creep speed

Limit switch

Proximity dog

Amount of home position shift

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5. OPERATIONAL FUNCTIONS

(3) When the start operation position is on the proximity dog

Speed

Home position return direction

Home position

Home position return speed

Start operationCreep speed

Home position return speed

Creep speed

Proximity dog

Amount of home position shift

(4) If a limit switch is on at the start operation position

When the limit switch on the same side as the home position return direction is on, the home position return should be executed by the (3) pattern. Also, when the limit switch on the opposite side of the home position return direction is on, the home position return should be executed by the (1) pattern.

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5. OPERATIONAL FUNCTIONS

5.8.11 Home position return using a Z-phase detection method

After moving from the position where home position return has started to the nearest Z-phase (in addition, after moving by shift amount when home position shift amount is set), home position return is completed. It is necessary to move to around home position using JOG operation or something similar in advance. For home position return direction (parameter No.0240), in addition to - direction and + direction, shortcut direction can be selected. For the shortcut direction, home position return operation is started in the direction where the travel distance to the Z-phase is small. At this time, code of the home position shift amount is consistent with the movement direction from the Z-phase. (Example: If home position shift amount is -100 [command unit], home position is the position moved from Z-phase by -100 [command unit].)

Speed

ST (Start operation)

JOG (JOG operation mode)

Home position

ZRN (Home position return mode) ZP (Home position return complete) (Note 3)

Home position sensor

Creep speed

Start operation

Z-phase pulse

1) Starts JOG operation in the direction of home position sensor. (Note 1)

2) Starts to decelerate at the position where home position sensor ON is detected and stops. (Note 1)

3) Home position return starts.

Note1. Home position sensor signal is an externally installed signal and monitored by a user program. Execute the movement to around home position by this signal.

2. When limit switch signal of home position return direction is turned off, limit switch (operation alarm A0, detail 01 to 02) occurs when the operation starts and home position return cannot be executed.

3. When not passing Z-phase (ZPASS) is tuned off, Z-phase not passed (operation alarm 91, detail 01) occurs when the operation starts and home position return cannot be executed. Execute home position return after passing through Z-phase by JOG operation or something similar.

4. When setting of the home position signal re-search (parameter No.0240) is set to "Search again", home position return parameter setting error (operation alarm 9D, detail 02) occurs when the operation starts and home position return cannot be executed. Always set to "Do not search again".

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5. OPERATIONAL FUNCTIONS

[Cautions]

In the sequence 2) above, stop processing by response delay to the home position sensor signal and deceleration occurs during the time until the axis stops.

Stop processing

Home position sensor signal

Stop processing = La + Lb + Lc + Ldc

La: Travel distance associated with delay time (Ta) from sensor-on to JOG operation stop command issued = (Moving speed) Ta (Note 1)

Lb: Travel distance associated with delay time (Tb) of position board = (Moving speed) Tb (Note 2)

Lc: Travel distance associated with delay of servo = (distance equivalent to drop pulse) (Note 3)

Ldc: Distance which deceleration takes =(Moving speed) (Deceleration time) 2

Note 1. Depending on the specification of user program side

2. Tb Control cycle 2 3. (Droop pulse) (N Pt) (60 PG1)

N: Motor speed (r/min) Pt: Number of pulses per revolution PG1: Position loop gain 1

4. The unit of droop pulse calculated here is equivalent to the motor end encoder resolution.

This stop processing changes depending on dispersion of the response delay of the sensor signal. Therefore, reference encoder Z-phase of sequence 3) above may change by one revolution of the motor when stop position is near the encoder Z-phase by the relationship between home sensor position signal and encoder Z-phase.

1) When stop position is before the encoder Z-phase

Z-phase pulse

Stop position

Home position

2) When stop position is after the encoder Z-phase

Z-phase pulse

Stop position Home position

To avoid this event, adjust position relationship between home position sensor signal and encoder Z-phase, adjust the command speed of JOG operation or set correct value to Z-phase mask amount (parameter No.0250, 0251).

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5. OPERATIONAL FUNCTIONS

[Encoder Z-phase mask amount]

When the stop position is near the encoder Z-phase by the dispersion, the Z-phase position to be the home position can be fixed by setting encoder Z-phase mask amount.

1) When stop position is before the encoder Z-phase Mask encoder Z-phase in this section.

Z-phase pulse

Z-phase mask amount (parameter No.0250, 0251)

Home positionStop position

2) When stop position is after the encoder Z-phase

Z-phase pulse

Z-phase mask amount (parameter No.0250, 0251)

Stop position Home position

Note1. When the stop position disperses largely, the home position may change by one revolution of the motor even when encoder Z-phase mask amount is set. In this case, adjust command speed to reduce the dispersion.

2. When the following conditions are satisfied in the calculation of Z-phase mask amount, Z-phase mask amount setting error (operation alarm 9C, detail 01) occurs when the operation starts and home position return cannot be executed. Reexamine the setting value of the Z-phase mask amount. (a) The value calculated by Z-phase mask amount electronic gear numerator (CMX) electronic gear denominator

(CDV) exceeds 32 bits. (b) The value calculated by the Z-phase mask amount + the travel distance to the Z-phase exceeds 32 bits.

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5. OPERATIONAL FUNCTIONS

5.8.12 Home position return using a scale home position signal detection method

Home position return is performed using a home position signal (Z-phase) on a linear scale. After detecting the proximity dog, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position. When multiple home position signals on the linear scale, the nearest home position signal to the proximity dog is defined as the home position.

Creep speed

(Note 3)

Proximity dog

(Note 1, 2) Limit switchSpeed

Amount of home position shift

Home position signal (Z-phase)

Home position return speed

Home position return direction

Home position

Start operation

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is 0, the servo stops on the Z-phase. 3. When a limit switch signal is detected, an alarm occurs and execution of return to home position is terminated.

Set the proximity dog signal before the limit switch signal. Set the proximity dog signal to overlap with the limit switch signal as shown above.

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5. OPERATIONAL FUNCTIONS

5.8.13 Home position return using a scale home position signal detection method 2

Home position return is performed using a home position signal (Z-phase) on a linear scale. Move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position. When multiple home position signals in the linear scale, the nearest home position signal in the opposite direction of home position return direction is defined as the home position.

Creep speed (Note 1, 2)

Limit switch

Speed

Home position signal (Z-phase)

Home position return speed

Home position return direction

Start operation

Home position

Note 1. The amount of home position offset is set to the amount of shift in the home position (parameter No.0248, 0249). 2. If the amount of shift in the home position is 0, the servo stops on the Z-phase. 3. When a limit switch signal is detected, an alarm occurs and execution of return to home position is terminated.

Set the home position signal before the limit switch signal. 4. Start position is needed to be adjusted with a user program so that the Z-phase is passed. 5. When there are multiple Z-phase, start position is needed to be adjusted with a user program so that the reference

Z-phase is passed first. 6. Z-phase mask function cannot be used. 7. The servo returns to Z-phase after detecting the Z-phase, movement direction is reversed, which is different from

home position return using a Z-phase detection method.

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5. OPERATIONAL FUNCTIONS

5.9 Home position reset function (data set function)

The home position reset function (data set function) is a function that resets the current position to the home position. Prior to executing the home position reset function, set the home position coordinates (parameter No.0246, 0247). The movement is the same as the data set method return to home position, where the current position is changed to the home position coordinates (parameter No.0246, 0247). This function can be used independent of the method for returning to home position. If absolute position detection system is used, whether or not data for absolute position detection system (home position multiple revolution data (parameter No.024D), home position within 1 revolution position (parameter No.024E, 024F)) are changed can be selected using return to home position option 2 (parameter No.0241). The home position reset function is valid after home position return complete. If the home position reset function is used prior to home position return finish (home position return request (ZREQ) is ON), a home position return not complete error (operation alarm 90, detail 01) occurs. Start operation is performed according to the following procedure. (1) Move to an arbitrary position using JOG operation or something similar. (2) Set home position coordinates for resetting. (3) Turn on the home position reset mode (DST). (4) Turn on the start fast operation signal (FST).

API LIBRARY Use the sscDataSetStart function to perform procedures (3) to (4) above. Use the sscGetDriveFinStatus or sscWaitIntDriveFin functions to check

completion of operation.

ON OFF

sscJogStart function sscJogStop function

sscDataSetStart function/ sscWaitIntDriveFin function/ sscGetDriveFinStatus function

Move to home position using JOG or something similar

The current command position is changed to the home position coordinates

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Start operation (ST)

JOG mode (JOG)

Completion of operation (OPF)

Speed

Fast Start operation (FST)

Home position reset mode (DST)

Home position return complete (ZP)

Home position return request (ZREQ)

(Note)

Note. The home position return complete signal (ZP) is turned off when next start of operation for the following is performed.

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6

6. APPLICATION FUNCTIONS

6. APPLICATION FUNCTIONS

6.1 Command units

6.1.1 Position command unit - electronic gear

Set position command (such as position data of point table and the incremental movement amount) by position command unit. Electronic gears (parameter No.020A, 020B, 020C, 020D) are used to adjust position command unit. Through making changes to the electronic gears, it is possible to move the equipment using an arbitrary multiplication constant for the movement amount.

Electronic gear = Electronic gear numerator (CMX) Electronic gear denominator (CDV)

The number of encoder pulses per revolution is 4194304 or less (normal servo motor, linear servo motor etc.).

Item Setting range Number of encoder pulses

per revolution [pulse] (Note 1) Maximum speed [r/min] (Note 2,3)

Electronic gear

CMX

1 CMX 5242879 (When the speed unit is position command unit/s or position command unit/min) To 67108864

(The resolution of up to 26 bit is supported.)

Limits the speed to 2160000 (262144/number of encoder pulses per revolution) (CMX/CDV) or less, and to 4893355 (262144/number of encoder pulses per revolution) or less

1 CMX 477218 (When the speed unit is r/min)

CDV 1 CDV 589823 CMX/CDV 1/16 CMX/CDV 100000

Note 1. When a linear servo motor is used, this becomes the value which is set in "Stop interval setting for home position return" of the

linear/direct drive motor function selection 1 (parameter No.1300). 2. When the command speed output to the servo amplifier from the position board exceeds the motor maximum revolution speed, the

speed is limited to the motor maximum revolution speed (monitor No.0114). 3. When a linear servo motor is used, this is converted into maximum speed [r/min] by the following formula.

Maximum speed [r/min] = Motor maximum speed[m/s]1000100060 Linear encoder resolution[m/pulse]Stop interval setting for home position return[pulse]

However,

Linear encoder resolution [m/pulse] = Linear encoder resolution setting Numerator (Parameter No.1301) Linear encoder resolution setting Denominator (Parameter No.1302)

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter functions to set/get

electronic gear.

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6. APPLICATION FUNCTIONS

Example: Relationship between setting range of electronic gear and corresponding maximum revolution speed

Number of encoder pulses per revolution [pulse]

Electronic gear (CMX/CDV) Maximum speed (limited) [r/min]

262144

1/16 135000 1/1 2160000 10/1 4893355

10000/1 4893355

1048576

1/16 33750 1/1 540000 10/1 1223338

10000/1 1223338

4194304

1/16 8437 1/1 135000 10/1 305834

10000/1 305834

16777216

1/16 2109 1/1 33750 10/1 76458

10000/1 76458

67108864

1/16 527 1/1 8437 10/1 19114

10000/1 19114 Note. The smaller the setting value of the electronic gear (CMX/CDV) is, the more the maximum revolution

speed is limited. If the maximum revolution speed is limited and the enough speed cannot be output, reexamine the command unit of the user program and make sure the setting value of the electronic gear (CMX/CDV) becomes larger. (The command unit becomes rough.)

6.1.2 Settings

Control parameters

Parameter No. Symbol Name Initial Value

Unit Setting range

Function

020A *CMXL Electronic gear numerator (lower)

0001h 1 to 5242879 (32 bits)

Set the numerator for electronic gears.

020B *CMXH Electronic gear numerator (upper)

0000h

020C *CDVL Electronic gear denominator (lower)

0001h 1 to 589823 (32 bits)

Set the denominator of the electronic gear.

020D *CDVH Electronic gear denominator (upper)

0000h

Note. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.

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6. APPLICATION FUNCTIONS

6.1.3 Setting example of electronic gears

The following is a setup example for use of m as a command unit for a piece of equipment that uses ball screws. (1) Equipment specification

Item Symbol Value Unit Remarks Ball screw lead Pb 10 mm =10000m Deceleration ratio n 1/2 Number of encoder pulses per revolution Pt 4194304 pulse/rev

Servo motor

Pt = 4194304

Deceleration constant n = 1/2

Ball screw pitch Pb = 10 [mm]

Number of encoder pulses per revolution

(2) Calculation of electronic gears

CMX CDV

Pt n Pb

4194304 1/2 10000

4194304 5000

400000h 1388hS

Pt

Note. S is the movement amount for 1 revolution of the servo motor. (3) Parameter settings

Because the value obtained by calculating the electronic gear is within the setting range, the value can be set without reducing.

Parameter No. Symbol (Note) Name Setting value

020A *CMXL Electronic gear numerator (lower) 0000h 020B *CMXH Electronic gear numerator (upper) 0040h 020C *CDVL Electronic gear denominator (lower) 1388h 020D *CDVH Electronic gear denominator (upper) 0000h

Note. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.

6.1.4 Restrictions

The restrictions on electronic gears are shown below. (1) When the setting of an electronic gear (CMX, CDV, CMX/CDV) is incorrect, an electronic gear setting error

(system error E500) occurs at system startup and the electronic gear setting is treated as CMX: CDV = 1: 1. The operation cannot be performed since the electronic gear is in forced stop status at this time. Reexamine the setting of an electronic gear and start the system again.

(2) When an electronic gear setting error occurs while using the absolute position detection system, the

absolute position erased signal (ABSE) and the home position return request (ZREQ) turn on. For the absolute position detection system, refer to Absolute position detection system (Section 6.21).

(3) When an electronic gear setting error occurs, it is possible to check which axis was set using an incorrect

electronic gear by checking "electronic gear setting error axis information" (monitor No.0488 to 0489).

6 - 4

6. APPLICATION FUNCTIONS

6.2 Speed unit

The speed command (feed speed of point table, manual feed speed, etc.) is set by the speed unit. Speed units are adjusted using the speed units and the speed units multiplication factor (parameter No.020E, 020F) of the control option 1 (parameter No.0200). Through changing the speed units, movement can be performed at an arbitrary unit and multiplication of speed.

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter functions to set/get

speed unit. 6.2.1 Settings

Control parameters

Parameter No. Symbol Name Initial Value

Unit Setting range

Function

0200 *OPC1 Control option 1 0001h 0000h to 2111h

Control axis

No home position

Speed unit Set the speed command unit. 0: Position command unit/min 1: Position command unit/s 2: r/min

Amplifier-less axis function

020E SUML Speed units multiplication

factor (lower) 2000h 1 to

32768 (32 bit)

Set the speed command multiplication.

020F SUMH Speed units multiplication factor (upper)

0000h

Note. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. 6.2.2 Setting example of speed units

The following is a setup example for use of mm/min as a speed unit for a piece of equipment that uses ball screws. (1) Equipment specification

The equipment specification is same as that of Section 6.1. (2) Parameter setting for the speed unit

As the position command unit is m, set 1000 to the speed units multiplication factor to use mm/min as a speed unit. 1000m/min = 1mm/min

Parameter No. Symbol (Note) Name Setting value

0200 *OPC1 Control option 1 0 h 020E SUML Speed units multiplication factor (lower) 03E8h 020F SUMH Speed units multiplication factor (upper) 0000h

Note. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.

6 - 5

6. APPLICATION FUNCTIONS

6.2.3 Speed limit

The following restrictions apply to the command speed. Reexamine the command speed according to the following. (1) When the speed command exceeds the speed limit (parameter No.0222, 0223), the speed is limited to the

speed limit. Control parameters

Parameter No. Symbol Name Initial Value

Unit Setting range

Function

0222 SPLL Speed limit value (lower)

0BB8h Speed units

0000h to FFFFh

Set the value for the moving speed limit.

0223 SPLH Speed limit value (upper)

0000h 0000h to 7FFFh

(2) When the command speed output to the servo amplifier exceeds the motor maximum revolution speed, the

speed is limited to the motor maximum revolution speed. The motor maximum revolution speed can be checked in the motor maximum revolution speed (monitor No.0114) and the motor permissible pulse rate (monitor No.0120, 0121).

(3) The position board calculates the command speed of the servo amplifiers using the speed setting, speed

units multiplication factor and electronic gears; however, if an overflow occurs in the calculation process due to high command speed etc., the speed is limited to the calculable maximum value. The calculable maximum value is checked in the maximum output pulse rate (monitor No.0122, 0123) of the servo information.

6 - 6

6. APPLICATION FUNCTIONS

6.3 Acceleration/deceleration

The following methods are available for acceleration/deceleration. Linear acceleration/deceleration Smoothing filter Start up speed enable S-curve acceleration/deceleration Jerk ratio acceleration/deceleration MC300 Vibration suppression command filter 1 MC300 The setting method for acceleration/deceleration differs according to the operation mode. (1) During automatic operation/interpolation operation

Set with speed options (parameter No.0220) and point table. The actual acceleration/deceleration depends on the combinations shown in the table below.

(2) Operation modes other than the above

Set with speed options.

Speed options

S-curve ratio

(Note 1)

Auxiliary command 2 Auxiliary

command

Actual acceleration/ deceleration method

Linear acceleration/ deceleration

Smoothing filter

Start up speed enable

Linear acceleration/ deceleration/

S-curve acceleration/ deceleration

Jerk ratio acceleration/ deceleration

MC300 (Note 2)

Vibration suppression command

filter 1 MC300

Linear acceleration/deceleration S-curve acceleration/deceleration Jerk ratio acceleration/deceleration

Smoothing filter

Smoothing filter + S-curve acceleration/deceleration

Smoothing filter + jerk ratio acceleration/deceleration

Start up speed enable

Start up speed enable + S-curve acceleration/deceleration

Start up speed enable

Start up speed enable + S-curve acceleration/deceleration

Vibration suppression command filter 1

S-curve acceleration/deceleration + vibration suppression command filter 1

Jerk ratio acceleration/deceleration + vibration suppression command filter 1

Smoothing filter + vibration suppression command filter 1

Smoothing filter + S-curve acceleration/deceleration + vibration suppression command filter 1

Smoothing filter + Jerk ratio acceleration/deceleration + vibration suppression command filter 1

6 - 7

6. APPLICATION FUNCTIONS

Speed options

S-curve ratio

(Note 1)

Auxiliary command 2 Auxiliary

command

Actual acceleration/ deceleration method

Linear acceleration/ deceleration

Smoothing filter

Start up speed enable

Linear acceleration/ deceleration/

S-curve acceleration/ deceleration

Jerk ratio acceleration/ deceleration

MC300 (Note 2)

Vibration suppression command

filter 1 MC300

Start up speed enable

Start up speed enable + S-curve acceleration/deceleration

Start up speed enable

Start up speed enable + S-curve acceleration/deceleration

Note 1. When S-curve ratio is less than 30%, the cell is blank. only applies when S-curve ratio is 30 to 100%. 2. Jerk ratio acceleration/deceleration cannot be used during interpolation operation.

POINT The setting at starting operation is valid for the method of acceleration/

deceleration of speed options. If the method of acceleration/deceleration is changed during operation, the change is not made. It is validated (changed) the next time operation is started.

When start up speed enable is specified, jerk ratio acceleration/deceleration and vibration suppression command filter 1 are disabled.

When smoothing filter and vibration suppression command filter 1 are set together, vibration suppression command filter 1 is processed before processing smoothing filter.

API LIBRARY

Use the sscChange2Parameter/sscCheck2Parameter functions to set/get the acceleration/deceleration method of speed options.

Use the sscSetPointDataEx function to set the point table. 6.3.1 Linear acceleration/deceleration

Linear acceleration/deceleration is as shown in the following drawing. The acceleration time constant and deceleration time constant are set the time through where the speed limit value (parameter No.0222, 0223) is reached.

Acceleration time constant

Deceleration time constant

Command speed

Speed limit value

6 - 8

6. APPLICATION FUNCTIONS

6.3.2 Smoothing filter

Setting smoothing filter makes smooth acceleration/deceleration. The smoothing time constants are set using parameter No.0226. The acceleration time and deceleration time make the profile be longer.

Acceleration time constant

Deceleration time constant

Smoothing time constant Smoothing time constant

Command speed

Speed limit value

POINT

The setting at starting operation is valid for the smoothing time constants. If the smoothing time constants are changed during operation, the change is not made. It is validated (changed) the next time operation is started.

6.3.3 Start up speed enable

Through setting start up speed enable, the start speed is stepped up to start up speed, it steps to stop from start up speed. The start up speed is set using parameter No.0224, 0225. However, a shock may be transmitted to the mechanical system during acceleration or deceleration.

Command speed

Speed limit value

Acceleration time constant

Deceleration time constant

Startup speed

POINT

Cannot be used together with smoothing filter.

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6. APPLICATION FUNCTIONS

6.3.4 S-curve acceleration/deceleration (Sine acceleration/deceleration)

This is a method where acceleration/deceleration is performed gradually based on the Sin-curve. To make the S-curve acceleration/deceleration valid, set the S-curve ratio (1 to 100%). At this time, the acceleration time and deceleration time is the same as in the case of the linear acceleration/deceleration.

POINT When using the S-curve acceleration/deceleration for JOG operation,

incremental feed operation and home position return, set the S-curve ratio in S- curve ratio (parameter No.0221). For automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , set the S-curve ratio in the point table.

API LIBRARY

When using the S-curve acceleration/deceleration for JOG operation, incremental feed operation and home position return, use the sscChange2Parameter/sscCheck2Parameter functions to set the S-curve ratio (Parameter No.0221).

When using the S-curve acceleration/deceleration for automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , set the S- curve ratio in the point table using the sscSetPointDataEx function.

Speed

Speed limit value

Deceleration time

Sin-curve

Command speed

Acceleration time constant

Deceleration time constant

Acceleration time

Control parameters Parameter

No. Symbol Name

Initial Value

Unit Setting range Function

0221 SRATE S-curve ratio 0 % 0 to 100

Set the S-curve ratio of the S-curve acceleration/deceleration (Sine acceleration/deceleration). 0 : S-curve acceleration/deceleration invalid 1 to 100 : S-curve acceleration/deceleration (Note 1) (Note 2)

Note 1. S-curve acceleration/deceleration is performed for the acceleration/deceleration selected in speed options (parameter No.0220). 2. The S-curve ratio set by this parameter is used in JOG operation, incremental feed operation and home position return. For

automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , set the S-curve ratio in the point table.

6 - 10

6. APPLICATION FUNCTIONS

The S-curve ratio indicates which part of the Sin-curve is used to draw the acceleration/deceleration curve as shown in the figure below.

A B

B/2 B/2

Sin-curve

Speed V

When S-curve ratio is 70% t

Speed V

When S-curve ratio is 100% t

b/a = 0.7b a

(Example)

S-curve ratio = B/A 100%

POINT

The valid limits of S-curve ratio are 30 to 100%. When less than 30% is set, the command waveform is the same as the one of the setting of 0%.

The setting at starting operation is valid for the S-curve ratio. If the S-curve ratio is changed during operation, the change is not made. It is validated (changed) the next time operation is started.

When the change speed is performed, the acceleration/deceleration based on the Sin-curve to the set speed is performed again from the time of the completion of preparation for changing speed.

Speed Acceleration time constant Deceleration time constant

Speed limit value

Command speed 1 Sin-curve

Command speed 2

Command speed 3

Change speed (SCHG)

(SCF)

Acceleration time constant

Command speed 2Command speed 1 Command speed 3 Command speed 1

Completion of speed change preparation

ON OFF

ON OFF

6 - 11

6. APPLICATION FUNCTIONS

When the acceleration time constant is changed during the acceleration, acceleration based on the Sin-curve is performed again from the time of the completion of acceleration time constant change preparation.

Acceleration time constant 1

Acceleration time constant 1

Speed limit value

Command speed

Speed

Acceleration time constant 2

Change acceleration time constant (TACHG)

OFF

Completion of preparation for changing acceleration time constant (TACF)

OFF

Acceleration time constant 2

ON

ON

When deceleration to a stop is performed with rapid stop time constants such as rapid stop (RSTP) and interlock (ITL), the S-curve acceleration/deceleration is canceled and linear deceleration is performed. When deceleration to a stop is performed with deceleration time constants such as operation alarms, the S-curve acceleration/deceleration is performed.

Rapid stop time constant

Speed limit value

Command speed

Speed

Rapid stop (RSTP)

During smoothing of stopping (SMZ)

ON OFF

ON OFF

Deceleration time constant

However, when overrun occurs (for example, rapid stop time constant is longer than deceleration time constant.), the S-curve acceleration/deceleration is kept to a stop.

6 - 12

6. APPLICATION FUNCTIONS

When the original command shape is not in a trapezoid but in a triangle (for example, the travel distance is small.), acceleration/deceleration is performed based on the Sin-curve that peaks at the maximum command speed for triangle command.

Speed

Speed limit value

Command speed

Maximum command speed for triangle command

Smoothing filter and S-curve acceleration/deceleration can be used together. In addition, S-curve acceleration/deceleration and start up speed can be used together. When S-curve acceleration/deceleration and start up speed is used together, the acceleration/deceleration as shown in the figure below is performed.

Speed

Acceleration time constant Deceleration time constant

Speed limit value

Acceleration time Deceleration time

Sin-curve

Command speed

6 - 13

6. APPLICATION FUNCTIONS

6.3.5 Jerk ratio acceleration/deceleration MC300

Jerk ratio acceleration/deceleration is an acceleration/deceleration method that uses a trapezoidal pattern. When using this function, the acceleration time and deceleration time are longer compared to linear acceleration/deceleration.

POINT This function can only be used in automatic operation.

Speed

Speed limit value

Command speed

Acceleration time constant

Actual acceleration time[ms]

Actual deceleration time[ms]

Acceleration/ deceleration data 2 [0.1%]

Acceleration/ deceleration data 4 [0.1%]

Acceleration/ deceleration data 3 [0.1%]

Deceleration time constant

Acceleration

Acceleration/ deceleration data 1 [0.1%]

The actual acceleration time and deceleration time adds the following amount. Actual

acceleration time 1 + Acceleration/ deceleration data 1

Acceleration/ deceleration data 2= + 1000 Speed limit

value Acceleration time constant

Command speed

Actual deceleration time 1 + Acceleration/

deceleration data 3 Acceleration/

deceleration data 4= + 1000 Speed limit value

Deceleration time constant

Command speed

6 - 14

6. APPLICATION FUNCTIONS

When the commanded shape is not trapezoidal but a triangle, such as when the movement amount is small, deceleration starts before the command speed is reached. The ratio for each section during acceleration/deceleration is maintained at the values set to the acceleration/deceleration data area.

Speed

Command speed

Acceleration/ deceleration

data 2 [0.1%]

Acceleration

Acceleration/ deceleration data 1 [0.1%]

Acceleration/ deceleration

data 3 [0.1%]

Acceleration/ deceleration

data 4 [0.1%]

(1) Point table Jerk ratio acceleration/deceleration is set as follows in the point table.

Point Position data

[Command units] Feed speed [Speed units]

Acceleration time constant

[ms]

Deceleration time constant

[ms]

Dwell/ predwell [ms]

Auxiliary command

Other axes start

specification

S-curve ratio [%]

4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 bytes 1 bytes

Reserved Interpolation

axis No. Arc

coordinate

Acceleration/ deceleration

data 1

Acceleration/ deceleration

data 2

Acceleration/ deceleration

data 3

Acceleration/ deceleration

data 4

Auxiliary command

2 Reserved

3 bytes 4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 6 bytes

(a) Auxiliary command 2 b15 b12

000000

b8 b4

0000000

b0

Acceleration/deceleration method (bit0 to 2) Reserved (bit3 to 15)

Acceleration/deceleration method 0: Linear acceleration/deceleration/S-curve acceleration/deceleration 1: Jerk ratio acceleration/deceleration

6 - 15

6. APPLICATION FUNCTIONS

(b) Acceleration/deceleration data

1) Acceleration/deceleration data 1(Setting range: 0 to 1000) Set a [0.1%] ratio for the section of increasing acceleration.

2) Acceleration/deceleration data 2(Setting range: 0 to 1000) Set a [0.1%] ratio for the section of decreasing acceleration.

3) Acceleration/deceleration data 3(Setting range: 0 to 1000) Set a [0.1%] ratio for the section of increasing deceleration.

4) Acceleration/deceleration data 4(Setting range: 0 to 1000) Set a [0.1%] ratio for the section of decreasing deceleration.

POINT

Continuous operation cannot be specified in the deceleration check system (setting in auxiliary command). When continuous operation is set, point table setting error (operation alarm 25, detail No.02) occurs.

When the acceleration/deceleration method setting value is outside of the setting range, point table setting error (operation alarm 25, detail No.12) occurs.

When the value of any of acceleration/deceleration data 1 to 4 is outside of the setting range, point table setting error (operation alarm 25, detail No.13) occurs.

When the total of the values of acceleration/deceleration data 1 and 2, or acceleration/deceleration data 3 and 4 exceed 1000, point table setting error (operation alarm 25, detail No.14) occurs.

When the setting values of all acceleration/deceleration data are 0, the jerk ratio acceleration/deceleration is invalid for the applicable sections.

When the setting values of the acceleration time constant or deceleration time constant exceed 1000, the jerk ratio acceleration/deceleration is invalid for the applicable sections.

(2) Operation mode combinations

Only automatic operation is supported. The jerk ratio acceleration/deceleration function is invalid in other operation modes.

Operation mode Availability

JOG operation

Incremental feed

Automatic operation

Interpolation operation

Home positon return

Home position reset

POINT

When jerk ratio acceleration/deceleration is set in the acceleration/ deceleration method during interpolation operation, point table setting error (operation alarm 25, detail No.15) occurs.

6 - 16

6. APPLICATION FUNCTIONS

(3) Command change combinations

All command changes at points with jerk ratio acceleration/deceleration specified are not available. Operation mode Availability

Speed change

Time constant change

Position change

(4) Operation rapid stop and interlock combinations

When deceleration stops are made with rapid stop time constants such as rapid stop (RSTP) and interlock (ITL), jerk ratio acceleration/deceleration is cancelled, and the acceleration/deceleration method in speed options is used for deceleration. When deceleration stops are made with the deceleration time constant such as operation alarms, the acceleration/deceleration method (refer to Section 6.3) is used for deceleration.

Speed options Actual deceleration method

Linear acceleration/deceleration Linear acceleration/deceleration

Smoothing filter Smoothing filter

Rapid stop time constant[ms]

Speed limit value

Command speed

Speed

Rapid stop (RSTP)

During smoothing of stopping (SMZ)

ON OFF

ON OFF

Deceleration time constant[ms]

6 - 17

6. APPLICATION FUNCTIONS

6.3.6 Vibration suppression command filter 1 MC300

The vibration suppression command filter 1 removes only designated frequency components by superimposing waveforms whose phase is delayed by only half of the vibration cycle for the position command. Acceleration times and deceleration times are longer by only delay from the filter "1/(frequency 2)[s]". The attenuation of the filter can be set. When the filter's effect is small, the attenuation can be set to increase the effect of the filter.

POINT While vibration suppression command filter 1 can be set to an interpolation

operation axis, because the mechanical vibration frequency for each axis performing interpolation operation is generally different, the setting values for parameters are also different. Consequently, the path during interpolation operation cannot be maintained.

Speed

Speed limit value

Command speed

Acceleration time constant[ms]

Deceleration time constant[ms]

Delay [ms] Delay[ms] Deceleration time[ms]

6 - 18

6. APPLICATION FUNCTIONS

(1) Control parameters

Set the following parameters to use vibration suppression command filter 1.

Parameter No.

Symbol Name Initial value

Units Setting range

Function When in tandem

drive 025C FREQ Vibration

suppression command filter 1 frequency

0 0.1Hz 0 to 22500

Set the vibration suppression command filter 1 frequency in increments of 0.1Hz. The setting range for each control cycle is shown below. When a frequency outside of the range is set, vibration suppression command filter 1 becomes invalid.

Master

Control cycle [ms] Minimum value [Hz] Maximum value [Hz] 0.88 2.2 562.5 0.44 4.4 1125.0 0.22 8.8 2250.0

025D ATT Vibration suppression command filter 1 attenuation

0 0 to 32 Set the attenuation of the vibration component. 0: Maximum filter attenuation

Master

025E EDRP Vibration suppression command filter 1 operation ending droop

0 pulse 0 to 10000

Set the operation ending droop for when operation finishes. When the amount of droop by vibration suppression command filter 1 is equal to or less than the set value, all remaining pulses are output and operation ends.

0: 5[pulse]

Master

Note. When the parameters in the table are changed during operation, the set values become valid the next time operation is start up. (2) Point table

Vibration suppression command filter 1 is specified in the auxiliary command point table. b15 b12

0

b8 b4

0 0

b0

Position command system(bit0) Reserved(bit1)

Reserved(bit3)

Vibration suppression command filter 1 specification (bit2) (Note 1)

Deceleration check system(bit4 to 5) Speed switching point specification(bit6) Dwell specification(bit7) Pass position interrupt specification(bit8) Continuous operation to torque control specification(bit9) Reserved (bit10) Loop specification (bit11 to 12) Interpolation method (bit13 to 15)

(a) Vibration suppression command filter 1 specification Select vibration suppression command filter 1 valid/invalid.

0: Invalid 1: Valid

POINT

For continuous operation, point 2 and after on the point table also operate with the vibration suppression command filter 1 specification setting in point 1.

6 - 19

6. APPLICATION FUNCTIONS

(3) Operation mode combinations

Automatic operation and interpolation operation are supported. Vibration suppression command filter 1 function is invalid in other operation modes.

Operation mode Availability

JOG operation

Incremental feed

Automatic operation

Interpolation operation

Home positon return

Home position reset

(4) Command change combinations

Speed change/time constant change/position change are all available. Operation mode Availability

Speed change

Time constant change

Position change

6 - 20

6. APPLICATION FUNCTIONS

6.4 Servo off

If an axis has moved due to an external force while the servo was off, the current command position is updated in accordance with the movement amount (Current feedback position). After the servo has been off, coordinate return processing such as return to home position is not necessary.

ON OFF

ON OFF

Actual Speed

Servo On (SON)

Servo ready (RDY)

Current command position is updated in accordance with distance moved while servo is off.

Current command position

If the servo on signal (SON) is turned off during operation, an alarm occurs, movement is rapid stopped, and the servo is turned off. Even if the servo on signal (SON) is turned back on, operation does not resume.

ON OFF

ON OFF

Command speed

Servo On (SON)

Servo ready (RDY)

Speed limit value

(Note) Rapid stop time constant

Operation does not resume.

Note. If "1: Smoothing filter" is set in Speed options (parameter No.0220), the smoothing time constant is always valid. Therefore, rapid stop as well will use smoothing filter.

API LIBRARY To turn ON/OFF the servo ON command (SON), set SSC_CMDBIT_AX_SON

to the command bit number of the sscSetCommandBitSignalEx function. To check if servo ready (RDY) is ON/OFF, set SSC_STSBIT_AX_RDY to the

status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.

6 - 21

6. APPLICATION FUNCTIONS

6.5 Forced stop

Commands are turned to " " at forced stop. Servo amplifiers become free from the control of the position board and stops according to their specifications or settings such as dynamic brake stop and deceleration to a stop. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier. During forced stopping, the current command position is updated according to movement (Current feedback position) therefore, after resetting the forced stop, origin coordinate processing such as home position return is not necessary.

ON OFF

Actual speed

Forced stop (EMI)

Current command position is updated according to movement during forced stop.

Current command position

Command speed

Stop procedure depends on the specifications and settings of the servo amplifier.

For forced stops, there are an external forced stop using an input signal through the forced stop input connector and a software forced stop signal (SEMI) from a system command bit. Also, a system error (system status code E h) such as a SSCNET communication error activates the forced stop. The cause of the forced stop can be confirmed using monitor number 0401.

API LIBRARY To turn ON/OFF the software forced stop command (SEMI), set

SSC_CMDBIT_SYS_SEMI to the command bit number of the sscSetCommandBitSignalEx function.

To check if during forced stop (EMIO) is ON/OFF, set SSC_STSBIT_SYS_EMIO with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

6 - 22

6. APPLICATION FUNCTIONS

6.6 Stop operation

When the stop operation signal (STP) is turned on, movement is stopped. (Alarms and warnings are not set.) Even if the stop operation signal (STP) is turned back off, operation is not resumed. The time constant used for stopping for stop operation is the deceleration time constant. If operation is stopped during linear interpolation operation or automatic operation MC200 /interpolation operation MC300 , they do not turn on positioning complete signal (PF).

ON OFF

ON OFF

Deceleration time constant (Note)

Operation is not resumed.

Speed limit value

Command speed

Stop operation (STP)

During smoothing of stopping (SMZ)

Note. If smoothing filter is set, the smoothing time constant is always valid. Therefore, deceleration stop as well will use smoothing filter.

API LIBRARY Use the sscDriveStop or sscDriveStopNoWait functions to perform a stop

operation.

6 - 23

6. APPLICATION FUNCTIONS

6.7 Rapid stop operation

When the rapid stop signal (RSTP) is turned on, movement is stopped abruptly. (Alarms and warnings are not set.) Even if the rapid stop signal (RSTP) is turned back off, operation is not resumed. The deceleration time constant used for stopping for rapid stop operation is the rapid stop time constant (parameter No.0227). If operation is abruptly stopped during linear interpolation operation or automatic operation MC200 /interpolation operation MC300 , they do not turn on positioning complete signal (PF).

ON OFF

ON OFF

(Note) Rapid stop time constant

Operation is not resumed.

Speed limit value

Command speed

Rapid stop (RSTP)

During smoothing of stopping (SMZ)

Note. If smoothing filter is set, the smoothing time constant is always valid. Therefore, rapid stop as well will use smoothing filter.

API LIBRARY Use the sscDriveRapidStop or sscDriveRapidStopNoWait functions to perform a

rapid stop operation.

6 - 24

6. APPLICATION FUNCTIONS

6.8 Limit switch (stroke end)

When the limit switch signal corresponding to the movement direction is turned off, an alarm occurs and movement is stopped. The deceleration time constant used for stopping by the limit switch is the rapid stop time constant.

(Note 2, 3) side limit switch (LSP)

ON OFF

ON OFF

(Note 5) Rapid stop time constant

(Note 1)

(Note 4)

Operation is not resumed.

Speed limit value

Command speed

During smoothing of stopping (SMZ)

Note 1. Even if the limit switch signal is turned back on, operation does not resume. 2. The limit switch signal is a signal that is input through the servo amplifier or something similar.

The method for inputting an external signal can be set up using sensor input options (parameter No.0219). 3. The limit switch signal is a normally-closed contact. 4. If operation stopped by the limit switch during linear interpolation operation or automatic operation MC200 /interpolation

operation MC300 , they do not turn on the positioning complete signal (PF). 5. If smoothing filter is set, the smoothing filter time constant is always valid. Therefore, rapid stop as well will use smoothing

filter. If the servo is stopped with the limit switch in the off position (prohibited area), the servo can be moved in the movement allowed area. However, execute start operation, after resetting the alarm that has been set.

Current command position

Limit switch

Movement prohibited

Prohibited area (OFF)

Movement allowed area (ON)

Movement allowed

API LIBRARY

Use the sscGetIoStatusFast function to check if limit switch (LSP or LSN) is ON/OFF.

6 - 25

6. APPLICATION FUNCTIONS

6.9 Software limit

(1) Using a JOG operation During JOG operation, if the software limit is reached, a reached software limit (operation alarm A2, detail 01) occurs, the deceleration of the servo is started, and the servo is stopped not to exceed the software limit.

(2) Using incremental feed

If the movement amount designated by an incremental feed exceeds the software limit, an out of software limit boundaries (operation alarm A1, detail 01) occurs and the start operation is not performed.

(3) Using automatic operation

If the point designated by a position command exceeds the software limit, an out of software limit boundaries (operation alarm A1, detail 01) occurs and the start operation is not performed. Also, if the point is designated during operation, an out of software limit boundaries (operation alarm A1, detail 01) occurs when the point is designated and servo is decelerated and stopped.

(4) Using linear interpolation MC200 /interpolation operation MC300

If the point designated by a position command for an axis within the group exceeds the software limit, an out of software limit boundaries (operation alarm A1, detail 01) occurs and the start operation is not performed. Also, if the point is designated during operation, an alarm occurs when the point is designated and servo is decelerated and stopped.

POINT If the deceleration check method is in continuous operation and the position

command after point switching exceeds the software limit, it will output the out of software limit boundaries (operation alarm A1, detail 01) and will come to a decelerated stop. In this case, if the distance to the software limit is shorter than the distance necessary to make a decelerated stop, it may stop outside the software limit.

The software limit boundaries are set using parameters No. 0228, 0229, 022A, 022B.

If an alarm set due to exceeding the software limit, the servo is stopped using the deceleration time constant.

API LIBRARY

Use the sscChange2Parameter/sscCheck2Parameter function to set/get the software limit.

6 - 26

6. APPLICATION FUNCTIONS

If the current command position is outside the software limit boundaries (prohibited area), the servo can be moved in the direction of the movement allowed area. However, execute the start operation after resetting the alarm that has been set.

Current command position

Movement prohibited

Prohibited area

Software limit

Movement allowed

Movement allowed area

(Includes boundary)

POINT

If the upper boundary and lower boundary of the software limit are the same value, the software limit are invalid.

If the lower boundary of the software limit is a higher value than the upper limit, a software limit parameter error (operation alarm A4, detail 01) occurs upon start of operation.

Software limits are invalid when home position return has not been completed.

Note. By the position board, the range of movement is -2147483648 to 2147483647. Movement outside the limits is not covered with a guarantee. If software limits have been disabled, be careful not to move it outside of the physical limits.

6 - 27

6. APPLICATION FUNCTIONS

6.10 Interlock

When the interlock signal (ITL) is turned on, movement is temporarily stopped. During stoppage of movement the interlock stop signal (ISTP) is turned on. When the interlock signal (ITL) is turned off, operation is resumed. The interlock signal (ITL) for normally-open contact or normally-closed contact can be selected using control option 3 (parameter No.0202). (The explanation in this section is for a normally-open contact.) When using interlock to stop the servo, deceleration uses the rapid stop time constant.

Speed limit value

Interlock (ITL)

Interlock stop (ISTP)

ON OFF

ON OFF

Command speed

Rapid stop time constant

Acceleration time constant

If the interlock signal is cancelled during deceleration, operation is re-started after the command speed decreases to 0. For this case, the interlock stop signal (ISTP) does not turn on.

Command speed

Interlock (ITL)

Interlock stop (ISTP)

ON OFF

ON OFF

Command speed decreases to 0 and then acceleration is restarted.

POINT

If the stop operation signal (STP) or rapid stop signal (RSTP) is turned on during interlock stop, operation is not resumed even if the interlock signal is turned off.

If smoothing filter is set, the smoothing time constant is always valid. Therefore, rapid stop as well will use smoothing filter.

If start up is executed while the interlock signal is on, the interlock is on alarm (operation alarm 13, detail 01) occurs and the start operation is not performed. Execute the start operation after canceling the interlock.

During linear interpolation MC200 /interpolation operation MC300 , if the interlock signal for any of the axes in the group is turned on, all of the axes in the group are stopped. Also, when the interlock signal (ITL) for all of the axes within a group is cancelled, operation is resumed.

6 - 28

6. APPLICATION FUNCTIONS

API LIBRARY

To turn ON/OFF the interlock command (ITL), set SSC_CMDBIT_AX_ITL to the command bit number of the sscSetCommandBitSignalEx function.

To check if interlock stop (ISTP) is ON/OFF, set SSC_STSBIT_AX_ISTP to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

6.11 Rough match output

When the command remaining distance (difference between the command position and the current command position) is less than the rough match output limit (parameter No.0230, 0231), the rough match signal (CPO) is output. Rough match output is only valid at the end points while operating using automatic operation or linear interpolation operation MC200 /interpolation operation MC300 . Therefore, it does not turn on when passing points on the way.

During smoothing of stopping (SMZ)

Rough match (CPO) ON OFF

ON OFF

ON OFF

Rough match output limit

Current speed

Command speed

In-position (INP)

API LIBRARY

Use the sscChange2Parameter/sscCheck2Parameter function to set/get the rough match output limit.

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6. APPLICATION FUNCTIONS

6.12 Torque limit

When the torque limit signal (TL) is turned on, the torque is limited by the torque limit values set in the normal revolution torque limit (parameter No.0210) and the reverse revolution torque limit (parameter No.0211). When torque is limited by the torque limit values, the torque limit effective signal (TLC) is turned on. Even if the torque limit signal (TL) is on, if the actual torque is smaller than the torque limit value, the torque limit effective signal (TLC) is not turned on.

Selecting torque limit (TLSO)

Torque limit effective (TLC)

ON OFF

Torque limit (TL)

ON OFF

ON OFF

Torque limit value

Torque is limited.

Torque is not limited.

Actual torque

API LIBRARY

To turn ON/OFF the torque limit command (TL), set SSC_CMDBIT_AX_TL to the command bit number of the sscSetCommandBitSignalEx function.

To check if selecting torque limit (TLSO) and torque limit effective (TLC) are ON/OFF, set SSC_STSBIT_AX_TLSO, SSC_STSBIT_AX_TLC to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

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6. APPLICATION FUNCTIONS

6.13 Command change

6.13.1 Speed change

Rewriting the command speed followed by turning on the change speed signal (SCHG) changes the speed. For automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , rewrite the feed speed in the operating point table and for JOG operation and incremental feed, rewrite the manual feed speed. Speed change can also be implemented during acceleration or deceleration.

Change speed (SCHG)

Completion of speed change preparation (SCF)

ON OFF

Start operation (ST)

ON OFF

ON OFF

Acceleration time constant

Acceleration time constant

Deceleration time constant

Speed limit value

Command speed 3

Command speed 1

Command speed 2

Command speed 1 Command speed 3Command speed 2

During the following cases, the "speed change error signal" (SCE) turns ON, and speed will not change. Operation stop Deceleration due to stop command, rapid stop command, alarm etc. Home position return Home position reset The command speed after change is zero or below

API LIBRARY Use the sscChangeAutoSpeed function to perform a speed change for

automatic operation and linear interpolation operation MC200 /interpolation operation MC300 .

Use the sscChangeManualSpeed function to perform a speed change for JOG operation and incremental feed.

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6. APPLICATION FUNCTIONS

6.13.2 Change of time constants

After rewriting the time constant, turning the change time constant signal (TACHG, TDCHG) on causes the time constant to change. Time constants can be designated separately as the acceleration time constant and the deceleration time constant. For automatic operation and linear interpolation operation MC200 /interpolation operation MC300 rewrite the time constant in the operating point table and for JOG operation and incremental feed, rewrite the manual feed time constant.

Change acceleration time constant (TACHG) Completion of preparations for changing acceleration time constant (TACF)

ON OFF

Start operation (ST)

ON OFF

ON OFF

Acceleration time constant 2

Acceleration time constant 1

Speed limit value

Command speed

Acceleration time constant 2Acceleration time constant 1

During the following cases, the "acceleration time constant change error signal" (TACE) or the "deceleration time constant change error signal" (TDCE) turns on, and time constant will not change. Operation stop Deceleration Home position return Home position reset

API LIBRARY Use the sscChangeAutoAccTime or sscChangeAutoDecTime functions to

perform a change of time constants for automatic operation and linear interpolation operation MC200 /interpolation operation MC300 .

Use the sscChangeManualAccTime or sscChangeManualDecTime functions to perform a change of time constants for JOG operation and incremental feed.

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6. APPLICATION FUNCTIONS

6.13.3 Position change

After rewriting the command position, turning the position change signal (PCHG) on causes the command position to be changed. For automatic operation rewrite position data in the operating point table and for incremental feed, rewrite the feed movement amount. During linear interpolation operation MC200 /interpolation operation MC300 , rewrite the position data in each point table of the axes in the group.

POINT Circular interpolation is not compatible with position change. MC300

(1) To change the command position to the position which is not yet passed

(a) For automatic operation and incremental feed An example of the position change from the command position 1 to the command position 2 is shown below.

Position change (PCHG)

Completion of preparations for changing position (PCF)

ON OFF

Start operation (ST)

ON OFF

ON OFF

Acceleration time constant Deceleration time constant

Speed limit value

Command speed

Command position 1 Command position 2

0

Command position 1 Command position 2

API LIBRARY

Use the sscChangeAutoPosition function to perform a position change for automatic operation.

Use the sscChangeLinearPosition function to perform a position change for linear interpolation operation.

Use the sscChangeManualPosition function to perform a position change for incremental feed.

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6. APPLICATION FUNCTIONS

(b) For linear interpolation operation MC200 /interpolation operation MC300

An example of the position change when axis 1 and 2 are linearly interpolated is shown below.

Command speed (Vector speed)

0

Acceleration time constant Deceleration time constant

Command position 2 Command position 4

Command position 1 Command position 3

Command position 2

ON OFF ON OFF ON OFF

Command position 4

Command position (axis 1)

Command position (axis 2)

Start operation (ST)

Position change (PCHG)

Completion of preparation for changing position (PCF)

Axis 2 speed

Axis 1 speed

Acceleration/deceleration reducing speed variation

Command position 1

Command position 3

Linear interpolation speed limit value /interpolation operation speed limit value

MC200 MC300

POINT

Acceleration/deceleration of each axis from the current command speed to the command speed after position change is determined by distributing acceleration amount, which is determined by the acceleration time constant, to each axis according to speed variation ratio of the axes. During this time, S-curve acceleration/deceleration and start up speed are invalid, and acceleration/deceleration reducing the speed variation at position change is performed. (That acceleration/deceleration is similar to the linear acceleration/deceleration. However, smoothing filter is valid.)

6 - 34

6. APPLICATION FUNCTIONS

The tracks of axis 1 and 2 to each current command position when the position P1 is changed to the position P2 are shown below. At this time, the tracks move to the end position, forming a curve from the position where the position change is performed, to keep the speed continuity.

Axis 2

Axis 1

Position P1 (original)

Start position

Position change

Position P2 (changed)

(2) When position change is performed during deceleration When re-acceleration setting for position change during deceleration for control option 4 (parameter No.0206) is disabled and position change is performed during deceleration, the deceleration continues. After the axis stops, the positioning to the new position is performed.

Speed limit value

Command speed

0

Acceleration time constant

Command position 2

Command position 1

Command position 2

ON OFF ON OFF ON OFF

Deceleration time constant

Start operation (ST)

Position change (PCHG)

Completion of preparation for changing position (PCF)

Command position 1

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6. APPLICATION FUNCTIONS

When re-acceleration setting for position change during deceleration for control option 4 (parameter No.0206) is enabled and position change is performed during deceleration, the axis re-accelerates before stopping, and stops after reaching the new position.

Speed limit value

Command speed

0

Acceleration time constant

Command position 2

Command position 1

Command position 2

ON OFF ON OFF ON OFF

Deceleration time constant

Start operation (ST)

Position change (PCHG)

Completion of preparation for changing position (PCF)

Command position 1

POINT

Linear interpolation does not support re-acceleration setting for position change during deceleration.

CAUTION When conducting position change during deceleration with the S-curve enabled and there is only a

minor difference between the end points before and after the change, an overrun may occur. In this case, operation is performed according to control option 2 (parameter No.0201) change of position over-bound processing.

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6. APPLICATION FUNCTIONS

(3) When the new position is already passed

For cases of the new position has already been passed or if the stop position after deceleration will pass the new position, operation depends on operation modes. (a) For automatic operation and incremental feed

For cases of changing position where the new position has already been passed or if the stop position after deceleration will pass the new position, operation can be selected from "stop with an alarm" or "after deceleration and stop return to new position" using control option 2 (parameter No.0201). The case for returning to the new position after deceleration and stop is shown in the next diagram. At this time the stop position over-bound signal (POV) is turned on (the stop position over-bound signal (POV) is turned off at the next start up).

Position change (PCHG)

Completion of preparations for changing position (PCF)

ON OFF

Start operation (ST)

ON OFF

ON OFF

Acceleration time constant Deceleration time constant Speed limit value

Command speed

Command position 2

Command position 1

0

Command position 1 Command position 2

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6. APPLICATION FUNCTIONS

(b) For linear interpolation operation MC200 /interpolation operation MC300

When one or more axes in a group reverse the movement direction because of the position change, all axes in the group automatically decelerate and stop. After the stop, the axes return to the new position. The setting of control option 2 (parameter No.0201) is invalid. At this time, the stop position over-bound signal (POV) remains off.

Axis 2

Axis 1

Start position

New position P2 (P2x, P2y)

Position change Original position P1 (P1x, P1y)

Excessive position amount

Acceleration time constant

Command speed (Vector speed)

0

Deceleration time constant

Command position P2x

Command position P1x

Command position P2y

Command position P1y

Command position P2x

Start operation (ST)

Position change (PCHG)

Completion of preparation for changing position (PCF)

ON OFF ON OFF ON OFF

Command position P2y

Command position (axis 1)

Command position (axis 2)

Axis 2 speed

Axis 1 speed

Command position P1x

Command position P1y

Linear interpolation speed limit value /interpolation operation speed limit value

MC200 MC300

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6. APPLICATION FUNCTIONS

In the example above, the current command position of the axis 1 exceeds the new position. The following formulas provide the approximate calculation of the excessive travel distance (excessive position amount).

Deceleration quantity [speed unit/s] = Linear interpolation speed limit [speed unit]

Deceleration time constant [ms] 1000 Deceleration time [s] = Vector speed [speed unit] Deceleration quantity Vector travel distance [command unit] =

(Axis 1 travel distance[command unit])2 + (Axis 2 travel distance[command unit])2

Axis 1 moving speed [speed unit] = Axis 1 travel distance [command unit] Vector travel distance

Vector speed [speed unit] Axis 1 excessive position amount [command unit] Axis 1 moving speed

Axis 1 speed units multiplication factor Deceleration time 2

Note. The same feature is applied to linear interpolation for more than 3 axes.

(4) When position change error occurs

During the following cases, the "position change error signal" (PCE) turns on, and the position will not change. Operation stop JOG operation, home position return, home position reset Deceleration due to stop command, rapid stop command, alarm etc. The specified value is out of the software limit setting value. A position change command is input to an auxiliary axis in linear interpolation. A position change command is input to an axis in circular interpolation. MC300

6.14 Backlash

A function that corrects the mechanical error (backlash) when the movement direction is reverse. The compensation amount for backlash is set in backlash compensation amount (Parameter No.0208).

Backlash compensation amount

Workpiece

Ball screw

Condition Processing details Normal The compensation amount is added at the timing of switching movement direction. Home position return Backlash compensation is performed as well as normal.

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter function to set/get the

backlash compensation amount.

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6. APPLICATION FUNCTIONS

6.15 Position switch

Position switch is turned on when the axis is within setting range (including the boundary line) which set by position switch upper limit (parameter No.022C, 022D), position switch lower limit: parameter No.022E, 022F).

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_PSW)

Position switch (PSW)

- direction

Position switch upper limit

ON OFF

+ direction

Position switch lower limit

Two options of current command position or current feedback position can be selected for judging the condition for the position switch using control option 2 (parameter No.0201).

POINT If the upper limit and lower limit of the position switch are the same value, the

position switch is invalid. If the lower limit of the position switch is a higher value than the upper limit, a

position switch parameter error (operation alarm A5, detail 01) occurs upon start of operation.

The position will be valid after completion of home position return.

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter function to set/get the

upper limit or lower limit of the position switch. To check if position switch (PSW) is ON/OFF, set SSC_STSBIT_AX_PSW to

the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

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6. APPLICATION FUNCTIONS

6.16 Completion of operation signal

The completion of operation signal (OPF) shows a completion of operation status. At the startup, the "completion of operation signal" (OPF) turns off, and the "completion of operation signal" (OPF) turns on when positioning operation is complete. Interruption of operation due to an alarm also turns on the completion of operation signal (OPF). A summary of operation for each operation mode is shown.

API LIBRARY Use the sscWaitIntDriveFin/sscGetDriveFinStatus function to check the

completion of operation. (1) Using a JOG operation

ON OFF

ON OFF

ON OFF

Speed

Start operation (ST)

During operation (OP)

During smoothing of stopping (SMZ)

ON OFF

In-position (INP)

ON OFF

Completion of operation (OPF)

Start of operation Stop operation

(2) Using incremental feed

ON OFF

ON OFF

ON OFF ON OFF

ON OFF

Operation is stopped after the movement amount designated by the incremental feed movement amount is moved.Speed

Start operation (ST)

During operation (OP)

During smoothing of stopping (SMZ)

In-position (INP)

Completion of operation (OPF)

Start of operation

6 - 41

6. APPLICATION FUNCTIONS

(3) Using an automatic operation

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Start of operation

ON OFF

Speed

Start operation (ST)

During operation (OP)

Positioning complete (PF)

During smoothing of stopping (SMZ)

In-position (INP)

Completion of operation (OPF)

Moves to the end point and then stops.

(4) Stop by the stop operation signal

Speed

Stop operation (STP)

During operation (OP)

During smoothing of stopping (SMZ)

In-position (INP)

Completion of operation (OPF)

Decelerates and stops.

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

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6. APPLICATION FUNCTIONS

(5) Stop by the rapid stop signal

Speed

Rapid stop (RST)

During operation (OP)

During smoothing of stopping (SMZ)

In-position (INP)

Completion of operation (OPF)

Rapidly stops

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

(6) Stop by the limit switch

Speed

Operation alarm (OALM)

During operation (OP)

During smoothing of stopping (SMZ)

In-position (INP)

Completion of operation (OPF)

Rapidly stops

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Limit switch (LSP/LSN) ON OFF

6 - 43

6. APPLICATION FUNCTIONS

(7) Stop by servo alarm occurrence

Speed (The dashed line indicates actual speed.)

Operation alarm (OALM)

During operation (OP)

Servo ready (RDY)

Completion of operation (OPF)

Stops by the dynamic brake, or decelerates and stops by servo amplifier control. (Depending on the setting of the servo amplifier)

ON OFF

ON OFF

ON OFF ON OFF

Servo alarm (SALM) ON OFF

(8) Stop by operation alarm occurrence

Speed

During smoothing of stopping (SMZ)

During operation (OP)

Completion of operation (OPF)

Decelerates and stops, or rapidly stops. (Depending on the cause of the operation alarm)

ON OFF

ON OFF

ON OFF

Operation alarm (OALM) ON OFF

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6. APPLICATION FUNCTIONS

(9) Stop by servo off

Speed

Servo ready (RDY)

Operation alarm (OALM)

During smoothing of stopping (SMZ)

Rapidly stops

ON OFF

ON OFF

ON OFF

Servo on (SON) ON OFF

During operation (OP)

Completion of operation (OPF)

ON OFF

ON OFF

(10) Stop by a software limit (Example: In JOG operation)

Speed

During operation (OP)

During smoothing of stopping (SMZ)

In-position (INP)

Decelerates and stops.

ON OFF

ON OFF

ON OFF

Operation alarm (OALM) ON OFF

Completion of operation (OPF)

ON OFF

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6. APPLICATION FUNCTIONS

(11) Stop by forced stop occurrence

Speed (The dashed line indicates actual speed.)

Operation alarm (OALM)

During operation (OP)

During forced stop (EMIO)

Completion of operation (OPF)

Stops by the dynamic brake, or decelerates and stops by servo amplifier control. (Depending on the setting of the servo amplifier)

ON OFF

ON OFF

ON OFF

ON OFF

Servo warning (SWRN) ON OFF

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6. APPLICATION FUNCTIONS

6.17 Interference check function

Through setting the standard coordinate system for the interference check function, the current command position of all of the axes and movement direction is changed to the standard coordinate system and interference check using relative position is implemented. Therefore, for data used for change of coordinates, the position and direction of the coordinate system with respect to the home position (where the current command position is 0) standard coordinate system can be set using parameters. Interference checks are performed when operation is started as well as changing of points and if the target position of positioning of the axis is within the interference check area, a command error in interference area (operation alarm 44, detail 01) is output and start of operation is interrupted. And, for prevention of collision, the current command position is monitored at all times and if the difference of the current command position of the axis and the interference check axis (relative distance) is less than the width for interference checking, an interference standby error (if moving in the same direction) or an entering to interference area error (operation alarm 45, detail 01) occurs and rapid stop is performed.

POINT To validate or invalidate the interference check, use the interference check

Options (parameter No.0281). The number of axes for which the interference check can be validated differs depending on the control cycle. Up to 8 axes MC200 /32 axes MC300 can be set. When the number is set exceeding the maximum number of axes for which the interference check is valid, the parameter error (operation alarm 37, detail 01) occurs on all the axes for which the interference check is valid.

Control cycle

Maximum number of axes for which the interference check is valid MR-MC2 MR-MC3 0.88ms 8 32 0.44ms 4 16 0.22ms 0 8

Interference check is valid after home position return complete for the axis and interference check.

Interference standby is only valid for automatic operation, linear interpolation MC200 /interpolation operation MC300 operation and incremental feed. If while in other operation modes, the difference of the current command position of between the axis and the interference check axis is less than the width of interference checking, an entering interference area error (operation alarm 45, detail 01) occurs and rapid stop is performed.

Interference check function is not compatible with circular interpolation MC300 . The interference check axis setting error (operation alarm 43, detail 0F) is output at circular interpolation operation start up and operation start up is stopped. For continuous operation, a deceleration stop occurs.

Interference check is valid only when the travel direction is the same as the interference check direction.

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter function to set/get

anything relating to interference check.

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6. APPLICATION FUNCTIONS

CAUTION When the axis or the interference check axis is free from the control of the position board, such as in

the following cases, this function may not prevent axes from collision. A servo alarm occurs. In torque limit status The power line is disconnected. In inoperable status due to mechanical factors, etc.

6 - 48

6. APPLICATION FUNCTIONS

6.17.1 Interface

(1) Control parameter

Parameter No. Symbol Name Initial Value

Units Setting range

Function

0281 *IOP Interference check Options

0000h 0000h to 12F1h MC200

0000h to 13F1h MC300

Interference check axis (Note 2, 3, 4) Set the other axis for which interference check is performed 00h to 1Fh: Interference check axis -1 00h to 3Fh: Interference check axis -1 Example. 00h: axis No. 1

Interference check Set validity/invalidity of interference check 0: invalid 1: valid

Interference check coordinate direction Set the direction of the coordinate system for the axis from the perspective of the standard coordinate system 0: Same direction

MC300

MC200

30

0282 *IOP2 Interference check

Options 2 0000h 0000h to

0011h

0 0

Interference check direction Set the direction for which interference check is performed. 0: direction of coordinate

system for the axis 1: direction of coordinate

system for the axis Interference check standby Set validity/invalidity of interference check standby. 0: Invalid 1: Valid

0284 IOFL Interference check Offset (lower)

0000h Command Units

0000h to FFFFh

Set the position on the home position standard coordinate system.

0285 IOFH Interference check Offset (upper)

0000h 0000h to FFFFh

0286 IWL Interference check width (lower)

0000h Command Units

0000h to FFFFh

Set the width from the interference check axis target position of the area where interference check is performed. 0287 IWH Interference check

width (upper) 0000h 0000h to

7FFFh Note 1. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. 2. If the axis No. is set, an interference check axis setting error (operation alarm 43, detail 01) occurs. 3. If an axis in the same linear interpolation group MC200 /interpolation group MC300 as the axis is set, an interference check axis

setting error (operation alarm 43, detail 02) occurs. 4. If axes are designated as tandem drive interference check axes, set up a master axis.

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6. APPLICATION FUNCTIONS

6.17.2 Interference check operation image diagram

The following example shows where the direction of the interference check coordinate (the direction of the coordinate system for each axis against the standard coordinate system) is the same direction.

Axis 2 operation

Axis 1 operation

Axis 1

Axis 2

Axis 1 interference check offset value (parameter No.0284, 0285)

Home position of axis 1 (where the current command position is 0)

Standard coordinate system (Note 1)

Home position of axis 2 (where the current command position is 0)

Axis 2 interference check offset value (parameter No.0284, 0285)Axis 2 interference check width

(parameter No.0286, 0287) (Note 2)

Axis 1 interference check width (parameter No.0286, 0287) (Note 2)

Axis 2 coordinate system (Note 3)

Axis 1 coordinate system (Note 3)

Interference check direction

Interference check direction

Axis 2 interference check coordinate direction (parameter No.0281) = 0 Axis 2 interference check axis (parameter No.0281) = 00 Axis 2 interference check direction (parameter No.0282) = 1

Axis 1 interference check coordinate direction (parameter No.0281) = 0 Axis 1 interference check axis (parameter No.0281) = 01 Axis 1 interference check direction (parameter No.0282) = 0

Note 1. The standard coordinate system is virtual, therefore there are not any parameter settings for the standard coordinate system itself.

2. Make sure to set the interference check width. Normally, the same value occurs for independent axes and for interference check axes.

3. The coordinate system direction is positive (direction to which the coordinate values increase).

POINT Interference check is valid when the travel direction is the same as the

interference check direction.

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6. APPLICATION FUNCTIONS

6.17.3 Checks prior to start up

The interference check area is the relative distance from the target position of the interference check axis positioning. Interference checks are performed when operation is started as well as changing of points (automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , and incremental feed) and if the target position of positioning of the axis is not within the interference check area, a command error in interference area (operation alarm 44, detail 01) is output and start of operation is interrupted.

POINT For the next, check prior to start up is not performed. When the operation mode is JOG operation, Home position return and data set. When the axis is stopping for the interference check.

(1) If the interference check axis is moving in the direction such that it is getting closer to the axis.

The axis

Interrupt of start operation Output of operation alarm 44

Interference check width of the axis

Target position of interference check axis

Interference check axis

The axis interference check area

The axis target position

(2) If the interference check axis is moving in the direction such that it is moving away from the axis.

The axis

Interrupt of start operation Output of operation alarm 44

Interference check width of the axis

Target position of interference check axis

Interference check axis

The axis interference check area

The axis target position

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6. APPLICATION FUNCTIONS

6.17.4 Operation check

In order to prevent collision, the current command position is monitored at all times and if the difference between the relative distance of the axis and the interference check axis is judged to be less than the interference check width, rapid stop is executed. The monitored current command position stops, with the travel distance during the rapid stop allowed, so that the distance from the interference check axis does not fall below the interference check width. (1) If the interference check axis is moving in the relative distance such that it is getting closer to the axis.

If the distance between the axis and the interference check axis is judged to drop below the interference check width, an entering interference area error (operation alarm 45, detail 01) is output and rapid stop is executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the interference check axis and rapid stop is executed. For the interference check width set the settings so that the following equation is true.

Interference check width (Lc) > (Offset from axis one coordinate point to load side)

+ (Offset from axis two coordinate point to load side)

Axis 1 (The axis)

Axis 2 (Interference check axis)

Interference check width

Alarm stop Alarm stop

(2) If the interference check axis is moving in the direction such that it is moving away from the axis. (a) For automatic operation, linear interpolation operation MC200 /interpolation operation MC300 , and for

using incremental feed If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis and rapid stop is executed. Then, whether to cancel the operation or to restart the operation automatically by conditions can be selected in Interference check standby (parameter No.0282). 1) When Interference check standby is invalid

If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis, output an extending to interference area error (operation alarm 45, detail 01) and execute and rapid stop is executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the interference check axis and rapid stop is executed.

Axis 1 (The axis)

Alarm stop Alarm stop

Axis 2 (Interference check axis)

Interference check width

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6. APPLICATION FUNCTIONS

2) When interference check standby is valid

If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis, turn the during interference check standby signal (IWT) for the axis on and rapid stop is executed. When the distance between the axis and the interference check axis exceeds the interference check width, operation is automatically resumed and the machine resumes moving to the target position.

Axis 1 (The axis)

Rapid stop(Interference standby)

Axis 2 (Interference check axis)

Interference check width

POINT If the interference check axis stops due to an alarm etc. during interference

standby, an entering interference area error (operation alarm 45, detail 01) occurs and operation is terminated.

(b) For other than automatic operation, linear interpolation operation MC200 /interpolation operation MC300 ,

and incremental feed If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis, an extending to interference area error (operation alarm 45, detail 01) is output and rapid stop is executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the interference check axis and rapid stop is executed.

Axis 1 (The axis)

Alarm stop Alarm stop

Axis 2 (Interference check axis)

Interference check width

(3) While the interference check axis is stopped If the distance between the axis and the interference check axis is judged to drop below the interference check width, an entering interference area error (operation alarm 45, detail 01) is output and rapid stop is executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the interference check axis.

Axis 1 (The axis)

Alarm stop Alarm stop

Axis 2 (Interference check axis)

Interference check width

The position information for the interference check axis used for making judgment to prevent collision is the following. (a) If the interference check axis is getting closer to the axis

Perform the check using current command position.

(b) If the interference check axis is getting further away from the axis Perform the check using current feedback position.

(c) While the interference check axis is stopped

Perform the check using current feedback position.

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6. APPLICATION FUNCTIONS

6.18 Home position search limit

6.18.1 Summary

The home position search limit function is that while returning to home position, through movement operation in the opposite direction of home position return, if the movement exceeds the parameter set for the home position search limit (parameter No.024A, 024B), a home position search limit error (operation alarm 98, detail 01) occurs and home position return operation is terminated. It is a function used to prevent unexpected operation in case the dog signal and limit switch cannot detect correctly due to a failure. The home position search limit function is valid for the following home position return methods. (1) Home position return using a dog method (2) Home position return using the dog cradle method (3) Home position return using a limit switch combined method (4) Home position return using a limit switch front end method (5) Home position return using a dog front end method (6) Home position return using a scale home position signal detection method (7) Home position return using a scale home position signal detection method 2 6.18.2 Set items

The following items are set for using the home position search limit function. Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

024A ZLL Home position search limit (lower)

0000h Command Units

0000h to

FFFFh

Set a limit on the movement amount when searching for the home position. If the setting for the home position search limit is 0, this function does not operate. 024B ZLH Home position search

limit (upper)

0000h 0000h to

7FFFh

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter function to set/get the

home position search limit.

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6. APPLICATION FUNCTIONS

6.18.3 Home position search limit operation example

(1) For home position return using a dog cradle method (example: when the turning off of the proximity dog can not be detected)

Home position return speed

When the turning off of the proximity dog can not be detected for some reason

Home position return direction

Alarm stop due to home position search limit being exceeded

Proximity dog

Z-phase pulse

Startup

Home position search movement

amount

(2) For home position return using a limit switch combined method (example: when the limit switch is not

released)

Home position return speed

Home position return direction

Alarm stop due to home position search limit being exceeded

Creep speed

When the turning off of the limit switch can not be detected for some reason

Limit switch

Limit switch

Z-phase pulse

Startup

Home position search movement amount

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6. APPLICATION FUNCTIONS

6.19 Gain changing

Through turning on the gain changing command signal (GAIN), the gain for the servo amplifier can be changed. This is used to change the gain during revolution and while stopped, as well as changing gain proportional to amount of movement or speed. When the gain changing function is used, set the following servo parameters. (1) Servo parameters (MR-J4(W )- B)

Parameter No. MR-J4-B

Parameter No. Symbol Name Setting value

1159 PB26 *CDP Gain switching function Arbitrary within setting range 115A PB27 CDL Gain switching condition Arbitrary within setting range 115B PB28 CDT Gain switching time constant Arbitrary within setting range 115C PB29 GD2B Gain switching ratio of load inertia moment/load

mass ratio Arbitrary within setting range

115D PB30 PG2B Gain switching position control gain Arbitrary within setting range 115E PB31 VG2B Gain switching speed control gain Arbitrary within setting range 115F PB32 VICB Gain switching speed integral compensation Arbitrary within setting range 1160 PB33 VRF11B Gain switching vibration suppression control 1

vibration frequency setting Arbitrary within setting range

1161 PB34 VRF12B Gain switching vibration suppression control 1 resonance frequency setting

Arbitrary within setting range

1162 PB35 VRF13B Gain switching vibration suppression control 1 vibration frequency dumping setting

Arbitrary within setting range

1163 PB36 VRF14B Gain switching vibration suppression control 1 resonance frequency setting

Arbitrary within setting range

1177 PB56 VRF21B Gain switching vibration suppression control 2 vibration frequency setting

Arbitrary within setting range

1178 PB57 VRF22B Gain switching vibration suppression control 2 resonance frequency setting

Arbitrary within setting range

1179 PB58 VRF23B Gain switching vibration suppression control 2 vibration frequency dumping setting

Arbitrary within setting range

117A PB59 VRF24B Gain switching vibration suppression control 2 resonance frequency setting

Arbitrary within setting range

117B PB60 PG1B Gain switching model loop gain Arbitrary within setting range

POINT Refer to the Servo Amplifier Instruction Manual on your servo amplifier

concerning details for the servo parameters. To use the gain switching function, first set the gain adjustment mode to a

manual mode by changing an auto-tuning mode (parameter No.1107) to 3 (manual mode). If the gain adjustment mode is in an auto-tuning mode, the gain changing function cannot be used.

API LIBRARY

To turn ON/OFF the gain changing command (GAIN), set SSC_CMDBIT_AX_GAIN to the command bit number of the sscSetCommandBitSignalEx function.

To check if during gain switching (GAINO) is ON/OFF, set SSC_STSBIT_AX_GAINO to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

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6. APPLICATION FUNCTIONS

A timing chart using for gain changing is shown below.

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_GAIN)

ON OFF

During gain switching (GAINO)

Servo amplifier side gain details

Gain changing command (GAIN)

After changing gain Before changing gain

ON OFF

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_GAINO)

Before changing gain

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6. APPLICATION FUNCTIONS

6.20 PI-PID switching

By turning on the PID control command signal (CPC), control of the servo amplifier is changed to PID control from PI control. Use this function, for example, to remove any interference (torsion) between tandem drive axes by operating an axis (slave axis) under PID control. When using the PI-PID switching function, set the following servo parameters. (1) Servo parameters (MR-J4(W )- B)

Parameter No. MR-J4-B

Parameter No. Symbol Name Setting value

1157 PB24 *MVS Slight vibration suppression control 0 (PI control is valid (can be switched to PID control by the command from controller).)

POINT

Refer to the Servo Amplifier Instruction Manual on your servo amplifier concerning details for the servo parameters.

To use the PI-PID switching function, first set the gain adjustment mode to a manual mode by changing an auto-tuning mode (parameter No.1107) to 3 (manual mode). If the gain adjustment mode is in an auto-tuning mode, the PI- PID switching function cannot be used.

API LIBRARY

To turn ON/OFF the PI-PID switching command (CPC), set SSC_CMDBIT_AX_CPC to the command bit number of the sscSetCommandBitSignalEx function.

To check if during PID control (SPC) is ON/OFF, set SSC_STSBIT_AX_PID to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

A timing chart using for PI-PID switching is shown below.

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_CPC)

ON OFF

ON OFF

During PID control (SPC)

Servo amplifier side control details

PID control command (CPC)

PI control PID control PI control

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_SPC)

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6. APPLICATION FUNCTIONS

6.21 Absolute position detection system

By using a servo motor compatible with the absolute position detection system, the positioning control can be made by the absolute position detection system. In the absolute position detection system, if machinery position is determined at the system startup, there is no need to execute the home position return because the absolute position is restored at system startup. Determination of machinery position is made by the home position return. At home position return and power on, be sure to execute the operation referring to the procedures described in Section 6.21.2.

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter function to set/get the

absolute position detection system. 6.21.1 Parameters

The parameters related to the absolute position detection system are shown below. (1) Servo parameters (MR-J4(W )-B)

Parameter No.

MR-J4-B Parameter

No. Symbol Name

Initial Value

Units

1102 PA03 *ABS Absolute position detection system

0000h 0 0 0

Absolute position detection system selection 0: Used in incremental system 1: Used in absolute position

detection system

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6. APPLICATION FUNCTIONS

(2) Control parameters Parameter

No. Symbol (Note)

Name Initial value

Unit Setting range

Function

0241 *OPZ2 Home position return option 2

0000h 0000h to 0011h

Absolute position data Set the validity/invalidity of restoring the absolute position. 0: Invalid (The position at system

startup is defined to be 0. Perform the home position return prior to automatic operation and linear interpolation / interpolation operation .)

1: Valid (The absolute position is restored at system startup, based on the home position multiple revolution data and the home position within 1 revolution position.)

0 0

Change of absolute position data on home position reset

MC200 MC300

024D *LS0 Home position multiple

revolution data 0000h rev 0000h to

FFFFh Set the home position multiple revolution data.

024E *CY0L Home position within 1 revolution position (lower)

0000h pulse 0000h to FFFFh

Set the within 1 revolution home position.

024F *CY0H Home position within 1 revolution position (upper)

0000h 0000h to FFFFh

Note. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. 6.21.2 Processing procedure

Be sure to execute the operation referring to the following procedures at home position return and power on. (1) Processing procedure for returning to home position

(a) Set the absolute position detection system (parameter No.1102) to 1 (Use in absolute position detection system).

(b) If setting the parameter in (a) for the first time, "absolute position erased" (servo alarm 25) occurs. After

turning OFF the power supply of servo amplifier, turn power supply ON again and start the system again.

(c) Execute home position return.

(d) When the home position return is completed, the home position return request (ZREQ) turns off and the home position return complete signal (ZP) turns on. Then the home position multiple revolution data (parameter No.024D) and the home position within 1 revolution position (parameter No.024E, 024F) are updated, and the absolute position data of the home position return option 2 (parameter No.0241) is changed to 1 (valid).

(e) After confirming the home position return complete signal (ZP) is on, read the home position multiple

revolution data (parameter No.024D) and home position within 1 revolution position (parameter No.024E, 024F) and store a backup copy.

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6. APPLICATION FUNCTIONS

(2) Processing procedure for turning on the power

After executing backup of the position of the home position at (1), execute the following processing before system startup (before setting the system directive code to 000Ah). Performing of this process restores the system to absolute positioning at system startup. (a) Set the home position multiple revolution data and home position within 1 revolution position stored

during backup of (1) to the home position multiple revolution data (parameter No.024D) and home position within 1 revolution position (parameter No.024E, 024F).

(b) Set the absolute position data of the home position return option 2 (parameter No.0241) to 1 (valid).

(3) Cautions for use of absolute position detection system

In the case of the following (a) to (f), the absolute position erased signal (ABSE) is turned on and the absolute position data of the home position return option 2 (parameter No.0241) is changed to 0 (invalid). Furthermore, the servo is not yet finished with home position return, and the home position return request (ZREQ) turns on. Therefore when performing automatic operation, execute home position return again. (In cases other than (a))

POINT

If the absolute position erased signal (ABSE) is turned on, re-execute home position return and read the home position multiple revolution data and home position within one-revolution position.

(a) When parameters related to the home position return (parameter No.0240, 0246 to 0249, and 024D to

024F), electronic gear (parameter No.020A to 020D), and rotation direction selection (parameter No.110D) are changed. (For software version A5 or later, absolute position erased signal (ABSE) does not turn ON when parameter No.0240 is changed.)

(b) If "absolute position erased (servo alarm 25) or "absolute position counter warning" (servo alarm E3)

occurs, note that these alarms will be cleared by servo amplifier power OFF/ON.

(c) Parameter error (servo alarm 37) occurs.

(d) The setting value for "home position multiple revolution data" (parameter No.024D) or "home position within 1 revolution position" (parameter No.024E, 024F) is incorrect and overflow in calculating absolute position restoration occurs.

(e) "Tandem drive synchronous valid width error" (operation alarm No. 54, detail 01) or "Tandem drive

synchronous alignment error" (operation alarm 58, detail 01) occurs.

(f) Electronic gear setting error (system error E500) occurs. This error causes a forced stop status to prevent operation. Reexamine the setting of an electronic gear and start the system again.

POINT

The position after startup (restoration of absolute position) is determined using the following. Restoration absolute position (pulse) = (within 1 revolution position at system startup

home position within 1 revolution position) (multiple revolution data at system startup home position multiple revolution data) number of encoder pulses per revolution

Restoration absolute position (command unit) = restoration absolute position (pulse) reciprocal of number of electronic gears (Note) home position coordinate

Note. reciprocal of number of electronic gears electronic gear denominator (CDV)/electronic gear numerator (CMX)

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6. APPLICATION FUNCTIONS

6.21.3 Sequence example

Prepare a home position return complete memo showing that the home position has been established on the user program. Turn the home position return complete memo on when home position return is complete. When the home position return complete memo is turned on, execution of home position return is not necessary. If the absolute position erased signal (ABSE) is turned on, turn the home position return complete memo off, and re-execute home position return. (1) Startup procedure

sscSystemStart function

sscResetAllParameter function

sscGetSystemStatusCode function

Turn Power ON

System startup

While system is running

Wait for completion of system preparation (Wait until the during system preparation (0001h) is set in the system status code)

Parameter initialization command (set the system command code to 0003h)

Waiting for completion of parameter initialization (wait until the system status code is set to 0003h)

Perform writing of parameters as needed.

Is the home position return complete memo on?

Set parameters 024D, 024E, 024F with the home position multiple revolution data and home position within 1 revolution position data

Set the absolute position data of the home position return option 2 (parameter No.0241) to 1 (valid)

Startup system (set the system command code to 000Ah.)

Wait for completion of system startup (wait until the system status code is set to 000Ah.)

N

Y

Complete system startup (set the system status code to 000Ah.)

Waiting for system startup command (wait until the system command code is set to 000Ah.)

Complete parameter initialization (set the system status code to 0003h)

Waiting for parameter initialization command (wait until the system command code is set to 0003h)

System preparation completion (Set "during system preparation" (0001h) in the system status code)

User program Position board

sscChangeParameter function

sscChangeParameter function

sscChangeParameter function

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6. APPLICATION FUNCTIONS

Wait for operation command

Complete return to position (turn on home position return complete signal (ZP).)

Is the home position return complete memo on?

Execute home position return operation

Read the home position multiple revolution data, home position within 1 revolution position from parameter No.024D, 024E, 024F and save it on the user program.

Turn on the home position return complete memo.

After this, execute normal operation.

Wait for home position return complete (wait until the home position return complete signal (ZP) is turned on)

Y

N

sscWaitIntDriveFin function /sscGetDriveFinStatus function

sscHomeReturnStart function

sscChangeParameter function

(2) Procedure for when absolute position disappears. If the absolute position erased signal (ABSE) is turned on, turn off the home position return complete memo being held at the user program.

While system is running

Upon occurrence of cause for erasing of absolute positioning, turn on the absolute position erased signal (ABSE).

Waiting for turning on of absolute position erased signal (ABSE) (wait for absolute position erased signal (ABSE) to turn on.)

Turn off the home position return complete memo.

Remove the cause of the alarm and after restarting the position board, execute (1) "procedure for turning on power".

User program Position board

sscWaitIntEvent function/ sscGetStatusBitSignalEx function

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6. APPLICATION FUNCTIONS

6.22 Home position return request

The home position return request (ZREQ) shows the home position return incomplete status. In the home position return incomplete status, the home position return request (ZREQ) turns on. When it is necessary to determine the home position, perform the home position return. When the home position return is completed properly and the home position is determined, the home position return request (ZREQ) turns off. (1) Axis status bit

Address (Note) Bit Symbol Signal name When in tandem drive

MR-MC2 MR-MC3 1064 0050A4 0 ISTP Interlock stop Master

1 RMRCH High speed monitor is latched Each axis 2 POV Stop position over-bound Master 3 STO Start up acceptance complete Master 4

Reserved 5 6 ZREQ Home position return request Master 7 Reserved

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

Example: Dog method home position return

OFF ON

OFF ON

OFF ON

OFF ON

OFF ON

Home position return speed

Home position return direction

Creep speed

Home position

Z-phase pulse

Start operation (ST)

During operation (OP)

Completion of operation (OPF)

Home position return request (ZREQ)(Note)

Home position return complete (ZP)

Proximity dog

Amount of home position shift

OFF ON

Note. The home position return request (ZREQ) turns on when a home position return starts.

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6. APPLICATION FUNCTIONS

API LIBRARY

To check if home position return request (ZREQ) is ON/OFF, set SSC_STSBIT_AX_ZREQ to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

(2) The following shows the conditions for the home position return request (ZREQ) to turns on/off.

(a) At system startup 1) Condition of turning on

a) When the axis is a tandem drive axis and does not have home position (parameter No.0200). b) When "absolute position erased" (servo alarm 25) or "absolute position counter warning"

(servo alarm E3) occurs c) The setting value for "home position multiple revolution data" (parameter No.024D) or "home

position within 1 revolution position" (parameter No.024E, 024F) is incorrect and overflow in calculating absolute position restoration occurs.

d) When parameter error (servo alarm 37) occurs e) When electronic gear setting error (system error E500) occurs f) When setting of absolute position data (parameter No.0241) is invalid and system is startup

2) Condition of turning off

a) When the absolute position is restored properly at the use of the absolute position detection system

b) When the axis is a monopodium (not a tandem drive axis) and does not have home position (parameter No.0200)

(b) While system is running

1) Condition of turning on a) When home position return is started b) "Tandem drive synchronous valid width error" (operation alarm No. 54, detail 01) or "Tandem drive

synchronous alignment error" (operation alarm 58, detail 01) occurs. c) When "Condition of turning ON at system startup" ((a) 1)) is satisfied at SSCNET reconnection

2) Condition of turning off

a) When home position return is completed properly (3) The following shows the restrictions at home position return incomplete status (home position return

request (ZREQ): ON). (a) Operational functions

Automatic operation, linear Interpolation and home position reset are unavailable. At start operation, home position return not complete (operation alarm 90, detail 01) occurs and start operation is canceled.

(b) Application functions

Software limit, rough match output, backlash, position switch and interference check function are invalid.

(c) Tandem drive Synchronization for turning servo on is not performed.

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6. APPLICATION FUNCTIONS

6.23 Other axes start

6.23.1 Summary

The other axes start function is a function that automatically performs the start operation for other axes, and turns on/off the digital output signal or output device signal according to the conditions for starting other axes (start conditions) and other axes start data consisting of operation (operation content) that is performed when the conditions are satisfied. When using the other axes start, set the other axes start data No. (1 to 32 MC200 / 1 to 64 MC300 ) to the other axes start specification of the point table. The start operation for other axes internally turns on the start operation signal (ST). Therefore, before the start operation, set the operation mode and the point table for an axis for which the other axes start is performed. This function can only be used in automatic operation and linear interpolation operation MC200 /interpolation operation MC300 .

CAUTION If the digital output signal is updated from the user program during controlling of the digital output signal

by the other axes start function, the consistency of the data may not be kept. This condition is applied to the case when the host controller and position board update the data at the same time to the same digital output area number. In this case, read/write the digital output signal after controlling the possessory right of the digital output signal using the exclusive control function. For the output device signal, use the exclusive control function to perform exclusive control in the same way.

(1) Using MR-MC2

(a) Software version A7 or before Output to output device signals is not supported.

(b) Software version A8 or later

Output to output device signals is supported. (2) Using MR-MC3

(a) No restriction by software version Output to output device signals is supported.

6.23.2 Settings

When using the other axes start function, set the following data.

POINT When "1: Specified position pass specification" is set to the axis judgment

condition, a specified position opposite from the movement direction is judged to be already passed, and therefore the condition is satisfied at the start operation. When using together with circular interpolation MC300 , segment the arc trajectory and set the point table as necessary so that there is a specified position for self-axis movement direction.

For tandem drive axes, set this function for the master axes. This function does not operate when set to the slave axis. However, the slave axis can be set as an observed axis.

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6. APPLICATION FUNCTIONS

(1) Point table

Set the other axes start data No. for the other axes start specification.

POINT The setting range of the other axes start data No. differs depending on the

control cycle. A maximum of 1 to 32 MC200 /1 to 64 MC300 can be set. When the setting is out of the range of the valid other axes start data No., it causes a point table setting error (operation alarm 25, detail 09).

Control cycle Valid other axes start data No.

MR-MC2 MR-MC3 0.88ms 1 to 32 1 to 64 0.44ms 1 to 16 1 to 32 0.22ms 1 to 8 1 to 16

API LIBRARY Use the sscSetPointDataEx/sscCheckPointDataEx functions to set/get point

table. For a detailed procedure for other axes start, refer to the sample programs

(InterruptOas/PollingOas/OasDigitalOutput) contained on the utility software.

POINT Position data

[Command unit] Feed speed [Speed unit]

Acceleration time constant

[ms]

Deceleration time constant

[ms]

Dwell/predwell [ms]

Auxiliary command

Other axes start

specification

S-curve ratio [%]

Reserved

4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 bytes 1 byte 11 bytes 0000 2000 2000 20 30 0 0000h 00000000h 100 0 0001 2000 3000 30 50 0 0000h 00000000h 100 0 0002 1000 1000 20 30 0 0000h 00000000h 100 0

: : : : : : : : : :

(a) Other axes start specification bit31 24 16 8 0

Reserved Reserved Other axes start specification 2

Other axes start specification 1

Other axes start specification 1 and 2 0 : Other axes start specification invalid 1 to 32 : Other axes start data No. MC200 1 to 64 : Other axes start data No. MC300

Example) Set 00000401h to set 1 and 4 for the other axes start specification 1 and 2, respectively.

1) Cause of alarm

When the other axes start data set in the other axes start specification at point switching or the start of operation is being used (when the other axes start notice signal (OSOP ) is on), using other axes start data (operation alarm 5B, detail 01) occurs and operation is terminated.

If the setting of the other axes start specification is incorrect, it causes a point table setting error (operation alarm 25, detail 09) and operation is stopped.

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6. APPLICATION FUNCTIONS

(2) Other axes start data

For the other axes start data (1 to 32 MC200 /1 to 64 MC300 ), set the conditions for starting other axes (start conditions) and the operation (operation content) performed when the condition is satisfied. When the other axes start No. (1 to 32 MC200 /1 to 64 MC300 ) is set to the other axes start specification (other axes start specification 1 and 2) of the point table, other axes are started according to the settings of the corresponding other axes start data.

Other axes start data table

Address Content

Address Content

MR-MC2 MR-MC3 MR-MC2 MR-MC3 E100 0FB680

Other axes start data 1

Start condition E3D8 0FBA00

Other axes start data 8

Start condition : : : : E117 0FB6A7 E3EF 0FBA27 E118 0FB6A8

Operation content E3F0 0FBA28

Operation content : : : : E167 0FB6FF E43F 0FBA7F E168 0FB700

Other axes start data 2

Start condition E440 0FBA80

Other axes start data 9

Start condition : : : : E17F 0FB727 E457 0FBAA7 E180 0FB728

Operation content E458 0FBAA8

Operation content : : : : E1CF 0FB77F E4A7 0FBAFF E1D0 0FB780

Other axes start data 3

Start condition E4A8 0FBB00

Other axes start data 10

Start condition : : : : E1E7 0FB7A7 E4BF 0FBB27 E1E8 0FB7A8

Operation content E4C0 0FBB28

Operation content : : : : E237 0FB7FF E50F 0FBB7F E238 0FB800

Other axes start data 4

Start condition E510 0FBB80

Other axes start data 11

Start condition : : : : E24F 0FB827 E527 0FBBA7 E250 0FB828

Operation content E528 0FBBA8

Operation content : : : : E29F 0FB87F E577 0FBBFF E2A0 0FB880

Other axes start data 5

Start condition E578 0FBC00

Other axes start data 12

Start condition : : : : E2B7 0FB8A7 E58F 0FBC27 E2B8 0FB8A8

Operation content E590 0FBC28

Operation content : : : : E307 0FB8FF E5DF 0FBC7F E308 0FB900

Other axes start data 6

Start condition E5E0 0FBC80

Other axes start data 13

Start condition : : : : E31F 0FB927 E5F7 0FBCA7 E320 0FB928

Operation content E5F8 0FBCA8

Operation content : : : : E36F 0FB97F E647 0FBCFF E370 0FB980

Other axes start data 7

Start condition E648 0FBD00

Other axes start data 14

Start condition : : : : E387 0FB9A7 E65F 0FBD27 E388 0FB9A8

Operation content E660 0FBD28

Operation content : : : : E3D7 0FB9FF E6AF 0FBD7F

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6. APPLICATION FUNCTIONS

Address

Content Address

Content MR-MC2 MR-MC3 MR-MC2 MR-MC3

E6B0 0FBD80

Other axes start data 15

Start condition E920 0FC080

Other axes start data 21

Start condition : : : : E6C7 0FBDA7 E637 0FC0A7 E6C8 0FBDA8

Operation content E938 0FC0A8

Operation content : : : : E717 0FBDFF E987 0FC0FF E718 0FBE00

Other axes start data 16

Start condition E988 0FC100

:

: :

: : E72F 0FBE27 E730 0FBE28

Operation content

: : E77F 0FBE7F ED97 0FC5FF E780 0FBE80

Other axes start data 17

Start condition ED98 0FC600

Other axes start data 32

Start condition : : : : E797 0FBEA7 EDAF 0FC627 E798 0FBEA8

Operation content EDB0 0FC628

Operation content : : : : E7E7 0FBEFF EDFF 0FC67F E7E8 0FBF00

Other axes start data 18

Start condition

0FC680

Other axes start data 33

Start condition : : : E7FF 0FBE27 0FC6A7 E800 0FBF28

Operation content 0FC6A8

Operation content : : : E84F 0FBF7F 0FC6FF E850 0FBF80

Other axes start data 19

Start condition 0FC700

:

: :

: E867 0FBFA7 E868 0FBFA8

Operation content

: : E8B7 0FBFFF 0FD5FF E8B8 0FC000

Other axes start data 20

Start condition 0FD600

Other axes start data 64

Start condition : : : E8CF 0FC027 0FD627 E8D0 0FC028

Operation content 0FD628

Operation content : : : E91F 0FC07F 0FD67F

POINT All axes start data specified in the other axes start specification of the point table

upon start of operation are imported. When the other axes start data is changed after the start operation (after the other axes start notice signal (OSOP ) is turned on) the changes will be invalid.

API LIBRARY

Use the sscSetOtherAxisStartData/sscGetOtherAxisStartData functions to set/get other axes start data.

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6. APPLICATION FUNCTIONS

(a) Start condition

Address (Note) Symbol Name Initial

Value Unit Setting range Function MR- MC2

MR- MC3

E100 0FB680 OSOPN1 Axis option (4 bytes)

00000000h 00000000h to

00000011h

0 0

Axis judgment condition Set the judgment condition for the axis. 0: Remaining distance

specification (The condition is satisfied when the axis remaining distance is equal to or shorter than the axis remaining distance data.) 1: Specified position pass

specification (The condition is satisfied when the axis position exceeds the axis pass position data.) Axis judgment coordinate Set the judgment coordinate for the axis. 0: Current feedback position 1: Current command position

0 00 0

E104 0FB684 OSOPN2 Observed axis option (4 bytes)

00000000h 00000000h to

00FF1111h

Set here to monitor axes.

Observed axis specification Validates the observed axis. 0: Invalid 1: Valid Observed axis judgment condition Set the judgment condition for the observed axis. 0: Not use 1: Observed axis specified

position pass specification

0 0

Observed axis judgment coordinate Set the judgment coordinate for the observed axis. 0: Current feedback Observed axis specified position pass judgment condition Set the specified position pass judgment condition for the observed axis. 0: Condition is satisfied when observed axis position is less than or equal to observed axis specified position data 1: Condition is satisfied when observed axis position is more than or equal to observed axis specified position data Observed axis No. Set the observed axis No. 00h to 1Fh: Axis No. - 1

00h to 3Fh: Axis No. - 1

Example) 0Ah: Axis No. 11

MC200

MC300

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6. APPLICATION FUNCTIONS

Address (Note)

Symbol Name Initial Value Unit Setting range Function MR-

MC2 MR-

MC3 E108 0FB688 OSPP Axis

remaining distance data (4 bytes)

0 Com- mand Units

0 to 2147483647

Set the remaining distance data for the axis. (When "0: Remaining distance specification" is set to the axis judgment condition.)

Axis pass position data (4 bytes)

0 Com- mand Units

-2147483648 to

2147483647

Set the pass position data for the axis. (When "1: Specified position pass specification" is set to the axis judgment condition)

E10C 0FB68C OSMP Observed axis specified position data (4 bytes)

0 Com- mand Units

-2147483648 to

2147483647

Set the specified position data of the observed axis set in the observed axis option.

E110 to

E117

0FB690 to

0FB697

Reserved (8 bytes)

0FB698 to

0FB6A7

Reserved (16 bytes)

Note. The addresses in the table are the addresses for the other axes start data 1. For the other axes start data 2 and after, add the

following value for each other axes start data. Using MR-MC2 : +68h Using MR-MC3 : +80h

1) Cause of alarm

a) Using MR-MC2 An incorrect setting of the other axes start condition causes an other axes start setting error (operation alarm 4D, detail No.01) at the start operation or point switching. The setting of the axis option, observed axis option, or axis remaining distance data is outside

limits. The position specified in the axis pass position data cannot be passed.

(When "1: Specified position pass specification" is set to the axis judgment condition) However, the condition above does not cause the error when the specified position is in the opposite direction from the movement direction. In this case, the specified position is judged to be already passed, which satisfies the condition.

When the observed axis specification is valid, a non-existent axis (Note) is set in the observed axis No.

Note. A non-existent axis means an axis for which "0: Not controlled" is set to the control axis of the control option 1 (parameter No.0200), or a temporarily uncontrollable axis due to, for example, the power off of the control power supply of the servo amplifier.

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6. APPLICATION FUNCTIONS

b) Using MR-MC3

An incorrect setting of the other axes start condition causes an other axes start setting error (operation alarm 4D) at the start operation or point switching. The operation alarm detail No. is as follows. The axis judgment condition of the other axes start condition is outside limits. (Operation alarm

4D, detail No.10) The axis remaining distance data of other axes start condition is a negative value. (Operation

alarm 4D, detail No.11) The position specified in the axis pass position data of other axes start condition cannot be

passed. (Operation alarm 4D, detail No.12) (Note 1) The axis judgment coordinates of other axes start condition is outside limits. (Operation alarm 4D,

detail No.13) The observed axis specification of other axes start condition is outside limits. (Operation alarm

4D, detail No.14) The observe judgment condition of other axes start condition is outside limits. (Operation alarm

4D, detail No.15) The observed axis judgment coordinates of other axes start condition is outside limits. (Operation

alarm 4D, detail No.16) The specified position pass judgment condition of observed axis of other axes start condition is

outside limits. (Operation alarm 4D, detail No.17) The observed axis No. of other axes start condition is outside limits. (Operation alarm 4D, detail

No.18) A non-existent axis (Note 2) is set in the observed axis No. of other axes start condition.

(Operation alarm 4D, detail No.19) Note 1. When using circular interpolation, if the self-axis pass data is either "start point coordinate end point coordinate <

self-axis pass position data" or "self-axis pass position data < end point coordinate start point coordinate", the self- axis judgement coordinate is judged as being outside limits. Segment the arc trajectory and set the point table as necessary.

2. A non-existent axis means an axis for which "0: Not controlled" is set to the control axis of the control option 1 (parameter No.0200), or a temporarily uncontrollable axis due to, for example, the power off of the control power supply of the servo amplifier.

(b) Operation content

Address (Note 1) Symbol Name Unit

Setting range Function MR-

MC2 MR-

MC3 E118 0FB6A8 OSAX1 Start axis

designation 1 (4 bytes)

00000000h to

FFFFFFFFh

Set the axis for which the start operation is performed when the other axes start condition is satisfied. Axis 1 (bit 0) to axis 32 (bit 31) 0: Start operation invalid 1: Start operation valid

E11C 0FB6AC OSAX2 Start axis designation 2 (4 bytes) (Note 2)

00000000h to

FFFFFFFFh

Set the axis for which the start operation is performed when the other axes start condition is satisfied. Axis 33 (bit 0) to axis 64 (bit 31) 0: Start operation invalid 1: Start operation valid

E120 0FB6B0 OSPS Start axis start point No. (2 bytes)

0 to 319 MC200

0 to 2047 MC300

Set the start point No. of the other axes start axis.

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6. APPLICATION FUNCTIONS

Address (Note 1)

Symbol Name Unit Setting range Function MR-

MC2 MR-

MC3 E122 0FB6B2 OSPE Start axis end

point No. (2 bytes)

0 to 319 MC200

0 to 2047 MC300

Set the end point No. of the other axes start axis.

E124 to

E157

0FB6B4 to

0FB6E7

Reserved (52 bytes)

E158 0FB6E8 OSDOS Digital output signal specification (2 bytes)

0000h to

3F01h

Select the digital output signal (DO_ ) to control output in units of 16 points when the other axes start conditions are satisfied. (When "0: Use digital I/O table" is selected in I/O table (parameter No.004A))

Digital output signal control Set valid/invalid for the digital output signal control. 0: Invalid 1: Valid

Digital output signal number Set the digital output signal (DO_ ) in units of 16 points. 00 to 3Fh Example. 00h: DO_000 to DO_00F

3Fh: DO_3F0 to DO_3FF

0

Output device signal specification (2 bytes)

0000h to

FF01h MC200

0000h

to 23F1h MC300

Select the output device signal (DVO_ ) to control output in units of 16 points when the other axes start conditions are satisfied. (When "1: Use I/O device table (MR-MC2 method)" is selected in I/O table (parameter No.004A))

Output device signal control Set valid/invalid for the output device signal control. 0: Invalid 1: Valid

Output device signal number Set the output device signal (DVO_ ) in units of 16 points. 00 to FFh Example. 00h: DVO_000 to DVO_00F

FFh: DVO_FF0 to DVO_FFF

0

(When "2: Use I/O device table (expanded points method)" is selected in I/O table (parameter No.004A))

0 Output device signal number Set the output device signal (DVO_ ) in units of 16 points. 000 to 23Fh Example. 000h: DVO_0000 to

DVO_000F 23Fh: DVO_23F0 to

DVO_23FF

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6. APPLICATION FUNCTIONS

Address (Note 1)

Symbol Name Unit Setting range Function MR-

MC2 MR-

MC3 E15A 0FB6EA OSDOE Digital output

signal enable selection (2 bytes)

0000h to

FFFFh

(When "0: Use digital I/O table" is selected in I/O table (parameter No.004A)) Set valid/invalid for the digital output signal (DO_ ) selected in the digital output signal specification. DO_ 0 (bit 0) to DO_ F (bit 15) Note. is set in the digital output signal specification. 0: Invalid 1: Valid

Output device signal enable selection (2 bytes)

(When "1: Use I/O device table (MR-MC2 method)" is selected in I/O table (parameter No.004A)) Set valid/invalid for the output device signal (DVO_ ) selected in the output device signal specification. DVO_ 0 (bit 0) to DVO_ F (bit 15) Note. is set in the output device signal specification. 0: Invalid 1: Valid (When "2: Use I/O device table (expanded points method)" is selected in I/O table (parameter No.004A)) Set valid/invalid for the output device signal (DVO_ ) selected in the output device signal specification. DVO_ 0 (bit 0) to DVO_ F (bit 15) Note. is set in the output device signal specification. 0: Invalid 1: Valid

E15C 0FB6EC OSDOP Digital output signal command (2 bytes)

0000h to

FFFFh

(When "0: Use digital I/O table" is selected in I/O table (parameter No.004A)) Set the digital output signal command (ON/OFF) of the digital output signal (DO_ ) selected in the digital output signal enable selection. DO_ 0 (bit 0) to DO_ F (bit 15) Note. is set in the digital output signal specification. 0: OFF 1: ON

Output device signal command (2 bytes)

(When "1: Use I/O device table (MR-MC2 method)" is selected in I/O table (parameter No.004A)) Set the digital output signal command (ON/OFF) of the output device signal (DVO_ ) selected in the output device signal enable selection. DVO_ 0 (bit 0) to DVO_ F (bit 15) Note. is set in the output device signal specification. 0: OFF 1: ON (When "2: Use I/O device table (expanded points method)" is selected in I/O table (parameter No.004A)) Set the digital output signal command (ON/OFF) of the output device signal (DVO_ ) selected in the output device signal enable selection. DVO_ 0 (bit 0) to DVO_ F (bit 15) Note. is set in the output device signal specification. 0: OFF 1: ON

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6. APPLICATION FUNCTIONS

Address (Note 1)

Symbol Name Unit Setting range Function MR-

MC2 MR-

MC3 E15E

to E167

0FB6EE to

0FB6F7

Reserved (10 bytes)

0FB6F8 to

0FB6FF

Reserved (8 bytes)

Note 1. The addresses in the table are the addresses for the other axes start data 1. For the other axes start data 2 and after, add the

following value for each other axes start data. Using MR-MC2 : +68h Using MR-MC3 : +80h

2. When using MR-MC2 it is "Reserved".

[Setting example of output signal] The following is the setting example for when the digital output signals DO_1F0 to DO_1F3 are turned on after the other axes start conditions are satisfied.

Address Symbol Name Setting value Setting contents

MR-MC2 MR-MC3 E158 0FB6E8 OSDOS Digital output signal

specification 1F01h Digital output signal control: valid,

digital output signal number: 1Fh E15A 0FB6EA OSDOE Digital output signal enable

selection 000Fh bit0 to bit3: valid, bit4 to bit15: invalid

E15C 0FB6EC OSDOP Digital output signal command 000Fh bit0 to bit3: ON

1) Cause of alarm a) Using MR-MC2

An incorrect setting of the other axes operation content causes an other axes start setting error (operation alarm 4D, detail 02) at the start operation or point switching. The axis is specified in the start axis designation. A non-existent axis (Note) is set in the start axis designation. The setting of the start axis start point No. or the start axis end point No. is outside limits. The setting of the digital output signal specification/output device signal specification is out of the

range. The general output of the servo amplifier or output of remote I/O module is not assigned to the

digital output signal/output device signal specified in the digital output signal selection/output device signal selection.

Note. A non-existent axis means an axis for which "0: Not controlled" is set to the control axis of the control option 1

(parameter No.0200), or a temporarily uncontrollable axis due to, for example, the power off of the control power supply of the servo amplifier.

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6. APPLICATION FUNCTIONS

b) Using MR-MC3

An incorrect setting of the other axes operation content causes an other axes start setting error (operation alarm 4D) at the start operation or point switching. The operation alarm detail No. is as follows. A self-axis or non-existent axis (Note) was set in the start axis designation of the other axes

operation content. (Operation alarm 4D, detail No.20) The start axis starting point No. and start axis end point No. settings of other axes operation

content are outside limits. (Operation alarm 4D, detail No.21) The digital output signal control/output device signal control of other axes operation content is

outside limits. (Operation alarm 4D, detail No.22) The output device signal No. of other axes operation content is outside limits. (Operation alarm

4D, detail No.23) The digital output signal/digital device signal designated by digital output signal selection/output

device signal selection have not been assigned a servo amplifier general output or remote I/O module output. (Operation alarm 4D, detail No.24)

Note. A non-existent axis means an axis for which "0: Not controlled" is set to the control axis of the control option 1

(parameter No.0200), or a temporarily uncontrollable axis due to, for example, the power off of the control power supply of the servo amplifier.

The settings required for the main uses of other axes start are as follows.

Name

Main uses

Starting operation of other axis at specified position

Turning ON/OFF digital output signal or output device signal Using observed axis

Axis option

Observed axis option

Axis remaining distance data/Axis pass position data

Observed axis specified position data

Start axis designation 1

Start axis start point No.

Start axis end point No.

Output signal specification

Output signal enable selection

: Required : Optional

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6. APPLICATION FUNCTIONS

6.23.3 Interface

(1) Other axes start command/other axes start status bit The other axes start commands/other axes start statuses related to the other axes start function are shown below. Other axes start command/status table

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 E080 0FB480

Other axes start command/ status table 1

Other axes start command

E0AC 0FB4AC Other axes start command/ status table 12

Other axes start command E081 0FB481 E0AD 0FB4AD

E082 0FB482 Other axes start command

E0AE 0FB4AE Other axes start command E083 0FB483 E0AF 0FB4AF

E084 0FB484 Other axes start command/ status table 2

Other axes start command

E0B0 0FB4B0 Other axes start command/ status table 13

Other axes start command E085 0FB485 E0B1 0FB4B1

E086 0FB486 Other axes start command

E0B2 0FB4B2 Other axes start command E087 0FB487 E0B3 0FB4B3

E088 0FB488 Other axes start command/ status table 3

Other axes start command

E0B4 0FB4B4 Other axes start command/ status table 14

Other axes start command E089 0FB489 E0B5 0FB4B5

E08A 0FB48A Other axes start command

E0B6 0FB4B6 Other axes start command E08B 0FB48B E0B7 0FB4B7

E08C 0FB48C Other axes start command/ status table 4

Other axes start command

E0B8 0FB4B8 Other axes start command/ status table 15

Other axes start command E08D 0FB48D E0B9 0FB4B9

E08E 0FB48E Other axes start command

E0BA 0FB4BA Other axes start command E08F 0FB48F E0BB 0FB4BB

E090 0FB490 Other axes start command/ status table 5

Other axes start command

E0BC 0FB4BC Other axes start command/ status table 16

Other axes start command E091 0FB491 E0BD 0FB4BD

E092 0FB492 Other axes start command

E0BE 0FB4BE Other axes start command E093 0FB493 E0BF 0FB4BF

E094 0FB494 Other axes start command/ status table 6

Other axes start command

E0C0 0FB4C0 Other axes start command/ status table 17

Other axes start command E095 0FB495 E0C1 0FB4C1

E096 0FB496 Other axes start command

E0C2 0FB4C2 Other axes start command E097 0FB497 E0C3 0FB4C3

E098 0FB498 Other axes start command/ status table 7

Other axes start command

E0C4 0FB4C4 Other axes start command/ status table 18

Other axes start command E099 0FB499 E0C5 0FB4C5

E09A 0FB49A Other axes start command

E0C6 0FB4C6 Other axes start command E09B 0FB49B E0C7 0FB4C7

E09C 0FB49C Other axes start command/ status table 8

Other axes start command

E0C8 0FB4C8 Other axes start command/ status table 19

Other axes start command E09D 0FB49D E0C9 0FB4C9

E09E 0FB49E Other axes start command

E0CA 0FB4CA Other axes start command E09F 0FB49F E0CB 0FB4CB

E0A0 0FB4A0 Other axes start command/ status table 9

Other axes start command

E0CC 0FB4CC Other axes start command/ status table 20

Other axes start command E0A1 0FB4A1 E0CD 0FB4CD

E0A2 0FB4A2 Other axes start command

E0CE 0FB4CE Other axes start command E0A3 0FB4A3 E0CF 0FB4CF

E0A4 0FB4A4 Other axes start command/ status table 10

Other axes start command

E0D0 0FB4D0 Other axes start command/ status table 21

Other axes start command E0A5 0FB4A5 E0D1 0FB4D1

E0A6 0FB4A6 Other axes start command

E0D2 0FB4D2 Other axes start command E0A7 0FB4A7 E0D3 0FB4D3

E0A8 0FB4A8 Other axes start command/ status table 11

Other axes start command

E0D4 0FB4D4 Other axes start command/ status table 22

Other axes start command E0A9 0FB4A9 E0D5 0FB4D5

E0AA 0FB4AA Other axes start command

E0D6 0FB4D6 Other axes start command E0AB 0FB4AB E0D7 0FB4D7

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6. APPLICATION FUNCTIONS

Address

Content Address

Content MR- MC2

MR- MC3

MR- MC2

MR- MC3

E0D8 0FB4D8 Other axes start command/ status table 23

Other axes start command

E0F4 0FB4F4 Other axes start command/ status table 30

Other axes start command E0D9 0FB4D9 E0F5 0FB4F5

E0DA 0FB4DA Other axes start command

E0F6 0FB4F6 Other axes start command E0DB 0FB4DB E0F7 0FB4F7

E0DC 0FB4DC Other axes start command/ status table 23

Other axes start command

E0F8 0FB4F8 Other axes start command/ status table 31

Other axes start command E0DD 0FB4DD E0F9 0FB4F9

E0DE 0FB4DE Other axes start command

E0FA 0FB4FA Other axes start command E0DF 0FB4DF E0FB 0FB4FB

E0E0 0FB4E0 Other axes start command/ status table 25

Other axes start command

E0FC 0FB4FC Other axes start command/ status table 32

Other axes start command E0E1 0FB4E1 E0FD 0FB4FD

E0E2 0FB4E2 Other axes start command

E0FE 0FB4FE Other axes start command E0E3 0FB4E3 E0FF 0FB4FF

E0E4 0FB4E4 Other axes start command/ status table 26

Other axes start command

0FB500 Other axes start command/ status table 33

Other axes start command E0E5 0FB4E5 0FB501

E0E6 0FB4E6 Other axes start command

0FB502 Other axes start command E0E7 0FB4E7 0FB503

E0E8 0FB4E8 Other axes start command/ status table 27

Other axes start command

0FB504 Other axes start command/ status table 34

Other axes start command E0E9 0FB4E9 0FB505

E0EA 0FB4EA Other axes start command

0FB506 Other axes start command E0EB 0FB4EB 0FB507

E0EC 0FB4EC Other axes start command/ status table 28

Other axes start command

0FB508

: E0ED 0FB4ED

: E0EE 0FB4EE Other axes start

command

E0EF 0FB4EF 0FB57B E0F0 0FB4F0

Other axes start command/ status table 29

Other axes start command

0FB57C Other axes start command/ status table 64

Other axes start command E0F1 0FB4F1 0FB57D

E0F2 0FB4F2 Other axes start command

0FB57E Other axes start command E0F3 0FB4F3 0FB57F

API LIBRARY Use the sscOtherAxisStartAbortOn or sscOtherAxisStartAbortOff functions to

turn ON/OFF the other axes start cancel command (OSSTP). Use the sscGetOtherAxisStartStatus function to check if the following other

axes start statuses are ON/OFF. Other axes start notice (OSOP ) Other axes start complete (OSFIN ) Other axes start incompletion (OSERR )

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6. APPLICATION FUNCTIONS

(a) Other axes start command

Address (Note 1) Bit Symbol (Note 2) Signal name

MR-MC2 MR-MC3 E080 0FB480 0 OSSTP Other axes start cancel

1

Reserved

2 3 4 5 6 7 8 9 10 11 12 13 14 15

Note 1. The addresses in the table are the addresses for the other axes start command/status table 1. For the other axes data 2 and after, increase in units of 4h for each other axes start command/status table.

2. : Other axes start No.

1) Details concerning other axes start command bits

Symbol Signal name Function details

Function Operation OSSTP Other axes start cancel Cancels the other axes start. Turn on this signal to cancel the other

axes start when the other axes start notice signal (OSOP ) is on for waiting for the other axes start condition satisfaction.

(b) Other axes start status

Address (Note 1) Bit Symbol (Note 2) Signal name

MR-MC2 MR-MC3 E082 0FB482 0 OSOP Other axes start notice

1 OSFIN Other axes start complete 2 OSERR Other axes start incomplete 3

Reserved

4 5 6 7 8 9 10 11 12 13 14 15

Note 1. The addresses in the table are the addresses for the other axes start command/status table 1. For the other axes data 2 and after, increase in units of 4h for each other axes start command/status table.

2. : Other axes start No.

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6. APPLICATION FUNCTIONS

1) Details concerning other axes start status bits

Symbol (Note)

Signal name Function details

Function Operation OSOP Other axes start notice Notifies the monitoring for the

other axes start condition.

The other axis start data is specified in the other axes start specification of the point table for automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , and the axis is monitored for the other axes start condition.

The other axes start condition is satisfied. During monitoring for the other axes start condition

(when OSOP is on), the other axes start cancel signal (OSSTP ) is turned on.

OSFIN Other axes start complete Notifies that the other axes start operation content is executed.

The other axes start condition is satisfied, and the other axes start operation content is executed.

The other axes start data is specified in the other axes start specification in the point table for automatic operation or linear interpolation operation MC200 /interpolation operation MC300 .

OSERR Other axes start incomplete

Notifies that the other axes start has failed.

The axis specified in the start axis designation is

being operated when the other axes start operation content should be executed.

The operation mode of the axis specified in the start axis designation is other than automatic operation and linear interpolation operation MC200 /interpolation operation MC300 when the other axes start operation content should be executed.

During monitoring for the other axes start condition (when OSOP is on), operation is canceled due to an operation alarm on the axis or the (rapid) stop operation signal ((R)STP) turned on.

During monitoring for the other axes start condition (when OSOP is on), the other axes start cancel signal (OSSTP ) is turned on.

The number of axes set in the start axis designation exceeds the maximum number of simultaneous start axes.

The other axes start data is specified in the other axes start specification in the point table for automatic operation or linear interpolation operation MC200 /interpolation operation MC300 .

Note. : Other axes start No.

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6. APPLICATION FUNCTIONS

6.23.4 Operation example

(1) When other axes start is complete The other axes start notice (OSOP) turns on between the axis start and the completion of the other axis start. The other axes start complete (OSFIN) turns on when the other axes start notice (OSOP) is turned off on completion of the other axes start.

Other axes start condition satisfied

Other axes start notice (OSOP )

During operation (OP)

Start operation (ST)

Axis

ON OFF ON OFF ON OFF ON OFF ON OFF

Other axis

During operation (OP) ON OFF

Other axes start complete (OSFIN ) Other axes start incomplete (OSERR )

Digital output signal (DO_000)

ON OFF

[Digital output signal setting example] Address

Symbol Name Setting value Setting contents MR-MC2 MR-MC3

E158 0FB6E8 OSDOS Digital output signal specification 0001h Digital output signal control: valid, digital output signal number: 00h

E15A 0FB6EA OSDOE Digital output signal enable selection 0001h bit0: valid, bit1 to bit15: invalid E15C 0FB6EC OSDOP Digital output signal command 0001h bit0: ON

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6. APPLICATION FUNCTIONS

(2) When the observed axis is valid

When "1: Valid" is set to the observed axis specification (in the observed axis option of the other axes start condition), the other axes content is not operated until both the axis judgment condition and the observed axis judgment condition are satisfied.

(a) Example of when the monitor axis judgment condition are satisfied after the axis judgment condition is

satisfied

Other axes start notice (OSOP ) Other axes start complete (OSFIN ) Other axes start incomplete (OSERR )

During operation (OP) * Axis

Start operation (ST) * Axis

During operation (OP)

Other axis

ON OFF ON OFF ON OFF ON OFF ON OFF

ON OFF

Observed axis

Axis judgment condition satisfied

Observed axis judgment condition satisfied

Start condition satisfied

Axis

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6. APPLICATION FUNCTIONS

(3) When other axes start fails

When the other axes start fails due to, for example, an operation alarm on the axis preceding the satisfaction of other axes start condition, the other axes start incomplete (OSERR) turns on. The other axes start incomplete (OSERR) turns on when:

(a) The axis set in the start axis designation 1 is being operated when the other axes start condition is

satisfied.

(b) The operation mode of the axis set in the start axis designation 1 is other than automatic operation and linear interpolation operation MC200 /interpolation operation MC300 when the other axes start condition is satisfied.

(c) Operation is canceled by turning on the stop operation signal (STP) or the rapid stop signal (RSTP)

before the other axes start condition is satisfied.

(d) Operation is canceled by an operation alarm, etc. before the other axis start condition is satisfied.

(e) Operation of the axis is completed and the in-position signal is turned on before the other axes start condition is satisfied.

[Example of when an operation alarm occurs]

Operation alarm occurrence

Other axes start notice (OSOP ) Other axes start complete (OSFIN ) Other axes start incomplete (OSERR )

During operation (OP)

Start operation (ST)

Axis

ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF

Operation alarm (OALM)

In-position (INP)

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6. APPLICATION FUNCTIONS

[Example of when operation of the axis is completed]

Other axes start notice (OSOP ) Other axes start complete (OSFIN ) Other axes start incomplete (OSERR )

During operation (OP)

Start operation (ST)

Axis

ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF

Operation alarm (OALM)

In-position (INP)

(4) When other axes start is canceled

When the other axes start cancel (OSSTP) is turned on before the other axes start condition is satisfied, the other axes start incomplete (OSERR) turns on.

[Example of when the other axes start is canceled]

Other axes start notice (OSOP) Other axes start complete (OSFIN ) Other axes start incomplete (OSERR )

During operation (OP)

Start operation (ST)

Axis

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Other axes start cancel (OSSTP )

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6. APPLICATION FUNCTIONS

6.24 High response I/F

6.24.1 Summary

The high response I/F function is a function for shortening time required to check commands and statuses by simplifying the process between the position board and the host controller. The high response I/F function is always valid. This function simplifies the following processes. (1) Start operation signal (ST) (2) Interrupt processing complete signal (ITE)

POINT The conventional I/F function which uses the start operation signal (ST) and the

interrupt processing complete signal (ITE) can also be used. However, use either of the high response I/F function or the conventional I/F function to unify the process between the position board and the host controller.

The API library uses the high response I/F (except for JOG operation).

API LIBRARY High response I/F is implemented by the internal processing of each start

operation function (sscAutoStart functions etc.) thus processing by user program is unnecessary.

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6. APPLICATION FUNCTIONS

6.24.2 Interface

(1) System command bits Address

Bit Symbol Signal name MR-MC2 MR-MC3

03E4 000B04 0 ITFE Interrupt processing high speed complete 1

Reserved

2 3 4 5 6 7

(2) System status bits

Address Bit Symbol Signal name

MR-MC2 MR-MC3 0450 000BE0 0 ITO Outputting with factor of interrupt

1 IITO During interface mode interrupt valid 2 EVDO Event detection enabled 3 HRIF During highly response I/F valid 4 BMA During system program memory access 5 PRINF Continuous operation to torque control compatible information 6 Reserved 7 IFMO In interface mode

(3) Axis command bits

Address Bit Symbol Signal name

MR-MC2 MR-MC3 1006 005006 0 FST Fast start operation

1

Reserved

2 3 4 5 6 7

Note: The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

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6. APPLICATION FUNCTIONS

6.24.3 Fast start operation

Using the fast start operation signal (FST) as a substitute of the start operation signal (ST) shortens the time required for the second and subsequent start operations.

POINT The fast start operation cannot be used in JOG operation. Use the start

operation signal (ST). (1) High response start operation using the fast start operation signal (FST)

In the start operation, the user program turns on the fast start operation signal (FST) as a substitute of the start operation signal (ST). On receiving the fast start operation signal (FST), the position board turns off the signal (FST), and operation is started.

Command speed

Fast start operation (FST)

ON OFF

During operation (OP)

About one control cycle at shortest

Position board is turned off.

ON OFF

(2) Conventional start operation using the start operation signal (ST) In the conventional start operation, the next start operation cannot be performed until the start up acceptance complete signal (STO) is turned off by turning off the start operation signal (ST). Therefore, the start operation signal (ST) must be turned off before the next start operation. This procedure, when performed after operation is completed, delays the start operation by about one control cycle until the start up acceptance complete signal (STO) is turned off. In addition, when the start operation signal (ST) is turned off in operation, the start up acceptance complete signal (STO) is off after operation is completed, which provides the same responsiveness as in the start operation using the fast start operation signal (FST).

Command speed

Start operation (ST)

Start up acceptance complete (STO)

During operation (OP)

About two control cycles at shortest

ON OFF ON OFF ON OFF

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6. APPLICATION FUNCTIONS

6.24.4 Interrupt processing high speed completion

Using the interrupt processing high speed complete signal (ITFE) as a substitute of the interrupt processing complete signal (ITE) shortens the time for interrupt processing completion. (1) High response interrupt processing completion using the interrupt processing high speed complete signal

(ITFE) For interrupt processing completion, the interrupt thread or device driver turns on the interrupt processing high speed complete signal (ITFE) as a substitute of the interrupt processing complete signal (ITE). On receiving the interrupt processing high speed complete signal (ITFE), the position board turns off the signal (ITFE), and the interrupt processing is completed. The interrupt thread or device driver does not need to wait until the outputting with factor of interrupt (ITO) is turned off, and the next operation can be performed.

Interrupt processing high speed complete (ITFE)

ON OFF

ON OFF

Outputting with factor of interrupt (ITO)

Position board is turned off.

Interrupt thread or device driver does not need to wait until the outputting with factor of interrupt (ITO) is turned off.

(2) Conventional interrupt processing completion using the interrupt processing complete signal (ITE)

The conventional interrupt processing requires the interrupt processing complete signal (ITE) to be on, then waiting until the outputting with factor of interrupt (ITO) is turned off, and then the interrupt processing complete signal (ITE) to be off. Therefore, interrupt processing completion is delayed by about one control cycle until the outputting with factor of interrupt (ITO) is turned off.

ON OFF

Interrupt processing complete (ITE)

ON OFF

Outputting with factor of interrupt (ITO)

About one control cycle at shortest

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6. APPLICATION FUNCTIONS

6.25 In-position signal

For the in-position signal (INP), the position board checks the in-position range and controls turning on or off the signal. The in-position signal controlled by the servo amplifier is displayed as the servo amplifier in-position signal (SINP).

In-position range [pulse]

Actual speed Command speed

ON OFF

In-position signal (INP)

API LIBRARY

To check if in-position (INP) is ON/OFF, check whether SSC_STSBIT_AX_INP is ON/OFF with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.

(1) For servo parameter (MR-J4(W )- B)

Parameter No.

MR-J4B Parameter No.

Symbol Name Initial Value

Unit

1109 PA10 INP In-position range 1600 pulse (2) Axis data status bit

Address (Note) Bit Symbol Signal name

When in tandem drive

Address (Note) Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1060 0050A0 0 RDY Servo ready Each axis 1069 0050A9

0 IWT Interference check standby

Each axis

1 INP In-position Each axis 1 SINP Servo amplifier in-position

Each axis

2 ZSP Zero speed Each axis 2

Reserved

3 ZPAS Passed Z- phase

Each axis 3

4 TLC Torque limit effective

Each axis 4

5 SALM Servo alarm Each axis 5 6 SWRN Servo warning Each axis 6

7 ABSE Absolute position erased

Each axis 7

Note: The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +C0h Using MR-MC3 : +140h

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6. APPLICATION FUNCTIONS

6.26 Digital I/O

6.26.1 Summary

The digital I/O function is a function that controls the general I/O signal of the servo amplifier assigned to the digital I/O table. The user program can check whether the digital I/O signals are on/off by using the digital I/O table. The points for the each I/O signal can be assigned up to 1024. When using the digital I/O function, set "0: Use digital I/O table" in I/O table (parameter No.004A).

CAUTION If the digital output signal is updated from the user program during controlling of the digital output signal

by the other axes start function, the consistency of the data may not be kept. This condition is applied to the case when the host controller and position board update the data at the same time to the same digital output area number. In this case, read/write the digital output signal after controlling the possessory right of the digital output signal using the exclusive control function.

POINT For detailed specifications and how to assign the I/O signal to the digital I/O

table, refer to Section 6.28. When using the digital I/O function, the I/O device function cannot be used. In relation to the digital I/O function, the following functions are expanded for the

I/O device function. We recommend using the I/O device function. Expansion of I/O points used Supports control of I/O word devices Refer to Section 6.27 for details of the I/O device function.

API LIBRARY

Use the sscGetDigitalInputDataBit or sscGetDigitalInputDataWord functions to get digital input.

Use the sscSetDigitalOutputDataBit or sscSetDigitalOutputDataWord functions to set digital output.

Use the sscGetDigitalOutputDataBit or sscGetDigitalOutputDataWord functions to get digital output.

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6. APPLICATION FUNCTIONS

6.26.2 Interface

The following shows the interfaces related to the digital I/O. (1) System parameter Parameter

No. Symbol Name Initial Value Units

Setting range

Function

004A *IOTBL I/O table 0000h 0000h to 0001h MC200

0000h to

0002h MC300

00 0

I/O table selection Set the I/O table to be used. 0: Use digital I/O table 1: Use I/O device table (MR-MC2 method) 2: Use I/O device table (expanded points method) MC300

(2) Digital input table/digital output table MC200

(a) Digital input table

Address Digital input area

number Digital input number Symbol Remarks

B000 Digital input area 0 (2 bytes)

Digital input 0 to digital input 15

DI_000 to DI_00F

Notifies the status of the digital input signal. The bits are DI_000 (bit0) to DI_00F (bit15).

B002 Digital input area 1 (2 bytes)

Digital input 16 to digital input 31

DI_010 to DI_01F

Notifies the status of the digital input signal. The bits are DI_010 (bit0) to DI_01F (bit15).

B004 Digital input area 2 (2 bytes)

Digital input 32 to digital input 47

DI_020 to DI_02F

Notifies the status of the digital input signal. The bits are DI_020 (bit0) to DI_02F (bit15).

B006 Digital input area 3 (2 bytes)

Digital input 48 to digital input 63

DI_030 to DI_03F

Notifies the status of the digital input signal. The bits are DI_030 (bit0) to DI_03F (bit15).

B008 Digital input area 4 (2 bytes)

Digital input 64 to digital input 79

DI_040 to DI_04F

Notifies the status of the digital input signal. The bits are DI_040 (bit0) to DI_04F (bit15).

B00A Digital input area 5 (2 bytes)

Digital input 80 to digital input 95

DI_050 to DI_05F

Notifies the status of the digital input signal. The bits are DI_050 (bit0) to DI_05F (bit15).

B00C Digital input area 6 (2 bytes)

Digital input 96 to digital input 111

DI_060 to DI_06F

Notifies the status of the digital input signal. The bits are DI_060 (bit0) to DI_06F (bit15).

B00E Digital input area 7 (2 bytes)

Digital input 112 to digital input 127

DI_070 to DI_07F

Notifies the status of the digital input signal. The bits are DI_070 (bit0) to DI_07F (bit15).

: : : : :

B07E Digital input area 63 (2 bytes)

Digital input 1008 to digital input 1023

DI_3F0 to DI_3FF

Notifies the status of the digital input signal. The bits are DI_3F0 (bit0) to DI_3FF (bit15).

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6. APPLICATION FUNCTIONS

(b) Digital output table

Address Digital output area number

Digital output number

Symbol Remarks

B080 Digital output area 0 (2 bytes)

Digital output 0 to digital output 15

DO_000 to DO_00F

Turns on/off the digital output signal. The bits are DO_000 (bit0) to DO_00F (bit15).

B082 Digital output area 1 (2 bytes)

Digital output 16 to digital output 31

DO_010 to DO_01F

Turns on/off the digital output signal. The bits are DO_010 (bit0) to DO_01F (bit15).

B084 Digital output area 2 (2 bytes)

Digital output 32 to digital output 47

DO_020 to DO_02F

Turns on/off the digital output signal. The bits are DO_020 (bit0) to DO_02F (bit15).

B086 Digital output area 3 (2 bytes)

Digital output 48 to digital output 63

DO_030 to DO_03F

Turns on/off the digital output signal. The bits are DO_030 (bit0) to DO_03F (bit15).

B088 Digital output area 4 (2 bytes)

Digital output 64 to digital output 79

DO_040 to DO_04F

Turns on/off the digital output signal. The bits are DO_040 (bit0) to DO_04F (bit15).

B08A Digital output area 5 (2 bytes)

Digital output 80 to digital output 95

DO_050 to DO_05F

Turns on/off the digital output signal. The bits are DO_050 (bit0) to DO_05F (bit15).

B08C Digital output area 6 (2 bytes)

Digital output 96 to digital output 111

DO_060 to DO_06F

Turns on/off the digital output signal. The bits are DO_060 (bit0) to DO_06F (bit15).

B08E Digital output area 7 (2 bytes)

Digital output 112 to digital output 127

DO_070 to DO_07F

Turns on/off the digital output signal. The bits are DO_070 (bit0) to DO_07F (bit15).

: : : : :

B0FE Digital output area 63 (2 bytes)

Digital output 1008 to digital output 1023

DO_3F0 to DO_3FF

Turns on/off the digital output signal. The bits are DO_3F0 (bit0) to DO_3FF (bit15).

(3) Digital input table/digital output table MC300

The digital input table/digital output table is allocated to the input device table/output device table. The digital input (output) area corresponds to the input (output) word device , while the digital input (output) corresponds to input (output) bit device . Refer to Section 6.27 for details of input device table/output device table.

Digital input table Digital input area 0 to 63/ Digital input 0 to 1023

Input word device 000 to 03F/ Input bit device 0000 to 03FF

Input device table

Digital output table Digital output area 0 to 63/ Digital output 0 to 1023

Output word device 000 to 03F/ Output bit device 0000 to 03FF

Output device table

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6. APPLICATION FUNCTIONS

6.27 I/O device

6.27.1 Summary

The I/O device function controls the general I/O signals of the servo amplifier and I/O devices of the remote I/O module assigned to the I/O device table. When using the I/O device function, set "1: Use I/O device table (MR- MC2 method)", or "2: Use I/O device table (expanded points method) MC300 " in I/O table (parameter No.004A). The user program can check the output of output bit devices and output word devices, and check the status of input bit devices and input word devices using the I/O device table. The number of points that can be assigned to I/O signals is as follows.

I/O table (parameter No.004A) Number of I/O signal points

Bit device Word device Input Output Input Output

1: Use I/O device table (MR-MC2 method) Up to 4096 points Up to 256 points 2: Use I/O device table (expanded points method) MC300 Up to 9216 points Up to 576 points

CAUTION If the output device signal is updated from the user program during controlling of the output device

signal by the other axes start function, the consistency of the data may not be kept. This condition is applied to the case when the host controller and position board update the data at the same time to the same output device area number. In this case, read/write the output device signal after controlling the possessory right of the output device signal using the exclusive control function.

POINT When using the I/O device function, the digital I/O function cannot be used. Expanded points method is recommended when using MR-MC3 . While

some of the parameter settings are different to MR-MC2 method, it provides upper compatibility with functions.

Refer to Section 6.28, 6.33, and 6.34 for how to assign I/O signals to the I/O device table and detailed specifications.

API LIBRARY

Use the sscGetInputDeviceBit function to get input bit device. Use the sscGetInputDeviceWord function to get input word device. Use the sscSetOutputDeviceBit function to set output bit device. Use the sscSetOutputDeviceWord function to set output word device. Use the sscGetOutputDeviceBit function to get output bit device. Use the sscGetOutputDeviceWord function to get output word device.

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6. APPLICATION FUNCTIONS

6.27.2 Interface

The following shows the interfaces related to the I/O device. (1) System parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

004A *IOTBL I/O table 0000h 0000h to 0001h MC200

0000h to 0002h MC300

00 0

I/O table selection Set the I/O table to be used. 0: Use digital I/O table 1: Use I/O device table (MR-MC2 method) 2: Use I/O device table (expanded points method) MC300

(2) Input device table

Address Input word device number

Input bit device number Symbol Remarks MR-MC2 MR-MC3

DB00 0F9F00 Input word device 00 (2 bytes)

Input bit device 000 to Input bit device 00F

DVI_000 to DVI_00F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_000 (bit0) to DVI_00F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB02 0F9F02 Input word device 01 (2 bytes)

Input bit device 010 to Input bit device 01F

DVI_010 to DVI_01F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_010 (bit0) to DVI_01F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB04 0F9F04 Input word device 02 (2 bytes)

Input bit device 020 to Input bit device 02F

DVI_020 to DVI_02F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_020 (bit0) to DVI_02F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB06 0F9F06 Input word device 03 (2 bytes)

Input bit device 030 to Input bit device 03F

DVI_030 to DVI_03F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_030 (bit0) to DVI_03F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB08 0F9F08 Input word device 04 (2 bytes)

Input bit device 040 to Input bit device 04F

DVI_040 to DVI_04F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_040 (bit0) to DVI_04F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB0A 0F9F0A Input word device 05 (2 bytes)

Input bit device 050 to Input bit device 05F

DVI_050 to DVI_05F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_050 (bit0) to DVI_05F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB0C 0F9F0C Input word device 06 (2 bytes)

Input bit device 060 to Input bit device 06F

DVI_060 to DVI_06F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_060 (bit0) to DVI_06F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

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6. APPLICATION FUNCTIONS

Address Input word

device number Input bit device number Symbol Remarks

MR-MC2 MR-MC3 DB0E 0F9F0E Input word

device 07 (2 bytes)

Input bit device 070 to Input bit device 07F

DVI_070 to DVI_07F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_070 (bit0) to DVI_07F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

: : : : : : DCFE 0FA0FE Input word

device FF (2 bytes)

Input bit device FF0 to Input bit device FFF

DVI_FF0 to DVI_FFF

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_FF0 (bit0) to DVI_FFF (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

0FA100 Input word device 100 (2 bytes) (expanded points method)

Input bit device 1000 to Input bit device 100F (expanded points method)

DVI_1000 to DVI_100F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_1000 (bit0) to DVI_100F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

: : : : : 0FA37E Input word

device 23F (2 bytes) (expanded points method)

Input bit device 23F0 to Input bit device 23FF (expanded points method)

DVI_23F0 to DVI_23FF

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_23F0 (bit0) to DVI_23FF (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

(3) Output device table

Address Output word device number

Output bit device number

Symbol Remarks MR-MC2 MR-MC3

DD00 0FA380 Output word device 00 (2 bytes)

Output bit device 000 to Output bit device 00F

DVO_000 to DVO_00F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_000 (bit0) to DVO_00F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD02 0FA382 Output word device 01 (2 bytes)

Output bit device 010 to Output bit device 01F

DVO_010 to DVO_01F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_010 (bit0) to DVO_01F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD04 0FA384 Output word device 02 (2 bytes)

Output bit device 020 to Output bit device 02F

DVO_020 to DVO_02F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_020 (bit0) to DVO_02F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD06 0FA386 Output word device 03 (2 bytes)

Output bit device 030 to Output bit device 03F

DVO_030 to DVO_03F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_030 (bit0) to DVO_03F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD08 0FA388 Output word device 04 (2 bytes)

Output bit device 040 to Output bit device 04F

DVO_040 to DVO_04F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_040 (bit0) to DVO_04F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

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6. APPLICATION FUNCTIONS

Address Output word

device number Output bit device

number Symbol Remarks

MR-MC2 MR-MC3 DD0A 0FA38A Output word

device 05 (2 bytes)

Output bit device 050 to Output bit device 05F

DVO_050 to DVO_05F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_050 (bit0) to DVO_05F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD0C 0FA38C Output word device 06 (2 bytes)

Output bit device 060 to Output bit device 06F

DVO_060 to DVO_06F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_060 (bit0) to DVO_06F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD0E 0FA38E Output word device 07 (2 bytes)

Output bit device 070 to Output bit device 07F

DVO_070 to DVO_07F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_070 (bit0) to DVO_07F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

: : : : : : DEFE 0FA57E Output word

device FF (2 bytes)

Output bit device FF0 to Output bit device FFF

DVO_FF0 to DVO_FFF

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_FF0 (bit0) to DVO_FFF (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

0FA580 Output word device 100 (2 bytes) (expanded points method)

Output bit device 1000 to Output bit device 100F (expanded points method)

DVO_1000 to

DVO_100F

[When bit device is assigned] Notifies the status of the bit device output signal. The bits are DVO_1000 (bit0) to DVO_100F (bit15).

[When word device is assigned] Notifies the status of the word device output signal.

: : : : : 0FA7FE Output word

device 23F (2 bytes) (expanded points method)

Output bit device 23F0 to Output bit device 23FF (expanded points method)

DVO_23F0 to

DVO_23FF

[When bit device is assigned] Notifies the status of the bit device output signal. The bits are DVO_23F0 (bit0) to DVO_23FF (bit15).

[When word device is assigned] Notifies the status of the word device output signal.

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6. APPLICATION FUNCTIONS

6.28 Servo amplifier general I/O

6.28.1 Summary

The servo amplifier general I/O function controls the I/O signal connected to the servo amplifier via SSCNET. The user program can control the I/O signal with the digital I/O table or I/O device table, by assigning the servo amplifier general I/O signal to the digital I/O table or I/O device table. The points of the I/O signal differ depending on the servo amplifier model.

POINT When a communication error (system error E401 to E407) occurs or SSCNET is

disconnected, all the general I/O signals of the servo amplifier turn off. The general input signal of the servo amplifier shares the connector pin with the

sensor signal (LSP, LSN, DOG). Therefore, the sensor signal cannot be input if general input signal of the servo amplifier is used as other than the sensor signal. In this case, set the sensor input option (parameter No.0219) to "2: Digital or input device input" and assign a digital input signal or input device signal as a sensor signal in the sensor signal connection specification (parameter No.021A to 021C). The sensor signal can be controlled by a command from the user program (writing of the dual port memory) when the sensor input method (parameter No.0219) is set to "4: Dual port memory".

The delay time from an input of the general I/O signal of the servo amplifier to the update of the digital input table is "approx. 0.88ms + (control cycle 2)" (approx. 2.7ms when the control cycle is 0.88ms). The delay time is also the same for when using an input device table.

The delay time from the update of the digital output table by the user program to the output of the general output signal of the servo amplifier is "approx. 0.88ms + (control cycle 3)" (approx. 3.5ms when the control cycle is 0.88ms). In the case of the digital output signal using in the other axes start function, the delay time from other axes start condition satisfaction to the output is "approx. 0.88ms + (control cycle 2)" (approx. 2.7ms when the control cycle is 0.88ms). The delay time is also the same for when using an output device table.

API LIBRARY

Use the sscChangeParameter function to set servo amplifier general I/O.

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6. APPLICATION FUNCTIONS

[Compatible servo amplifier]

Model Remarks

Servo amplifier MR-J4- B Input: 3 points/axis Output: 3 points/axis

Servo amplifier MR-J4W - B Input: 3 points/axis Output: 1 point/axis 2 points (common in each axis)

The following shows the connectors of the servo amplifier to be connected to the general I/O signals. Each general I/O signal is assigned to the digital input signal (DI_ ) and digital output signal (DO_ ). For details, refer to Section 6.28.2. (1) For servo amplifier MR-J4- B

(a) General input Signal name Destination connector pin No. Symbol

DI_ 0 CN3-2 DI1 DI_ 1 CN3-12 DI2 DI_ 2 CN3-19 DI3

(b) General output

Signal name Destination connector pin No. Symbol DO_ 0 CN3-13 MBR DO_ 1 CN3-9 INP DO_ 2 CN3-15 ALM

(2) For servo amplifier MR-J4W - B

(a) General input

Signal name Destination connector pin No. Symbol

( : A, B, C) Axis A Axis B Axis C (Note) DI_ 0 CN3-7 CN3-20 CN3-1 DI1- DI_ 1 CN3-8 CN3-21 CN3-2 DI2- DI_ 2 CN3-9 CN3-22 CN3-15 DI3-

Note: Only MR-J4W3- B is available.

(b) General output

Signal name Destination connector pin No. Symbol

( : A, B, C) Axis A Axis B Axis C (Note1) DO_ 0 CN3-12 CN3-25 CN3-13 MBR- DO_ 1 CN3-24 (Note2) CINP DO_ 2 CN3-11 (Note2) CALM

Note 1. Only MR-J4W3- B is available. 2. The pin is common for each axis. The axis to be used can be selected by the parameter setting.

For details, refer to Section 6.28.2.

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6. APPLICATION FUNCTIONS

6.28.2 Settings

(1) Servo parameters When using the general output function of the servo amplifier, set the parameter of the output device selection as shown below.

(a) For servo amplifier MR-J4- B

Parameter No. MR-J4-B parameter No. Symbol Name Setting value 11C6 PD07 *DO1 Output device selection 1 0021h 11C7 PD08 *DO2 Output device selection 2 0022h 11C8 PD09 *DO3 Output device selection 3 0023h

(b) For servo amplifier MR-J4W - B

Parameter No. MR-J4W-B parameter No. Symbol Name Setting value 11C6 PD07 *DO1 Output device selection 1 0021h 11C7 PD08 *DO2 Output device selection 2

(Note1, 2) 1022h (when using axis A) 2022h (when using axis B) 3022h (when using axis C)

11C8 PD09 *DO3 Output device selection 3 (Note1, 2)

1023h (when using axis A) 2023h (when using axis B) 3023h (when using axis C)

Note 1. The parameter is shared with the three axes of axis A, B, and C. Always set the same value to all the axes. When the setting value differs, the value of the axis A is valid.

2. Since the pin is shared by each axis, only one axis can be assigned. (2) Control parameter

The control parameters are used to set the general I/O and to assign to the digital I/O number. When the sensor input method (parameter No.0219) is "Driver input", the input signal of the servo amplifier is used for the sensor (LSP/LSN/DOG). Therefore, the input signal cannot be used as the general input. To use the general input signal of the servo amplifier, set other than "Driver input" to the sensor input method (parameter No.0219).

Parameter No. Symbol Name Initial

value Unit Setting range

Function

0213 *GIOO General I/O option 0000h 0000h to

0011h

0 0

Servo amplifier general input setting Set whether to use the general input of the servo amplifier. 0: Not used 1: Used Note: When the general input is used,

the limit switch signal and the dog signal cannot be input from the servo amplifier. Set other than "Driver input" to the sensor input method (parameter No.0219).

Servo amplifier general output setting Set whether to use the general output of the servo amplifier. 0: Not used 1: Used

6 - 99

6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name Initial value Unit

Setting range

Function

0214 *GDNA General I/O number assignment

0000h 0000h to

FFFFh

Set assignment of the general I/O number. The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

General input assignment Specify the first digital input area number to assign the general input. 00h to 3Fh: Digital input area 0 to 63 Example: When the digital input

area number 01 is specified, assign 16 points of DI_010 to DI_01F. However, DI_013 to DI_01F are unavailable.

General output assignment Specify the first digital output area number to assign the general output. 00h to 3Fh: Digital output area

0 to 63 Example: When the digital output

area number 02 is specified, 16 points are assigned from DO_020 to DO_02F. However, DO_023 to DO_02F are unavailable.

[When using a I/O device table (MR-MC2 method)]

General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 00h to FFh: Input word device

number 0 to FF Example: When the input word

device number 01 is specified, 16 points are assigned from DVI_010 to DVI_01F. However, DVI_013 to DVI_01F are unavailable.

General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 00h to FFh: Output word device

number 00 to FF Example: When the output word

device number 02 is specified, 16 points are assigned from DVO_020 to DVO_02F. However, DVO_023 to DVI_02F are unavailable.

[When using a I/O device table (expanded points method)] MC300 Set in general input No. assignment (parameter No.0215) and general output No. assignment (parameter No.0216).

6 - 100

6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name Initial value Unit

Setting range

Function

0215 *GDINA General input No. assignment MC300

0000h 0000h to

023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)". 0

General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 000h to 23Fh: Input word device

number 000 to 23F Example: When the input word

device number 001 is specified, 16 points are assigned from DVI_0010 to DVI_001F. However, DVI_0013 to DVI_001F are unavailable.

0216 *GDONA General output No. assignment MC300

0000h 0000h to

023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)". 0

General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 000h to 23Fh: Output word device

number 000 to 23F Example: When the output word

device number 002 is specified, 16 points are assigned from DVO_0020 to DVO_002F. However, DVO_0023 to DVI_002F are unavailable.

0219 *SOP Sensor input option 0000h 0000h to

0304h

0 0

Sensor input system Set the input system of the sensor (LSP, LSN, DOG). 0: Not use 1: Driver input 2: Digital or input device input 3: Not connected (does not detect LSP, LSN, DOG) 4: Dual port memory input Limit switch signal selection Set valid/invalid of limit switch. 0: LSP/LSN are valid 1: LSP is valid, LSN is invalid 2: LSP is invalid, LSN is valid 3: LSP/LSN are invalid

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6. APPLICATION FUNCTIONS

POINT

Assign the digital I/O table not to overlap other settings. If the assignment is overlapped or exceeds the maximum points of the digital I/O table, the I/O No. assignment error (system error E510) and I/O No. assignment setting error (operation alarm 39, detail 01 and 02) occur.

Assign the I/O device table not to overlap other settings. If the assignment is overlapped or exceeds the maximum points of the I/O device table, the I/O No. assignment error (system error E510) and I/O No. assignment setting error (operation alarm 39, detail 01 and 02) occur.

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6. APPLICATION FUNCTIONS

6.29 Dual port memory exclusive control

6.29.1 Summary

The dual port memory exclusive control function is a function that keeps the consistency of the memory data by temporarily limiting the system program and user program to read/write data to the limited area of the dual port memory. The output signals in this section refer to digital output signals or output device signals. The target output signal is selected in I/O table (parameter No.004A). 6.29.2 Exclusive control of output signals

If the output signal is updated from the user program during controlling of the output signal by the other axes start function, the consistency of the data may not be kept. Read/write the output signal using the exclusive control function after controlling the possessory right of the output signal.

API LIBRARY The sscSetDigitalOutputDataBit and sscSetDigitalOutputDataWord functions of

the API library perform exclusive control of digital output within the function. The sscSetOutputDeviceBit function of the API library performs exclusive

control of output device within the function. (1) Interface

Address Symbol Description Detail (Note 1) User program data writing

MR-MC2 MR-MC3 EF80 0FFA80 DORH Output signal host occupy

request 0: No request 1: Request

EF82 0FFA82 DORB During output signal board occupy request (Note 2)

0: No request 1: Request

EF84 0FFA84 DOCS Output signal occupy selection 0: System program 1: User program

EF86 to

EF8F

0FFA86 to

0FFA8F

Reserved

Note 1. When the data out of the range is written, the exclusive control error (system error E503) occurs, which stops the import of the output signal and the control of the output signal by the other axes start function.

2. This is the area where the data can be written only from the system program. When the data is written from the user program to this area, the exclusive control operates incorrectly

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6. APPLICATION FUNCTIONS

(2) Exclusive control procedure on user program side

The following shows the procedure to control the output signal exclusively. (a) Exclusive control procedure

START

Set "1: Request" to the output signal host occupy request (DORH).

END

Pre-processing of exclusive control

Not permitted

Permitted

Time out

Post-processing of exclusive control

Set "0: No request" to the output signal host occupy request (DORH).

Set "1: User program" to the output signal occupy selection (DOCS).

Check for occupy permission (Note 1)

Reading output signal Writing output signal

Note 1: Check for occupy permission

(2) Condition for occupy non-permission

When the during output signal board occupy request (DORB) is "0: No request" or the output signal occupy selection (DOCS) is "0: System program"

When the during output signal board occupy request (DORB) is "1: Request" and the output signal occupy selection (DOCS) is "1: User program"

(1) Condition for occupy permission

(b) Condition for occupy permission of output signal DORH DORB DOCS Occupy status of output signal Occupy permitted/not permitted

0 0 0 No occupy No occupy request from user program.

0 0 1 No occupy 0 1 0 Occupied by system program. 0 1 1 Occupied by system program. 1 0 0 Occupied by user program.

Occupy permitted 1 0 1 Occupied by user program.

1 1 0 Occupied by user program. (Waiting for permission from system program)

1 1 1 Occupied by system program. (Waiting for permission from user program)

Occupy not permitted

(3) Restrictions

Perform the exclusive control so that the occupy time on the user program side is 5s or less. If the possessory right is not shifted to the system program even after 5s at the timing in which the system program accesses the output signal, the access to the output signal is stopped. When the access to the output signal is stopped, the access put on hold until the next control cycle.

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6. APPLICATION FUNCTIONS

6.30 Pass position interrupt

6.30.1 Summary

The pass position interrupt function is a function that outputs an interrupt when the pass position condition set in the interrupt table is satisfied. Up to 64 MC200 /128 MC300 pass position conditions can be specified (total for all 64 axes MC200 /128 axes MC300 ) per operation. To use this function, set the pass position interrupt valid to the auxiliary command of the point table. The pass position condition start and end numbers are imported when the operation is started. The pass position condition is imported and the pass position is judged for each condition from the pass position condition start number. When the pass position condition is satisfied, the factor of an interrupt corresponding to the pass position condition number is output. Then, the next pass position condition is imported and judged. The pass position condition is judged until the in-position signal (INP) turns on. To output the interrupt, set the pass position interrupt to the system interrupt condition (system parameter No.0004) and turn on the interrupt output valid (ITS).

POINT This function can be used only in the automatic operation and linear

interpolation operation MC200 /interpolation operation MC300 . For the linear interpolation operation MC200 /interpolation operation MC300 , the pass position condition can be set per axis.

During the pass position interrupt, the pass position interrupt condition numbers from the start to the end are in use. When the pass position condition is in use in other axes, a pass position interrupt error (operation alarm 5C, detail 05) occurs and the start operation is stopped.

When the operation is started again before all the interrupts by the pass position interrupt are output, a pass position interrupt error (operation alarm 5C, detail 06) occurs and the start operation is stopped.

In the synchronous mode of the tandem drive, only the setting of the master axis is valid and this function outputs the interrupt based on the operation of the master axis.

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6. APPLICATION FUNCTIONS

6.30.2 Pass position interrupt setting method

The pass position interrupt setting procedure is as follows. (1) Set the pass position conditions. (2) Validate the pass position interrupt specifications of the point data. (3) Set the pass position condition start number and end number. (4) Start automatic operation or linear interpolation operation MC200 /interpolation operation MC300 . (5) Wait until the conditions of the pass position interrupt are fulfilled.

API LIBRARY Use the sscSetIntPassPositionData function for setting of pass position interrupt

in (1) above. Use the sscSetPointDataEx function for setting of the point table in (2) above. Use the sscSetStartingPassNumber function to set pass position condition start

number and end number in (3) above. Use the sscAutoStart/sscLinearStart functions for starting operations in (4)

above. Use the sscWaitIntPassPosition function for wait for pass position interrupt in (5)

above. For a detailed procedure for pass position interrupt, refer to the sample program

(InterruptPassPosition) contained on the utility software. 6.30.3 Interface

(1) Pass position interrupt table The pass position condition (pass position option and pass position data) is set to the pass position interrupt table. The pass position condition is imported when the corresponding pass position condition number is started to be judged.

POINT

When the pass position condition setting is incorrect, a pass position interrupt error (operation alarm 5C, detail 04) occurs and the operation is stopped.

API LIBRARY

Use the sscSetIntPassPositionData/sscCheckIntPassPositionData functions to set/get pass position interrupt data.

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6. APPLICATION FUNCTIONS

Pass position interrupt table

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 A640 0E1000

Pass position condition 1 (8 bytes)

Pass position option A680 0E1040

Pass position condition 9 (8 bytes)

Pass position option : : : : A643 0E1003 A683 0E1043 A644 0E1004

Pass position data A684 0E1044

Pass position data : : : : A647 0E1007 A687 0E1047 A648 0E1008

Pass position condition 2 (8 bytes)

Pass position option A688 0E1048

Pass position condition 10 (8 bytes)

Pass position option : : : : A64B 0E100B A68B 0E104B A64C 0E100C

Pass position data A68C 0E104C

Pass position data : : : : A64F 0E100F A68F 0E104F A650 0E1010

Pass position condition 3 (8 bytes)

Pass position option A690 0E1050

Pass position condition 11 (8 bytes)

Pass position option : : : : A653 0E1013 A693 0E1053 A654 0E1014

Pass position data A694 0E1054

Pass position data : : : : A657 0E1017 A697 0E1057 A658 0E1018

Pass position condition 4 (8 bytes)

Pass position option A698 0E1058

:

: :

: : A65B 0E101B A65C 0E101C

Pass position data

: : A65F 0E101F A837 0E11F7 A660 0E1020

Pass position condition 5 (8 bytes)

Pass position option A838 0E11F8

Pass position condition 64 (8 bytes)

Pass position option : : : : A663 0E1023 A83B 0E11FB A664 0E1024

Pass position data A83C 0E11FC

Pass position data : : : : A667 0E1027 A83F 0E11FF A668 0E1028

Pass position condition 6 (8 bytes)

Pass position option

0E1200

Pass position condition 65 (8 bytes)

Pass position option : : : A66B 0E102B 0E1203 A66C 0E102C

Pass position data 0E1204

Pass position data : : : A66F 0E102F 0E1207 A670 0E1030

Pass position condition 7 (8 bytes)

Pass position option 0E1208

:

: :

: A673 0E1033 A674 0E1034

Pass position data : :

A677 0E1037 0E13F7 A678 0E1038

Pass position condition 8 (8 bytes)

Pass position option 0E13F8

Pass position condition 128 (8 bytes)

Pass position option : : : A67B 0E103B 0E13FB A67C 0E103C

Pass position data 0E13FC

Pass position data : : : A67F 0E103F 0E13FF

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6. APPLICATION FUNCTIONS

(a) Details on pass position option

Address (Note) Name Initial value Unit

Setting range

Remarks MR- MC2

MR- MC3

A640 0E1000 Pass position option (4 bytes)

00000000h 00000000h to

00000011h Pass direction Set the pass direction for the pass position data. 0: + direction pass

position interrupt output

1: - direction pass position interrupt output

Judgment condition Set the judgment condition for the pass position data. 0: Current command

position 1: Current feedback position Note. Only the setting

for the pass position condition start number is valid.

0 0 0 0 0 0

Note. The addresses in the table are the addresses for the pass position condition 1. For the pass position condition 2 and after, increase in

units of 8h for each pass position condition.

(b) Details on the pass position data Address (Note)

Name Initial value

Unit Setting range Remarks MR- MC2

MR- MC3

A644 0E1004 Pass position data (4 bytes)

0 Command unit -2147483648 to 2147483647

Set the pass position data at the pass position interrupt output.

Note. The addresses in the table are the addresses for the pass position condition 1. For the pass position condition 2 and after, increase in

units of 8h for each pass position condition.

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6. APPLICATION FUNCTIONS

POINT

Set the pass position condition in passing order since the pass position conditions are judged one by one in ascending order of the pass position condition number.

The interrupt is output only once for each pass position condition. When a passed position is the pass position condition, the interrupt is not output

until the position is passed again. Ensure one control cycle or longer between two pass position conditions. Only the judgment condition for the pass position condition start number is valid

only for the pass position option. The judgment condition is used for each pass position data as the common setting. (The judgment condition cannot be set individually for each pass position condition.)

When the current feedback position is selected as the judgment condition for the pass position data, do not set the pass position data within the in-position range. The pass position interrupt may not be output since the pass position judgment ends when the in-position signal (INP) turns on.

(2) Point table

To use the pass position interrupt, set the pass position interrupt valid to the auxiliary command of the point table.

b15 b12

0

b8 b4

0 0

b0

Position command system(bit0) Reserved(bit1)

Reserved(bit3)

Vibration suppression command filter 1 specification (bit2) (Note 1)

Deceleration check system(bit4 to 5) Speed switching point specification(bit6) Dwell specification(bit7) Pass position interrupt specification(bit8) Continuous operation to torque control specification(bit9) Reserved (bit10) Loop specification (bit11 to 12) Interpolation method (bit13 to 15) (Note 1)

Note 1. "Reserved" when using MR-MC2 .

(a) Pass position interrupt specification Select valid/invalid for the pass position interrupt. 0: Pass position interrupt invalid 1: Pass position interrupt valid

POINT

This setting in the point data of the start point No. is valid only. If the point data after the start point No. are set, it causes a point table setting error (operation alarm 25, detail 0C) and the operation is stopped.

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6. APPLICATION FUNCTIONS

API LIBRARY

Use the sscSetPointDataEx/sscCheckPointDataEx functions to set/get point data.

(3) Axis command data/axis status data

The pass position is judged according to the pass position condition specified in the start number and end number of the pass position condition.

(a) Axis command data

Address (Note 1) Name

Setting range Remarks MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3

1034 005044 Pass position condition start number (2 bytes)

1 to 64 1 to 128 Set the start number of the pass position condition for the pass position interrupt.

1036 005046 Pass position condition end number (2 bytes)

1 to 64 1 to 128 Set the end number for the pass position condition for the pass position interrupt.

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

2. When using only one pass position condition, set the same number for the start number and end number.

POINT When the pass position condition used in other axis is imported, a pass position

interrupt error (operation alarm 5C, detail 05) occurs and the operation is stopped. Do not use the same pass position condition number for multiple axes.

When the pass position condition start number is out of range, a pass position interrupt error (operation alarm 5C, detail 01) occurs and the operation is stopped.

When the pass position condition end number is out of range, a pass position interrupt error (operation alarm 5C, detail 02) occurs and the operation is stopped.

When the pass position condition start number is smaller than the pass position condition end number, a pass position interrupt error (operation alarm 5C, detail 03) occurs and the operation is stopped.

API LIBRARY

Use the sscSetStartingPassNumber function to set the pass condition start and end numbers.

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6. APPLICATION FUNCTIONS

(b) Axis status data

Address (Note) Name

Output limits Remarks MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1094 0050E4 Executing pass position condition

number (2 bytes) 0 to 64 0 to 128 Outputs the running pass position

condition number. After the pass position condition completion, the last pass position condition number is displayed. When the pass position interrupt processing is canceled due to the pass position condition setting error, an operation alarm, or other factors, the pass position condition number where an error occurs is displayed. When the operation is started with the pass position interrupt invalid, 0 is output.

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

(4) Axis command/axis status bit

The axis status bits related to the pass position interrupt function are shown below.

(a) Axis command bit Address (Note)

Bit Symbol Signal name MR-MC2 MR-MC3

1007 0005007 0 PPISTP Pass position interrupt cancel 1

Reserved

2 3 4 5 6 7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

1) Details on axis command bit

Symbol Signal name Function details

Function Operation PPISTP Pass position

interrupt cancel

Cancels the pass position interrupt. Turn on this signal to cancel the pass position interrupt when the pass position interrupt signal (PPIOP) is on.

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6. APPLICATION FUNCTIONS

(b) Axis status bit

Address (Note) Bit Symbol Signal name

MR-MC2 MR-MC3 1067 000B04 0 PPIOP Pass position interrupt

1 PPIFIN Pass position interrupt complete 2 PPIERR Pass position interrupt incomplete 3

Reserved 4 5 6 7 AUTLO In point table loop

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

1) Details on axis status bit

Symbol Signal name Function details

Function Operation PPIOP Pass position

interrupt Notifies the pass position interrupt is being performed.

The start and end number of the pass position interrupt are specified and the pass position interrupt is performed.

The pass position interrupt complete signal (PPIFIN) is turned on or the pass position interrupt incomplete signal (PPIERR) is turned on.

PPIFIN Pass position interrupt complete

Notifies the pass position interrupt is completed. All interrupt outputs are completed in the pass position interrupt.

The start and end number of the pass position interrupt are specified and the pass position interrupt is performed.

PPIERR Pass position interrupt incomplete

Notifies the pass position interrupt is canceled. The operation is canceled due to an operation

alarm, servo alarm, or an operation stop command while the pass position interrupt signal (PPIOP) is on.

Not all pass position interrupt outputs are completed even when the in-position signal (INP) is turned on after the operation completion while the pass position interrupting signal (PPIOP) is on.

The pass position interrupt cancel signal (PPISTP) is turned on while the pass position interrupt (PPIOP) is on.

The start and end number of the pass position interrupt are specified and the pass position interrupt is performed.

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6. APPLICATION FUNCTIONS

API LIBRARY

To turn the pass position interrupt cancel command (PPISTP) ON/OFF, set SSC_CMDBIT_AX_PPISTP to the command bit number of the sscSetCommandBitSignalEx function.

For the pass position interrupt start statuses below, set the following to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function to check if the statuses are ON/OFF. Pass position interrupt (PPIOP) : SSC_STSBIT_AX_PPIOP Pass position interrupt complete (PPIFIN) : SSC_STSBIT_AX_PPIFIN Pass position interrupt incomplete (PPIERR): SSC_STSBIT_AX_PPIERR

(5) Interrupt conditions (system parameters)

Set the values that designate ON for the bits that correspond to the factor of pass position interrupt outputting to the parameter interrupt conditions (parameter No.0004) to validate the interrupt output of the pass position interrupt. Parameter No.0004 Interrupt conditions

Bit Symbol Name Bit Symbol Name

0 SYSE Current system error

8 OASF Outputting with factor of other axes start interrupt

1 CALM Current system alarm

9 PPI Outputting with factor of pass position interrupt

2 EMIO During forced stop 10

Reserved

3

Reserved

11

4 12

5 13

6 14

7 OCME Operation cycle alarm 15

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter functions to set/get

interrupt conditions.

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6. APPLICATION FUNCTIONS

(6) Factor of system interrupt

API LIBRARY Use the sscResetIntPassPosition/sscSetIntPassPosition/

sscWaitIntPassPosition functions for reset/set/wait of pass position interrupt events.

Address

Content Address

Content MR-MC2 MR-MC3 MR-MC2 MR-MC3

0590 002220 Factor of system interrupt

0598 002238

Factor of pass position interrupt 1 0591 002221 0599 002239 0592 002222

Reserved

059A 00223A 0593 002223 059B 00223B

002224 059C 00223C

Factor of pass position interrupt 2 002225 059D 00223D 002226 059E 00223E 002227 059F 00223F

0594 002228 Factor of other axes start interrupt MC200

Factor of other axes start interrupt 1 MC300

002240

Factor of pass position interrupt 3 0595 002229 002241 0596 00222A 002242 0597 00222B 002243

00222C

Factor of other axes start interrupt 2

002244

Factor of pass position interrupt 4 00222D 002245 00222E 002246 00222F 002247 002230

Reserved

05A0 002248 Reserved 002231 : :

002232 05AF 00229F 002233 002234 002235 002236 002237

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6. APPLICATION FUNCTIONS

(a) Details on factor of system interrupt

When the pass position data is passed, the factor of outputting with factor of pass position interrupt (iPPI) of the details on factor of system interrupt is turned on. For details on the factor of interrupt according to the pass position condition, refer to Section 6.30.3 (6) (b).

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

0590 to

0591

002220 to

002221

0 iSYSE System error (interrupt) 1 iCALM System alarm (interrupt) 2 iEMIO During forced stop (interrupt) 3

Reserved 4 5 6 7 iOCME Operation cycle alarm (interrupt) 8 iOASF Outputting with factor of other axes start interrupt (interrupt) 9 iPPI Outputting with factor of pass position interrupt (interrupt) 10

Reserved

11 12 13 14 15

Note. OFF: No factor of interrupt exists.

ON: A factor of interrupt exists.

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6. APPLICATION FUNCTIONS

(b) Factor of pass position interrupt

When the outputting with factor of pass position interrupt (iPPI) is on, the bit corresponding to the pass position condition number of the factor of the pass position interrupt turns on. 1) Factor of pass position interrupt 1

Address Bit Symbol Signal name

MR-MC2 MR-MC3 0598

to 059B

002238 to

00223B

0 iPPI1 Pass position condition 1 (interrupt) 1 iPPI2 Pass position condition 2 (interrupt) 2 iPPI3 Pass position condition 3 (interrupt) 3 iPPI4 Pass position condition 4 (interrupt) 4 iPPI5 Pass position condition 5 (interrupt) 5 iPPI6 Pass position condition 6 (interrupt) 6 iPPI7 Pass position condition 7 (interrupt) 7 iPPI8 Pass position condition 8 (interrupt) 8 iPPI9 Pass position condition 9 (interrupt) 9 iPPI10 Pass position condition 10 (interrupt)

10 iPPI11 Pass position condition 11 (interrupt) 11 iPPI12 Pass position condition 12 (interrupt) 12 iPPI13 Pass position condition 13 (interrupt) 13 iPPI14 Pass position condition 14 (interrupt) 14 iPPI15 Pass position condition 15 (interrupt) 15 iPPI16 Pass position condition 16 (interrupt) 16 iPPI17 Pass position condition 17 (interrupt) 17 iPPI18 Pass position condition 18 (interrupt) 18 iPPI19 Pass position condition 19 (interrupt) 19 iPPI20 Pass position condition 20 (interrupt) 20 iPPI21 Pass position condition 21 (interrupt) 21 iPPI22 Pass position condition 22 (interrupt) 22 iPPI23 Pass position condition 23 (interrupt) 23 iPPI24 Pass position condition 24 (interrupt) 24 iPPI25 Pass position condition 25 (interrupt) 25 iPPI26 Pass position condition 26 (interrupt) 26 iPPI27 Pass position condition 27 (interrupt) 27 iPPI28 Pass position condition 28 (interrupt) 28 iPPI29 Pass position condition 29 (interrupt) 29 iPPI30 Pass position condition 30 (interrupt) 30 iPPI31 Pass position condition 31 (interrupt) 31 iPPI32 Pass position condition 32 (interrupt)

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6. APPLICATION FUNCTIONS

2) Factor of pass position interrupt 2

Address Bit Symbol Signal name

MR-MC2 MR-MC3 059C

to 059F

00223C to

00223F

0 iPPI33 Pass position condition 33 (interrupt) 1 iPPI34 Pass position condition 34 (interrupt) 2 iPPI35 Pass position condition 35 (interrupt) 3 iPPI36 Pass position condition 36 (interrupt) 4 iPPI37 Pass position condition 37 (interrupt) 5 iPPI38 Pass position condition 38 (interrupt) 6 iPPI39 Pass position condition 39 (interrupt) 7 iPPI40 Pass position condition 40 (interrupt) 8 iPPI41 Pass position condition 41 (interrupt) 9 iPPI42 Pass position condition 42 (interrupt)

10 iPPI43 Pass position condition 43 (interrupt) 11 iPPI44 Pass position condition 44 (interrupt) 12 iPPI45 Pass position condition 45 (interrupt) 13 iPPI46 Pass position condition 46 (interrupt) 14 iPPI47 Pass position condition 47 (interrupt) 15 iPPI48 Pass position condition 48 (interrupt) 16 iPPI49 Pass position condition 49 (interrupt) 17 iPPI50 Pass position condition 50 (interrupt) 18 iPPI51 Pass position condition 51 (interrupt) 19 iPPI52 Pass position condition 52 (interrupt) 20 iPPI53 Pass position condition 53 (interrupt) 21 iPPI54 Pass position condition 54 (interrupt) 22 iPPI55 Pass position condition 55 (interrupt) 23 iPPI56 Pass position condition 56 (interrupt) 24 iPPI57 Pass position condition 57 (interrupt) 25 iPPI58 Pass position condition 58 (interrupt) 26 iPPI59 Pass position condition 59 (interrupt) 27 iPPI60 Pass position condition 60 (interrupt) 28 iPPI61 Pass position condition 61 (interrupt) 29 iPPI62 Pass position condition 62 (interrupt) 30 iPPI63 Pass position condition 63 (interrupt) 31 iPPI64 Pass position condition 64 (interrupt)

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6. APPLICATION FUNCTIONS

3) Factor of pass position interrupt 3

Address Bit Symbol Signal name

MR-MC2 MR-MC3 002240

to 002243

0 iPPI65 Pass position condition 65 (interrupt) 1 iPPI66 Pass position condition 66 (interrupt) 2 iPPI67 Pass position condition 67 (interrupt) 3 iPPI68 Pass position condition 68 (interrupt) 4 iPPI69 Pass position condition 69 (interrupt) 5 iPPI70 Pass position condition 70 (interrupt) 6 iPPI71 Pass position condition 71 (interrupt) 7 iPPI72 Pass position condition 72 (interrupt) 8 iPPI73 Pass position condition 73 (interrupt) 9 iPPI74 Pass position condition 74 (interrupt)

10 iPPI75 Pass position condition 75 (interrupt) 11 iPPI76 Pass position condition 76 (interrupt) 12 iPPI77 Pass position condition 77 (interrupt) 13 iPPI78 Pass position condition 78 (interrupt) 14 iPPI79 Pass position condition 79 (interrupt) 15 iPPI80 Pass position condition 80 (interrupt) 16 iPPI81 Pass position condition 81 (interrupt) 17 iPPI82 Pass position condition 82 (interrupt) 18 iPPI83 Pass position condition 83 (interrupt) 19 iPPI84 Pass position condition 84 (interrupt) 20 iPPI85 Pass position condition 85 (interrupt) 21 iPPI86 Pass position condition 86 (interrupt) 22 iPPI87 Pass position condition 87 (interrupt) 23 iPPI88 Pass position condition 88 (interrupt) 24 iPPI89 Pass position condition 89 (interrupt) 25 iPPI90 Pass position condition 90 (interrupt) 26 iPPI91 Pass position condition 91 (interrupt) 27 iPPI92 Pass position condition 92 (interrupt) 28 iPPI93 Pass position condition 93 (interrupt) 29 iPPI94 Pass position condition 94 (interrupt) 30 iPPI95 Pass position condition 95 (interrupt) 31 iPPI96 Pass position condition 96 (interrupt)

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6. APPLICATION FUNCTIONS

4) Factor of pass position interrupt 4

Address Bit Symbol Signal name

MR-MC2 MR-MC3 002244

to 002247

0 iPPI97 Pass position condition 97 (interrupt) 1 iPPI98 Pass position condition 98 (interrupt) 2 iPPI99 Pass position condition 99 (interrupt) 3 iPPI100 Pass position condition 100 (interrupt) 4 iPPI101 Pass position condition 101 (interrupt) 5 iPPI102 Pass position condition 102 (interrupt) 6 iPPI103 Pass position condition 103 (interrupt) 7 iPPI104 Pass position condition 104 (interrupt) 8 iPPI105 Pass position condition 105 (interrupt) 9 iPPI106 Pass position condition 106 (interrupt)

10 iPPI107 Pass position condition 107 (interrupt) 11 iPPI108 Pass position condition 108 (interrupt) 12 iPPI109 Pass position condition 109 (interrupt) 13 iPPI110 Pass position condition 110 (interrupt) 14 iPPI111 Pass position condition 111 (interrupt) 15 iPPI112 Pass position condition 112 (interrupt) 16 iPPI113 Pass position condition 113 (interrupt) 17 iPPI114 Pass position condition 114 (interrupt) 18 iPPI115 Pass position condition 115 (interrupt) 19 iPPI116 Pass position condition 116 (interrupt) 20 iPPI117 Pass position condition 117 (interrupt) 21 iPPI118 Pass position condition 118 (interrupt) 22 iPPI119 Pass position condition 119 (interrupt) 23 iPPI120 Pass position condition 120 (interrupt) 24 iPPI121 Pass position condition 121 (interrupt) 25 iPPI122 Pass position condition 122 (interrupt) 26 iPPI123 Pass position condition 123 (interrupt) 27 iPPI124 Pass position condition 124 (interrupt) 28 iPPI125 Pass position condition 125 (interrupt) 29 iPPI126 Pass position condition 126 (interrupt) 30 iPPI127 Pass position condition 127 (interrupt) 31 iPPI128 Pass position condition 128 (interrupt)

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6. APPLICATION FUNCTIONS

(c) Details on factor of pass position interrupt

When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number turns on.

Address Content

MR-MC2 MR-MC3 0FA0 0047E0

Details on factor of pass position interrupt

Details on factor of pass position interrupt 1 0FA1 0047E1 Details on factor of pass position interrupt 2 0FA2 0047E2 Details on factor of pass position interrupt 3 0FA3 0047E3 Details on factor of pass position interrupt 4

: : : 0FDF 00481F Details on factor of pass position interrupt 64

004820 Details on factor of pass position interrupt 65

: : 00485F Details on factor of pass position interrupt 128

1) Details on factor of pass position interrupt

Address (Note 1) Bit

Symbol (Note 2)

Signal name MR-MC2 MR-MC3

0FA0 0047E0 0 iPPIF Pass position interrupt complete (interrupt) 1 iPPIE Pass position interrupt incompletion (interrupt) 2

Reserved

3 4 5 6 7

Note 1. The addresses in the table are the addresses for the pass position condition number 1. For the pass position condition number 2 and after, increase in units of 01h for each pass position condition number.

2. : Pass position condition number.

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6. APPLICATION FUNCTIONS

6.30.4 Operation example

(1) When the pass position interrupt is complete The pass position interrupt (PPIOP) turns on between the operation start and the completion of all pass position interrupt outputs. When the pass position condition is satisfied, the factor of interrupt of the "pass position interrupt complete " ( : pass position condition number) turns on and the interrupts are output. The pass position interrupt (PPIOP) turns off and the pass position interrupt complete (PPIFIN) turns on when all of pass position interrupts are output.

Passing

Pass position condition 1 Pass position condition 2

Passing

Pass position interrupt complete 1

Pass position interrupt complete 2

During operation (OP)

ON OFF

Pass position condition start number 1

Running pass position condition number 0 1 2

Pass position condition end number 2

Pass position interrupt (PPIOP)

ON OFF

ON OFF

ON OFF

Pass position interrupt complete (PPIFIN)

Pass position interrupt incomplete (PPIERR)

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6. APPLICATION FUNCTIONS

(2) When the pass position interrupt fails

When the operation is canceled due to an operation alarm preceding the satisfaction of the pass position condition, the pass position interrupt incomplete (PPIERR) turns on. The pass position interrupt incomplete (PPIERR) turns on under the following conditions. At this time, the factor of interrupt of the "pass position interrupt error condition " ( : pass position condition number) turns on to the running and unexecuted pass position interrupt conditions and the interrupt is output.

(a) The setting of the pass position condition is incorrect.

(b) Operation is canceled by turning on the stop operation signal (STP) or the rapid stop signal (RSTP)

before the pass position condition is satisfied.

(c) Operation is canceled by an operation alarm, etc. before the pass position condition is satisfied.

(d) Operation is completed and the in-position signal is turned on before the pass position condition is satisfied.

[Example of when an operation alarm occurs]

Operation alarm occurrence

Pass position interrupt (PPIOP) Pass position interrupt complete (PPIFIN) Pass position interrupt incomplete (PPIERR)

During operation (OP)

Start operation (ST)

Operation alarm (OALM)

ON OFF ON OFF

ON OFF ON OFF ON OFF ON OFF

In-position (INP) ON OFF

Pass position condition start number

1

Running pass position condition number

0 1

Pass position condition end number

2

Pass position interrupt incomplete 1 Pass position interrupt incomplete 2

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6. APPLICATION FUNCTIONS

[Example of when operation is completed]

During operation (OP)

Start operation (ST)

Operation alarm (OALM)

ON OFF ON OFF ON OFF ON OFF

ON OFF ON OFF

In-position (INP) ON OFF

Pass position interrupt (PPIOP) Pass position interrupt complete (PPIFIN) Pass position interrupt incomplete (PPIERR)

Pass position condition start number 1

Running pass position condition number 0 1

Pass position condition end number 2

Pass position interrupt incomplete 1 Pass position interrupt incomplete 2

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6. APPLICATION FUNCTIONS

(3) When the pass position interrupt is canceled

When the pass position interrupt cancel (PPISTP) is turned on preceding the satisfaction of the pass position condition, the pass position interrupt incomplete (PPIERR) turns on. At this time, the factor of interrupt of the "pass position interrupt error condition " ( : pass position condition number) turns on to the running and unexecuted pass position interrupt conditions and the interrupt is output.

[Example of when the pass position interrupt is canceled]

During operation (OP)

Start operation (ST)

Axis

ON OFF ON OFF

ON OFF

ON OFF ON OFF

Pass position interrupt cancel (PPISTP)

ON OFF

Pass position interrupt (PPIOP) Pass position interrupt complete (PPIFIN) Pass position interrupt incomplete (PPIERR)

Pass position condition start number

1

Running pass position condition number

0 1

Pass position condition end number

2

Pass position interrupt incomplete 1 Pass position interrupt incomplete 2

POINT

When the operation is started with the pass position specification of the point table and auxiliary command valid while the pass position interrupt cancel signal (PPISTP) is on, a pass position interrupt error (operation alarm 5C, detail 07) occurs and the start operation is canceled. At this time, the pass position interrupt incomplete signal (PPIERR) turns on.

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6. APPLICATION FUNCTIONS

6.31 Mark detection

6.31.1 Summary

Mark detection is a function that gets the positioning data at the timing of when a mark detection signal is input to the servo amplifier, and outputs to the dual port memory. This function is compatible with SSCNET /H communication method only.

Mark detection signal (external signal)

0E3A7F 0E3B00

0E3BFF

Dual port memory

Position board

SSCNET communication Positioning data

0E3A00

Using MR-MC3

Using MR-MC2

BAF0

BB2F BB30

BC2F

Mark detection edge data table

64 bytes 128 bytes

(1 data-1 byte)

Mark detection position data table

256 bytes 512 bytes (1 data-4 bytes)

Three methods for mark detection modes can be selected. Continuous detection mode Specified number of detection mode Ring buffer mode

Additionally, the range of the mark detection positioning data can be specified, so only data within the specified range is latched. When interrupt conditions 2 (parameter No.0205) is enabled and mark detection signal is detected, an interrupt can be generated. However, when not using the interrupt, or in interface mode, the mark detection counter must be monitored at all times.

Item Performance specifications Number of mark detection settings Up to 2 settings for each axis Input signal External input signal (within DI1 to DI3, 2 points) of each servo amplifier Input signal detection direction Leading edge/trailing edge detection in logic setting (ON edge detection setting,

OFF edge detection setting) of external input signal can be selected Detection accuracy 55s (input signal filter (0 to 444 s) can be selected in parameter setting) Detection delay 0.3ms or less + filter setting value (0 to 0.444ms)

Note. Sensor delay time is not included Input signal minimum width 0.88ms (make ON/OFF width 0.88ms or more) Latch data 2 types (current feedback position [command units], current feedback position [pulse]) Number of continuous latch data storages Using MR-MC2

Up to 64 (the whole system) Using MR-MC3

Up to 128 (the whole system) Latch data range Within the range of -2147483648 to 2147483647 can be specified

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6. APPLICATION FUNCTIONS

The following shows the update timing of mark detection positioning data and mark detection edge data when a mark detection signal is detected and both ON/OFF edges are enabled in the mark detection data settings.

Servo amplifier side

0

0

2 1 0 20

150 190100

100

150 190 200

Mark detection edge data 0: Not detected 1: OFF edge 2: ON edge

Mark detection position data

Mark detection signal

Current feedback position

0.88ms

When the mark detection signal turns ON/OFF at an interval shorter than the 0.88ms control cycle, the edge information that was first detected applies.

Position board side

Use a software version that supports mark detection for the servo amplifier. Mark detection is compatible with SSCNET /H communication method only. Servo amplifier software versions that support mark detection are shown in the table below.

Servo amplifier model Software version MR-J4- B (-RJ) B4 or later MR-J4W2- B Not supported MR-J4W3- B Not supported

POINT For communication methods other than SSCNET /H, a mark detection setting

error (operation alarm 3B, detail No.01) occurs. When a servo amplifier that does not support mark detection is used, a mark

detection setting error (operation alarm 3B, detail No.02) occurs. Check that the user program does not omit any detections to avoid cases where

mark detection signals are not properly detected, and communication errors occurrences etc.

In the following cases, depending on the specifications of the servo amplifier, the correct positioning data may not be got. 1) The ON/OFF width of mark detection signals is shorter than the control cycle

of 0.88ms. 2) Servo alarm has occurred.

When an input other than driver input is set to sensor input method (parameter No.0219), and general input setting is set to "Used" for general I/O option (parameter No.0213), the current status of mark detection signals can be checked with servo amplifier general input.

When driver input is set to sensor input method (parameter No.0219), the current status of mark detection signals can be checked with sensors (LSP/LSN/DOG).

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6. APPLICATION FUNCTIONS

(1) Continuous detection mode

Mark detection data is stored in the mark detection data storage area (one buffer) for every mark detection.

Mark detection data storage area

(When ON edge detection is enabled)

Mark detection signal

(2) Specified number of detection mode Only the mark detection data for a set number of detections is stored. When the mark detection signal is continuously input at a high frequency, positions for a set number of mark detections can be collected.

Example: When the number of detections is 4

Mark detection data storage area

Mark detection signal

The 5th detection and later are ignored

(When ON edge detection is enabled)

(3) Ring buffer mode Latched data is stored in a ring buffer for the specified number of detections (number of continuous latch data storages in parameter settings).

Example: When the number of detections is 4

Mark detection data storage area

Mark detection signal

The 5th detection replaces the previous first detection

(When ON edge detection is enabled)

POINT

Because of the time taken to get latch data by SSCNET communication, the delay time for the data to reach the user program side is approximately 0.88ms + (control cycle 2). (Approximately 2.7ms when control cycle is 0.88ms.)

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6. APPLICATION FUNCTIONS

6.31.2 Interface

(1) Servo parameter (MR-J4- B (-RJ)) Parameter

No. MR-J4-B

Parameter No. Symbol Name Setting value

11CA PD11 *DIF Input filter setting

Mark detection input signal filter selection Set the mark detection input signal filter selection. 0: No setting 1: 0.111[ms] 2: 0.222[ms] 3: 0.444[ms]

(2) Control parameter Parameter

No. Symbol Name

Initial value

Units Setting range

Function

02B0 *MKOP1 Mark detection option 1

0000h 0000h to

3F23h MC200

0000h

to 7F23h MC300

Mark detection signal number specification 1 Set the mark detection signal number to be used. 0 : Invalid 1 to 3: Mark detection signal number (DI1 to DI3) Mark detection mode Set the mark detection mode. 0: Continuous detection 1: Specified number of detection 2: Ring buffer Number of continuous latch data storages (Note) Set the number of data that can be latched continuously. 00h to 3Fh: Number of continuous latch

data storages - 1 00h to 7Fh: Number of continuous latch

data storages - 1 Note. The following number of continuous latch data storages can be set in the

whole system. Using MR-MC2 : 64 Using MR-MC3 : 128

02B1 MKDS1 Mark detection data setting 1

0000h 0000h to

0111h ON edge detection setting Set enable/disable for detection at ON edge. 0: Disable 1: Enable OFF edge detection setting Set enable/disable for detection at OFF edge. 0: Disable 1: Enable Mark detection data type Set the type of data to be stored as mark detection data. 0: Current feedback position [command units] 1: Current feedback position[pulse]

0

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

02B2 *MKOP2 Mark detection option 2

0000h 0000h to

3F23h MC200

0000h

to 7F23h MC300

Same as mark detection option 1.

02B3 MKDS2 Mark detection data setting 2

0000h 0000h to

0111h

Same as mark detection data setting 1.

02B4 MKNL1 Latch data range lower limit 1 (lower)

0000h 0000h to

FFFFh

Specify the range (lower limit) of data to be latched at detection of the mark detection signal of mark detection signal number specification 1. (Note1), (Note 2)

02B5 MKNH1 Latch data range lower limit 1 (upper)

0000h 0000h to

FFFFh 02B6 MKXL1 Latch data range

upper limit 1 (lower) 0000h 0000h

to FFFFh

Specify the range (upper limit) of data to be latched at detection of the mark detection signal of mark detection signal number specification 1. (Note1), (Note 2)

02B7 MKXH1 Latch data range upper limit 1 (upper)

0000h 0000h to

FFFFh 02B8 MKNL2 Latch data range

lower limit 2 (lower) 0000h 0000h

to FFFFh

Same as latch data range lower limit 1.

02B9 MKNH2 Latch data range lower limit 2 (upper)

0000h 0000h to

FFFFh 02BA MKXL2 Latch data range

upper limit 2 (lower) 0000h 0000h

to FFFFh

Same as latch data range upper limit 1.

02BB MKXH2 Latch data range upper limit 2 (upper)

0000h 0000h to

FFFFh Note 1. When changed while system is running, changes are enabled when a mark detection settings enable command is input. 2. The set units are regarded as command units, or pulse units (the unit set in mark detection data type (parameter No.02B1)).

API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter functions to set/get mark

detection.

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6. APPLICATION FUNCTIONS

(3) Mark detection command/status data

(a) Mark detection command table Address (Note)

Name Setting range

Remarks When in

tandem drive MR-MC2 MR-MC3 B4F0 0E2A00 Read complete buffer number 1 0 to 255 Set the mark detection data table number

that was read after reading the mark detection edge data and mark detection positioning data of mark detection 1.

Each axis

B4F1 0E2A01 Read complete buffer number 2 0 to 255 Same as read complete buffer number 1. Each axis B4F2 0E2A02

Reserved

: :

B4FF 0E2A0F

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

(b) Mark detection status table Address (Note)

Name Output limits

Remarks When in

tandem drive MR-MC2 MR-MC3 MR-MC2 MR-MC3 B500 0E2A10 Start data

storage area 1 0 to 63 0 to 127 Stores the start number of latch data

storage for the mark detection signal set in mark detection signal number specification 1 (parameter No.02B0).

Each axis

B501 0E2A11 Number of continuous latch data storages 1

0 to 64 0 to 128 Stores the number of continuous latch data storages set in mark detection signal number specification 1 (parameter No.02B0). (Stores 0 for axes not using the mark detection function.)

Each axis

B502 0E2A12 Mark detection counter 1

Continuous detection: 0 to 255 Specified

No. of detection,

Ring buffer: 0 to 64

Continuous detection: 0 to 255 Specified

No. of detection,

Ring buffer: 0 to 128

Counter that is incremented when latch data for the mark detection signal set in mark detection signal number specification 1 (parameter No.02B0) is stored. In continuous detection mode, the count starts again from 1 after the 255th count. In ring buffer mode, the count starts again from 1 after the number of continuous latch data storages has been reached. In specified number of detection mode, and ring buffer mode use a "clear command" to clear to 0.

Each axis

B503 0E2A13 Mark detection mode 1

0 to 2 Stores the mark detection mode for mark detection set in mark detection signal number specification 1 (parameter No.02B0). 0: Continuous detection mode 1: Specified number of detection mode 2: Ring buffer mode

Each axis

B504 0E2A14 Start data storage area 2

0 to 63 0 to 127 Same as start data storage area 1. Each axis

B505 0E2A15 Number of continuous latch data storages 2

0 to 64 0 to 128 Same as number of continuous latch data storages 1.

Each axis

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

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6. APPLICATION FUNCTIONS

Address (Note)

Name Output limits

Remarks When in

tandem drive MR-MC2 MR-MC3 MR-MC2 MR-MC3 B506 0E2A16 Mark detection

counter 2 Continuous detection: 0 to 255 Specified

No. of detection,

Ring buffer: 0 to 64

Continuous detection: 0 to 255 Specified

No. of detection,

Ring buffer: 0 to 128

Same as mark detection counter 1. Each axis

B507 0E2A17 Mark detection mode 2

0 to 2 Same as mark detection mode 1. Each axis

B50C 0E2A18 Reserved

: : B50F 0E2A1F

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis. (4) Mark detection data table

(a) Mark detection edge data table 0: Not detected 1: OFF edge 2: ON edge

Address Content

Address Content

MR-MC2 MR-MC3 MR-MC2 MR-MC3

BAF0 0E3A00 Mark detection edge data 0 BAF8 0E3A08 Mark detection edge data 8 BAF1 0E3A01 Mark detection edge data 1 BAF9 0E3A09 Mark detection edge data 9 BAF2 0E3A02 Mark detection edge data 2 BAFA 0E3A0A Mark detection edge data 10 BAF3 0E3A03 Mark detection edge data 3 : : : BAF4 0E3A04 Mark detection edge data 4 BB2F 0E3A3F Mark detection edge data 63 BAF5 0E3A05 Mark detection edge data 5 0E3A40 Mark detection edge data 64 BAF6 0E3A06 Mark detection edge data 6 : : BAF7 0E3A07 Mark detection edge data 7 0E3A7F Mark detection edge data 127

(b) Mark detection positioning data table

Address Content

Address Content

MR-MC2 MR-MC3 MR-MC2 MR-MC3

BB30 0E3B00 Mark detection positioning data 0

BB40 0E3B10 Mark detection positioning data 4

BB31 0E3B01 BB41 0E3B11 BB32 0E3B02 BB42 0E3B12 BB33 0E3B03 BB43 0E3B13 BB34 0E3B04

Mark detection positioning data 1

BB44 0E3B14 Mark detection positioning data 5

BB35 0E3B05 BB45 0E3B15 BB36 0E3B06 BB46 0E3B16 BB37 0E3B07 BB47 0E3B17 BB38 0E3B08

Mark detection positioning data 2

BB48 0E3B18 Mark detection positioning data 6

BB39 0E3B09 BB49 0E3B19 BB3A 0E3B0A BB4A 0E3B1A BB3B 0E3B0B BB4B 0E3B1B BB3C 0E3B0C

Mark detection positioning data 3

BB4C 0E3B1C Mark detection positioning data 7

BB3D 0E3B0D BB4D 0E3B1D BB3E 0E3B0E BB4E 0E3B1E BB3F 0E3B0F BB4F 0E3B1F

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6. APPLICATION FUNCTIONS

Address

Content Address

Content MR-MC2 MR-MC3 MR-MC2 MR-MC3

BB50 0E3B20 Mark detection positioning data 8

BC2C 0E3BFC Mark detection positioning data 63

BB51 0E3B21 BC2D 0E3BFD BB52 0E3B22 BC2E 0E3BFE BB53 0E3B23 BC2F 0E3BFF BB54 0E3B24

Mark detection positioning data 9

0E3C00 Mark detection positioning data 64

BB55 0E3B25 0E3C01 BB56 0E3B26 0E3C02 BB57 0E3B27 0E3C03 BB58 0E3B28

Mark detection positioning data 10

0E3C04

: BB59 0E3B29

: BB5A 0E3B2A BB5B 0E3B2B 0E3CFB BB5C 0E3B2C

:

0E3CFC Mark detection positioning data 127

: : 0E3CFD 0E3CFE

BC2B 0E3BFB 0E3CFF

POINT The mark detection data table allocates continuous latch data storage area

automatically from the lowest axis to the highest axis. When the current feedback position set in mark detection data settings is

specified in command units, the fraction that comes about when converting from pulse units is round down then stored.

The lower 32 bits of data are latched for data in pulse units that exceeds 32 bits.

API LIBRARY Use the sscGetMarkDetectionData function to get mark detection data (mark

detection edge data , mark detection positioning data ). (5) Axis command/status bit

(a) Axis command bit Address (Note)

Bit Symbol Signal name When in tandem drive MR-MC2 MR-MC3

100B 00500B 0 Reserved 1 MKC1 Mark detection clear command 1 Each axis 2 MKD1 Mark detection disable command 1 Each axis 3 MKSEN1 Mark detection setting enable command 1 Each axis 4 Reserved 5 MKC2 Mark detection clear command 2 Each axis 6 MKD2 Mark detection disable command 2 Each axis 7 MKSEN2 Mark detection setting enable command 2 Each axis

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

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6. APPLICATION FUNCTIONS

1) Details on axis command bit

Symbol Signal name Function details

Function Operation MKC Mark detection clear

command Clears the mark detection positioning data table, mark detection edge data table, and mark detection counter.

When the mark detection clear signal is turned ON, the following data is cleared. Mark detection positioning data table Mark detection edge data table Mark detection counter

MKD Mark detection disable command

Disables data latch at the time of mark detection.

When the mark detection disable command is turned ON, data is not latched regardless of the latch data range settings.

MKSEN Mark detection setting enable command

Reflects the settings for mark detection. Reflects the following settings. Mark detection edge settings Mark detection data type Latch data range

POINT Mark detection data that is received while the mark detection clear command is

ON is discarded.

(b) Axis status bit Address (Note)

Bit Symbol Signal name When in tandem drive MR-MC2 MR-MC3

106B 0050AB 0 MKIF1 Mark detection compatible information 1 Each axis 1 MKCF1 Mark detection clear complete 1 Each axis 2 MKDO1 Mark detection disabled 1 Each axis 3 MKSEF1 Mark detection setting enable complete 1 Each axis 4 MKIF2 Mark detection compatible information 2 Each axis 5 MKCF2 Mark detection clear complete 2 Each axis 6 MKD02 Mark detection disabled 2 Each axis 7 MKSEF2 Mark detection setting enable complete 2 Each axis

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

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6. APPLICATION FUNCTIONS

1) Details on axis status bit

Symbol Signal name Function details

Function Operation MKIF Mark detection compatible

information Notifies that mark detection function can be used.

The following conditions are satisfied. Servo amplifier supports mark detection

function. Mark detections settings are enabled.

One of the following conditions is satisfied. Servo amplifier does not support mark

detection function. Mark detections settings are disabled. Mark detection compatible axis is

disconnected. MKCF Mark detection clear

complete Notifies that clearing of mark detection information was completed.

Clearing of mark detection information is complete.

The mark detection clear command signal (MKC ) was turned OFF.

MKD0 Mark detection disabled Notifies that data latch at the time of mark detection is disabled.

The mark detection disable command signal (MKD ) was turned ON.

The mark detection disable command signal (MKD ) was turned OFF.

MKSEF Mark detection setting enable complete

Notifies that the mark detection settings have been applied.

The mark detection setting enable command signal (MKSEN ) was turned ON.

The mark detection setting enable command signal (MKSEN ) was turned OFF.

API LIBRARY

Use the sscClearMarkDetectionData function for clearing mark detection data. To turn ON/OFF the following axis command bits, set the command bit numbers

of the sscSetCommandBitSignalEx function to the following. Mark detection disable (MKD ): SSC_CMDBIT_AX_MKD Mark detection setting enable (MKSEN ): SSC_CMDBIT_AX_MKSEN

To turn ON/OFF the following axis status bits, set the status bit numbers of the sscGetStatusBitSignalEx function or sscWaitStatusBitSignalEx function to the following. Mark detection compatible information (MKIF ): SSC_STSBIT_AX_MKIF Mark detection disabled (MKDO ): SSC_STSBIT_AX_MKDO Mark detection setting enable complete (MKSEF ):

SSC_STSBIT_AX_MKSEF

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6. APPLICATION FUNCTIONS

6.31.3 Function details

(1) Combinations with sensor input method By setting the sensor input method to driver input, and setting the mark detection signal numbers (DI1 to DI3), sensors (LSP/LSN/DOG) can be used in combination with the mark detection function.

Example 1: When sensor input method is set to driver input and mark detection signal number specification

1 is set to DI3 Name Signal allocation

DI1 LSP DI2 LSN DI3 DOG(mark detection 1)

Example 2: When sensor input method is set to a setting other than driver input and mark detection signal

number specification 2 is set to DI1 Name Signal allocation

DI1 General input 1

(mark detection 2) DI2 General input 2 DI3 General input 2

(2) Continuous latch data storage allocation

The mark detection data table (the table where the current feedback position data at the input of the mark detection signal is stored) used by each axis allocates according to the number of continuous latch data storages (parameter No.02B0, 02B2) automatically from the lowest axis to the highest axis. The following is an example for when continuous latch data storages is 4 points for axis 1, 1 point for axis 2, and 2 points for axis 3.

Mark detection data table Allocation Mark detection data table 0

Axis 1 Mark detection data table 1 Mark detection data table 2 Mark detection data table 3 Mark detection data table 4 Axis 2 Mark detection data table 5

Axis 3 Mark detection data table 6

: :

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6. APPLICATION FUNCTIONS

(3) Latch data range

When data at mark detection is within the latch data range, the data is stored in the mark detection storage device and the mark detection counter increases by one. When the data is outside of the range the mark detection is not processed. The following explains the upper limit value and lower limit value. (a) Upper limit value > lower limit value

When the mark detection data is more than the lower limit value and also less than or equal to the upper limit value, the mark detection is processed.

Lower limit value Upper limit value

(b) Upper limit value < lower limit value When the mark detection data is less than the upper limit value or more than the lower limit value, the mark detection is processed.

Upper limit value Lower limit value

(c) Upper limit value = lower limit value The range of the mark detection data is not checked. Mark detection is processed for all ranges.

(4) Mark detection clear command

When a mark detection clear command is input the mark detection counter becomes 0, and mark detection edge data and mark detection positioning data is cleared.

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6. APPLICATION FUNCTIONS

6.31.4 Operation example

(1) Continuous detection mode The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer number. When mark detection data is not read before the next mark detection, a mark detection write/read error (operation alarm A6, detail No.01) occurs, followed by a rapid stop.

Example: When both ON/OFF edges are enabled.

Data 2 Data 3Data 0 Data 1No data

3 41 20

0 1 32 4

Mark detection data

Read complete buffer number

Get mark detection data sscGetMarkDetectionData function

Mark detection signal

Wait for interrupt event sscWaitIntEvent function

Mark detection interrupt (iMAK )

Mark detection counter

POINT

Mark detection interrupt cannot be used for interface mode. The mark detection counter can be continuously monitored by polling.

API LIBRARY

Use the sscGetMarkDetectionData function to get mark detection data. The read number setting for the read complete buffer number is conducted

within the sscGetMarkDetectionData function therefore user program processing is not required.

Use the sscGetMarkDetectionCounter function to get the mark detection counter.

When using mark detection interrupt, use the sscWaitIntEvent function and wait until interrupt is output. If not using mark detection interrupt, use polling. When using polling, use the sscGetMarkDetectionCounter function to periodically check that the mark detection counter is updated.

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6. APPLICATION FUNCTIONS

(2) Specified number of detection mode

The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer number. If performing mark detection again after the specified number of mark detections, conduct a mark detection clear. The mark detection data that is detected after the mark detection clear is latched.

Example: When both ON/OFF edges are enabled and specified number of mark detections is three.

Data 2Data 0 Data 1No data

31 20

0 1 32

Get mark detection data sscGetMarkDetectionData function Mark detection interrupt does not occur

after the specified number of detections. Also, the mark detection counter and mark detection data is not updated.

Mark detection data

Read complete buffer number

Mark detection signal

Wait for interrupt event sscWaitIntEvent function

Mark detection interrupt (iMAK )

Mark detection counter

POINT

Data for mark detections after the specified number of detections is not latched.

API LIBRARY Use the sscGetMarkDetectionData function to get mark detection data. The read number setting for the read complete buffer number is conducted

within the sscGetMarkDetectionData function therefore user program processing is not required.

Use the sscGetMarkDetectionCounter function to get the mark detection counter.

When using mark detection interrupt, use the sscWaitIntEvent function and wait until interrupt is output. If not using mark detection interrupt, use polling. When using polling, use the sscGetMarkDetectionCounter function to periodically check that the mark detection counter is updated.

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6. APPLICATION FUNCTIONS

(3) Ring buffer mode

When using ring buffer mode, the mark detection count is started again from 1 if the number of mark detections exceeds the number of continuous latch data storages. When mark detection data is not read before the next mark detection, a mark detection write/read error (operation alarm A6, detail No.01) occurs with a rapid stop.

Example: When both ON/OFF edges are enabled.

Data 2 Data 1Data 0 Data 1No data

3 11 20

0 1 32 1

Get mark detection data sscGetMarkDetectionData function

Mark detection data

Read complete buffer number

Mark detection signal

Wait for interrupt event sscWaitIntEvent function

Mark detection interrupt (iMAK )

Mark detection counter

API LIBRARY

Use the sscGetMarkDetectionData function to get mark detection data. The read number setting for the read complete buffer number is conducted

within the sscGetMarkDetectionData function therefore user program processing is not required.

Use the sscGetMarkDetectionCounter function to get the mark detection counter.

When using mark detection interrupt, use the sscWaitIntEvent function and wait until interrupt is output. If not using mark detection interrupt, use the sscGetMarkDetectionCounter function to periodically check that the mark detection counter is updated.

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6. APPLICATION FUNCTIONS

6.32 Continuous operation to torque control

6.32.1 Summary

Continuous operation to torque control is a control method that achieves torque control during positioning control without stopping. To perform continuous operation to torque control, the servo amplifier control mode must be switched to "continuous operation to torque control mode". By setting the "continuous operation to torque control specification" auxiliary command in the point table to "continuous operation to torque control valid", torque control is performed from the position (command position or current feedback position) set in the switch conditions without stopping operation. Continuous operation to torque control is completed based on the continuous operation to torque control data, then returned to position control. Also, when the continuous operation to torque control operation condition "start switch to continuous operation to torque control condition" is set to "manual switch", a switch to continuous operation to torque control can be made at any given time. The continuous operation to torque control data becomes valid at the start of operation for the points set to continuous operation to torque control valid (hereinafter referred to as continuous operation to torque control points).

POINT Continuous operation to torque control data that is changed during the operation

of a continuous operation to torque control point becomes valid at the operation of the next continuous operation to torque control point.

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6. APPLICATION FUNCTIONS

(1) Operation example

Two-point operation (deceleration check system: In-position stop) including continuous operation to torque control point.

Current command position

Travel speed

Electrical current feedback (torque)

Continuous operation to torque control switching position is reached

Contact

Press start

After the completing continuous operation to torque control operation, move to the next point

Automatic operation mode (AUT)

ON OFF

Fast start operation (FST)

ON OFF

Completion of operation (OPF)

ON OFF

Positioning complete (PF)

ON OFF

In-position (INP) ON OFF ONDuring smoothing of stopping

(SMZ) OFF

Control mode status Position control mode

Operation point No. 0 1(Note) 2

During continuous operation to torque control (PRSMO)

ON OFF

Position control mode Continuous operation to torque control mode

Note. Returning to position control mode after the completion of continuous operation to torque control operation is part of the continuous operation to torque control point, and is performed as a one-point operation.

POINT When continuous operation to torque control specification is set to valid and

automatic operation is started for a servo amplifier that is not supported, continuous operation to torque control error (operation alarm 5D, detail No.06) occurs, and operation does not start.

API LIBRARY

Refer to the sample program "InterruptPressDrive" contained in the utility software for a more specific procedure on continuous operation to torque control.

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6. APPLICATION FUNCTIONS

6.32.2 Interface

Set the following data when using continuous operation to torque control. (1) Parameter

(a) Servo parameter Parameter

No. Symbol Name

Initial value

Units Setting range

Function

110D *POL Rotation direction selection/travel direction selection

0 0 to 1 Select the rotation direction or travel direction for the command input pulse.

1142 TFBGN Torque feedback loop gain

18000 rad/s 0 to 18000 Set the torque feedback gain for continuous operation to torque control. By setting a smaller value, the contact load at continuous operation to torque control can be reduced. When setting value is less than 6[rad/s], a setting value of 6[rad/s] is set.

(b) Control parameter

Parameter No.

Symbol Name Initial value

Units Setting range

Function

0205 ITM2 Interrupt condition 2 0000h 0000h to FFFFh

Set interrupt condition 2.

0222 SPLL Speed limit value (lower)

0BB8h Speed units

0000h to FFFFh

Set the value for the moving speed limit.

0223 SPLH Speed limit value (upper)

0000h 0000h to 7FFFh

API LIBRARY

Use the sscChange2Parameter/sscCheck2Parameter functions to set/get parameters.

(2) Point table

Set the points where continuous operation to torque control is performed in "continuous operation to torque control specification" in the auxiliary command.

b15 b12

0

b8 b4

0 0

b0

Position command system(bit0) Reserved(bit1)

Reserved(bit3)

Vibration suppression command filter 1 specification (bit2) (Note 1)

Deceleration check system(bit4 to 5) Speed switching point specification(bit6) Dwell specification(bit7) Pass position interrupt specification(bit8) Continuous operation to torque control specification(bit9) Reserved (bit10) Loop specification (bit11 to 12) Interpolation method (bit13 to 15) (Note 1)

Note 1. "Reserved" when using MR-MC2 .

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6. APPLICATION FUNCTIONS

(a) Position command method

0: Absolute position command 1: Relative position command

(b) Deceleration check system

Operation is complete at the completion of continuous operation to torque control. Continuous operation is invalid.

(c) Speed switching point specification

Speed switching point specification is invalid.

(d) Dwell specification 0: Dwell (Specify the time for after switching to position control mode) 1: Predwell (point movement starts when the time specified by predwell has passed.)

(e) Pass position interrupt specification

0: Pass position interrupt invalid 1: Pass position interrupt valid

(f) Continuous operation to torque control specification

0: Continuous operation to torque control invalid 1: Continuous operation to torque control valid

API LIBRARY Use the sscSetPointDataEx/sscCheckPointDataEx functions to set/get point

data.

POINT Position data is the stopping position when switching to continuous operation to

torque control could not be made. Set the position data after the continuous operation to torque control switching position (PRCPS) and before the pressing position in continuous operation to torque control.

When switching to continuous operation to torque control could not be made, a continuous operation to torque control error (operation alarm 5D, detail No.02) occurs at the completion of position control. It is determined that switching to continuous operation to torque control could not be made under the following conditions. When position data is before the continuous operation to torque control

switching position. When switching is not performed when manual switch is selected.

When the control mode switch command (CTLMC) turns ON during the time specified by predwell, control mode switch error (CTLMCE) turns ON, and control mode cannot be switched.

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6. APPLICATION FUNCTIONS

[Setting image]

Continuous operation to torque control axis

Continuous operation to torque control switching position (PRCPS)

Pressing position for continuous operation to torque control

Position data of continuous operation to torque control point (Stop position for when switch to continuous operation to torque control cannot be made)

Press limit position (PRLMPS)

Continuous operation to torque control direction

(3) Continuous operation to torque control data

Set the conditions for performing continuous operation to torque control in the continuous operation to torque control data. (a) Continuous operation to torque control data Address

Symbol Name Units Setting range Function

At manual switch

selection

MR- MC2

MR- MC3

A840 0E1800 PRCPS Continuous operation to torque control switching position (4 bytes)

Command units

-2147483648 to

2147483647

Set the position for switching to continuous operation to torque control. The position command system depends on the setting of the auxiliary command of the point table.

Invalid

A844 0E1804 PRLMPS Press limit position (4 bytes)

Command units

-2147483648 to

2147483647

Set the limit position for which continuous operation to torque control can operate. It is determined by the feedback position. The position command system depends on the setting of the auxiliary command of the point table.

Valid

A848 0E1808 PRCTSP Continuous operation to torque control speed limit value (4 bytes)

Speed units

1 to 2147483647

Set the speed limit value during continuous operation to torque control.

Valid

A84C 0E180C PRTGTR Target torque (2 bytes)

0.1% 0 to 32767 Set the target torque during continuous operation to torque control.

Valid

A84E 0E180E PRTM Press time (2 bytes)

ms 0 to 65535 Set the press time during continuous operation to torque control.

Invalid

A850 0E1810 PRTRW Torque settle width (2 bytes)

0.1% 0 to 65535 Set the range (difference from the target torque) at which it is regarded that the target torque has been reached during continuous operation to torque control.

Valid

A852 0E1812 PRWTM Torque settle waiting time (2 bytes)

ms 0 to 65535 Set the time where it is determined that press is occurring (from when entering the torque settle width until during continuous operation to torque control (PRSMO) is output.)

Valid

A854 0E1814 PRCA Continuous operation to torque control acceleration time constant (2 bytes)

ms 0 to 20000 Set the acceleration time constant for during continuous operation to torque control.

Valid

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6. APPLICATION FUNCTIONS

Address

Symbol Name Units Setting range Function

At manual switch

selection

MR- MC2

MR- MC3

A856 0E1816 PRCD Continuous operation to torque control deceleration time constant (2 bytes)

ms 0 to 20000 Set the deceleration time constant for during continuous operation to torque control.

Valid

A858 0E1818 PRCOP Continuous operation to torque control operating conditions (2 bytes)

0000h to 0012h

Start switch to continuous operation to torque control condition Set the condition for determining the continuous operation to torque control switching position. 0: Automatic switch (command position) 1: Automatic switch (current feedback position) 2: Manual switch End switch to continuous operation to torque control condition Set the condition for determining the control mode switch from continuous operation to torque control. 0: Automatic switch 1: Manual switch

0 0

Valid

A85A to

A85F

0E181A to

0E181F Reserved

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

API LIBRARY Use the sscSetPressDataEx/sscGetPressDataEx functions to set/get

continuous operation to torque control data.

1) When the continuous operation to torque control switching position has not be reached at the start of operation

Speed

Torque

Acceleration time constant (Point table)

Deceleration time constant at continuous operation to torque control

Continuous operation to torque control speed limit value

Torque settle width

Target torque

Press time

Position control mode Position control modeContinuous operation to torque control mode

Switch is performed when the "continuous operation to torque control switching position" is reached

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6. APPLICATION FUNCTIONS

2) When the continuous operation to torque control switching position has been passed at the start of

operation

Speed

Torque

Deceleration time constant at continuous operation to torque control

Continuous operation to torque control speed limit value

Torque settle width

Target torque

Press time

Position control mode

Switch is performed at the start of point operation

Continuous operation to torque control mode Position control mode

POINT

The value for continuous operation to control data at the start of operation at the continuous operation to torque control point is valid.

Continuous operation to torque control data that is changed during the operation of a continuous operation to torque control point becomes valid at the operation of the next continuous operation to torque control point.

The press time is the time passed since torque within the torque settle width is continuously output during the torque settle waiting time. (The press time continues even if a value outside the torque settle width occurs part of the way through.)

When a value outside of the range is set to continuous operation to torque control data and automatic operation is startup, a continuous operation to torque control setting error (operation alarm 5E, detail No.01 to 05) occurs, and the operation is not started.

When a press limit position is set in the opposite direction of the position control travel direction, a continuous operation to torque control error (operation alarm 5D, detail No.05) occurs, and the operation is not started.

When a press limit position is set before the positioning data, a continuous operation to torque control error (operation alarm 5D, detail No.08) occurs, and the operation is not started. (A press limit position is not reached during position control mode)

The press limit position is determined by the current feedback position. When the press limit position is reached during continuous operation to torque control, a continuous operation to torque control error (operation alarm 5D, detail No.03) occurs, and stops at the position where the press limit position was exceeded.

When target torque is reached during acceleration, it is determined that press has started and the press time measurement begins.

When the continuous operation to torque control switching position is in the opposite direction of the movement direction, the continuous operation to torque control switching position is judged to be passed.

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6. APPLICATION FUNCTIONS

(4) System status bit

Address (Note) Bit Symbol Signal name

MR-MC2 MR-MC3 0450 000BE0 0 ITO Outputting with factor of interrupt

1 IITO During interface mode interrupt invalid 2 EVDO Event detection enabled 3 HRIF During highly response I/F valid 4 BMA During system program memory access 5 PRINF Continuous operation to torque control compatible information 6 Reserved 7 IFMO In interface mode

(a) Details on system status bits

Symbol Signal name Function details

Function Operation PRINF Continuous

operation to torque control compatible information

Notifies that continuous operation to torque control is compatible.

Continuous operation to torque control is compatible.

Continuous operation to torque control is not compatible.

API LIBRARY

To check if the following system status bits are ON/OFF, set the status bit numbers of the sscGetStatusBitSignalEx function or sscWaitStatusBitSignalEx function to the following. Continuous operation to torque control compatible information (PRINF):

SSC_STSBIT_AX_PRINF (5) Axis command/status bit

The axis command/status bits for continuous operation to torque control are shown below. (a) Axis command bits

Address (Note) Bit Symbol Signal name

When in tandem

drive

Address (Note) Bit Symbol Signal name

When in tandem

drive MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1008 005008

0 GAIN Gain switching command

Each axis 100C 00500C

0

Reserved

1 FCLS Fully closed loop control change command

Each axis

1

2 Reserved 2

3 CPC PID control command

Each axis

3

4

Reserved

4 CTLMC

Control mode switch command

Not supported

5 5 Reserved

6 6 7 7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

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6. APPLICATION FUNCTIONS

1) Details on axis command bit

Symbol Signal name Function details

Function Operation CTLMC Control mode

switch command

Switch the control mode of the servo amplifier based on the control mode command.

When all of the following conditions are satisfied, the control mode is switched to the specified control mode. "Continuous operation to torque control

specification" within the "auxiliary command" of the point in operation is set to "continuous operation to torque control valid".

Control mode switch condition is set to "2: Manual switch".

"Control mode command" is set to "Position control mode" or "continuous operation to torque control mode".

(b) Axis status bits

Address (Note) Bit Symbol Signal name

When in tandem

drive

Address (Note) Bit Symbol Signal name

When in tandem

drive MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1068 0050A8

0 GAINO During gain switching

Each axis 106C 0050AC

0

Reserved

1 FCLSO Fully closed loop control changing

Each axis

1

2 TLSO Selecting torque limit

Each axis

2

3 SPC During PID control

Each axis

3

4

Reserved

4 CTLMCF

Control mode switch complete

Not supported

5

5 CTLMCE Control mode switch error

Not supported

6 6

Reserved

7 PRSMO

During continuous operation to torque control

Not supported

7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

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6. APPLICATION FUNCTIONS

1) Details on axis status bit

Symbol Signal name Function details

Function Operation PRSMO During continuous

operation to torque control Notifies that torque within the torque settle width of the target torque has been output during the torque settle waiting time of continuous operation to torque control.

Torque within the torque settle width of the target torque has been output during the torque settle waiting time of continuous operation to torque control.

Control mode was changed to position control mode.

CTLMCF Control mode switch complete

Notifies that switching of control mode of the servo amplifier was completed.

The switching of the control mode of the servo amplifier was completed normally. (Turns ON even when switching to a control mode the same as the current control mode)

The control mode switch command signal (CTLMC) was turned OFF.

CTLMCE Control mode switch error Notifies that switching of control mode of the servo amplifier could not be performed.

When one of the following conditions below is satisfied and the control mode switch command is turned ON. Switch command is input during

automatic operation during an operation other than continuous operation to torque control points.

A mode other than position control mode and continuous operation to torque control mode, or a mode outside of the range is specified.

A control mode switch command set to other than manual switch was input during operation.

The control mode switch command signal (CTLMC) was turned OFF.

API LIBRARY Use the sscChangeControlMode function for switching the control mode of the

servo amplifier. To check if the following system status bits are ON/OFF, set the status bit

numbers of the sscGetStatusBitSignalEx function or sscWaitStatusBitSignalEx function to the following.

During continuous operation to torque control (PRSMO): SSC_STSBIT_AX_PRSMO

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6. APPLICATION FUNCTIONS

(6) Axis command/status data

The axis command/status data for continuous operation to torque control are shown below. (a) Axis command table

Address (Note) Name Setting range Remarks When in tandem drive

MR-MC2 MR-MC3 1032 005042 Control mode

command Refer to remarks Set the mode to switch to.

0000h: Position control mode 0001h: Speed control mode

(interface mode only) 0002h: Torque control mode

(interface mode only) 0010h: Continuous operation to torque

control mode (standard mode only)

Not supported 1033 005043

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

(b) Axis status table

Address (Note 1) Name Output limits Remarks When in tandem drive

MR-MC2 MR-MC3 1092 0050E2 Control mode

status Refer to remarks

The current control mode is shown below.

000h: Position control mode 001h: Speed control mode 002h: Torque control mode 010h: Continuous operation to torque control 0: Control mode switch normal 8: Control mode switch error (Note 1)

Not supported 1093 0050E3

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

2. When the control mode switch error (CTLMCE) is ON, the status is control mode switch error.

POINT When a selection other than manual switch is selected for the continuous

operation to torque control operating conditions, control mode switch is automatically performed by the position board.

API LIBRARY

Use the sscChangeControlMode function for switching the control mode of the servo amplifier.

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6. APPLICATION FUNCTIONS

6.32.3 Control mode switch

For control mode switch, there are the two following methods that can be selected for both "switching from position control mode to continuous operation to torque control mode" and "switching from continuous operation to torque control to position control mode" Automatic switch Manual switch (1) Control mode switch setting

The setting contents and setting values required for each switch pattern are shown in the following table. Switch pattern Switch method Setting items Setting values

Switching from position control mode to continuous operation to torque control mode

Automatic switch Continuous operation to torque control switching position

Position to switch to continuous operation to torque control mode [command units]

Start switch to continuous operation to torque control condition

0000h, 0001h: Automatic switch (position command)

0010h, 0011h: Automatic switch (current feedback position)

Manual switch Start switch to continuous operation to torque control condition

0002h, 0012h: Manual switch

Switching from continuous operation to torque control mode to position control mode

Automatic switch End switch to continuous operation to torque control condition

0000h to 0002h: Automatic switch

Manual switch End switch to continuous operation to torque control condition

0010h to 0012h: Manual switch

(2) Procedure for switching from position control mode to continuous operation to torque control mode

(a) Switch method: Automatic switch 1) The position board automatically switches the control mode thus processing by user program is not

required. (The position board determines the continuous operation to torque control switching position, and automatically switches to continuous operation to torque control mode once the position is reached.)

(b) Switch method: Manual switch

1) Set the control mode command to "3: Continuous operation to torque control mode". 2) Turn ON control mode switch command (CTLMC). (Have the switch timing determined by user

program) 3) After confirming control mode switch complete (CTLMCF) is ON, turn OFF control mode switch

command (CTLMC). (3) Procedure for switching from continuous operation to torque control mode to position control mode

(a) Switch method: Automatic switch 1) The position board automatically switches the control mode thus processing by user program is not

required. (Control mode is automatically returned to position control mode after the press time has passed since the starting of torque output within the torque settle width of the target torque.)

(b) Switch method: Manual switch

1) Set the control mode command to "0: Position control mode". 2) Turn ON control mode switch command (CTLMC). (Have the switch timing determined by user

program) 3) After confirming control mode switch complete (CTLMCF) is ON, turn OFF control mode switch

command (CTLMC).

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6. APPLICATION FUNCTIONS

POINT

Operation is completed with the switching completion to position control mode. When operation is stopped by forced stop, operation alarms etc., the position

board automatically switches to position control mode regardless of "start continuous operation to torque control switch conditions".

When a control mode that cannot be switched to is input to the control mode command and control mode switch command (CTLMC) is turned ON, control mode switch error (operation alarm 2E, detail No.02 or 04) occurs, followed by a deceleration stop.

API LIBRARY

Use the sscChangeControlMode function for switching the control mode of the servo amplifier.

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6. APPLICATION FUNCTIONS

6.32.4 Operation timing

(1) Automatic switch (Start switch and end switch)

Current command position

Travel speed

Electrical current feedback (torque)

Continuous operation to torque control switching position reached

Continuous operation to torque control speed limit value Contact

4 to 6ms

Target torque

ON OFF ON OFF ON OFF ON OFF ON OFF

Continuous operation to torque control speed limit value

Control mode status

Target torque 0

0

300

0 1000

0 Continuous operation to torque control operating conditions selection During continuous operation to torque control (PRSMO)

ON OFF

4 to 6ms Press time

Position control mode Position control mode

sscAutoStart function

Continuous operation to torque control mode

Torque settle width

Fast start operation (FST)

Completion of operation (OPF)

Positioning complete (PF)

In-position (INP)

During smoothing of stopping (SMZ)

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6. APPLICATION FUNCTIONS

POINT

It takes approximately 4 to 6ms for the servo amplifier to switch modes after reaching the continuous operation to torque control switching position and press time has passed.

The rough match (CPO) turns ON based on the distance remaining to the position data of the point table.

Positioning complete (PF), during smoothing of stopping (SMZ), turn ON at completion of operation.

The current command position is matched with the current feedback position at the timing of switch to continuous operation to torque control.

When operation is completed without reaching the continuous operation to torque control switching position, a continuous operation to torque control error (operation alarm 5D, detail No.02) occurs.

API LIBRARY

Use the sscAutoStart function for operation startup. Refer to the sample program "InterruptPressDrive" contained in the utility

software for a more specific procedure on continuous operation to torque control. Operate by automatic switch by setting chg_ctrl_mode_condition to CHG_CTRL_MODE_AUTO.

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6. APPLICATION FUNCTIONS

(2) Manual switch (Start switch and end switch)

Current command position

Travel speed

Electrical current feedback (torque)

Continuous operation to torque control speed limit value Contact

4 to 6ms

Fast start operation (FST) ON OFF

Control mode switch complete (CTLMCF)

Control mode switch command (CTLMC)

ON OFF

ON OFF

Completion of operation (OPF)

ON OFF

Control mode status

sscAutoStart function

4 to 6ms Press time

Control mode command

sscChangeControlMode function sscChangeControlMode function

ON OFF ON OFF ON OFF

Continuous operation to torque control speed limit value

Target torque 0 300

0 1000

2 Continuous operation to torque control operating conditions selection During continuous operation to torque control (PRSMO)

ON OFF

Positioning complete (PF)

In-position (INP)

During smoothing of stopping (SMZ)

Target torque Torque settle width

Position control mode

Position control mode Position control mode

Position control mode

Continuous operation to torque control mode

Continuous operation to torque control mode

POINT

After confirming the leading edge of control mode switch complete (CTLMCF), turn OFF the control mode switch command (CTLMC).

Switch the control mode command to position control mode before input of control mode switch command (CTLMC). Turn ON the control mode switch command (CTLMC) after continuous operation to torque control switching conditions are satisfied (manage press conditions with user program).

Operation is complete at the completion of switching to position control mode.

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6. APPLICATION FUNCTIONS

API LIBRARY

Use the sscAutoStart function for operation startup. Refer to the sample program "InterruptPressDrive" contained in the utility

software for a more specific procedure on continuous operation to torque control. Operate by manual switch by setting chg_ctrl_mode_condition to CHG_CTRL_MODE_MANUAL.

Use the sscChangeControlMode function for switching the control mode of the servo amplifier.

(3) Timing of during continuous operation to torque control determination

The misjudgment of continuous operation to torque control when the torque fluctuation range is large can be managed by setting the torque settle waiting time. When torque within the torque settle width is continuously output during the torque settle waiting time, during continuous operation to torque control (PRSMO) is turned ON.

Target torque

Electrical current feedback (torque)

Contact

During continuous operation to torque control (PRSMO)

ON OFF

Torque settle width

Torque settle waiting time

POINT When a value outside the torque settle width occurs part of the way through

torque settle waiting time, the torque settle waiting time is measured again from the beginning.

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6. APPLICATION FUNCTIONS

6.32.5 Operation during continuous operation to torque control mode

When switching to continuous operation to torque control mode, torque is controlled so that it becomes the torque set as "target torque", while speed is accelerated/decelerated from the current speed to the speed set in "continuous operation to torque control speed limit value". During this time, the command speed immediately after the switch is a value converted from the position command. While a positive value is set for the "continuous operation to torque control speed limit value", the motor rotation direction of the motor conforms to the travel direction specified by the point table. For the current torque value, check the electrical current feedback of the high speed monitor. The acceleration/deceleration processes are trapezoidal acceleration/deceleration. The "continuous operation to torque control speed limit value" is restricted by the speed limit value (parameter No.0222, 0223). When a speed that exceeds the speed limit value is commanded, and a continuous operation to torque control point operation is conducted, speed is restricted to the speed limit value. For the command speed to the servo amplifier, check "movement speed" (monitor No.0304, 0305, or No.1304). 6.32.6 Stop factors during continuous operation to torque control

Stop factor Operation

Stop method Alarm/Error

The press limit position was reached. Immediate stop Operation alarm 5D, detail No.03 Control mode was changed to position control mode during travel in continuous operation to torque control mode (before target torque is reached).

Deceleration stop Operation alarm 5D, detail No.07

Interference check conditions were satisfied. (Including interference check standby)

Immediate stop Operation alarm 45, detail No.01

A control mode that cannot be switched to was input to the control mode command, and control mode switch was conducted.

Deceleration stop Operation alarm 2E, detail No.02 or 04

Operation mode was changed. Deceleration stop Operation alarm 23, detail No.01 Servo off was performed. Rapid stop Operation alarm B3, detail No.01 Forced stop (external forced stop or software forced stop) was turned ON. Immediate stop Operation alarm 12, detail No.01 Stop operation (STP) was turned ON. Deceleration stop Rapid stop (RSTP) was turned ON. Rapid stop Limit switch was turned ON. Immediate stop Operation alarm A0, detail No.01 or 02 Interlock was turned ON. Rapid stop Operation alarm 5D, detail No.04 Control of servo amplifier is no longer possible. (disconnected) Immediate stop System error E400

Operation alarm B0, detail No.02 A servo alarm occurred. Immediate stop Operation alarm B1, detail No.01

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6. APPLICATION FUNCTIONS

POINT

For all patterns, the control mode is automatically changed to position control by the position board after zero speed (ZSP) turns ON.

The stopping process for each stop factor is a deceleration process in continuous operation to torque control mode. (For immediate stops, control mode switches to position control mode at the current position and stops immediately.)

The time constant at a rapid stop is that of rapid stop time constant (control parameter No.0227).

The press limit position is determined by the current feedback position. The position after a stop is a position exceeding the press limit position. Therefore, a position that takes into account the operation after exceeding the press limit position should be set.

The software limit is determined by the current feedback position during continuous operation to torque control. As there is a possibility of stopping at a position that exceeds the software limit, set the press limit position before the software limit. When the software limit is set before the press limit position, continuous operation to torque control error (operation alarm 5D, detail No.05) occurs, and operation does not start.

If interlock (ITL) turns ON during position control mode for points with continuous operation to torque control set to valid, continuous operation to torque control error (operation alarm 5D, detail No.04) occurs.

The interference check standby is invalid during position control mode in continuous operation to torque control points.

The above also applies when a stop factor occurs during switching to continuous operation to torque control mode.

An immediate stop occurs when a stop factor occurs during switching to position control mode from continuous operation to torque control mode.

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6. APPLICATION FUNCTIONS

6.32.7 Combinations of continuous operation to torque control and other functions

The following shows the combinations of continuous operation to torque control with each function. Classification Function Compatibility Remarks System function

Control mode Standard mode Interface mode

Operation function

JOG operation Incremental feed Automatic operation Automatic switch/Manual switch can be selected. Linear interpolation MC200 Interpolation operation (linear interpolation, circular interpolation) MC300

When starting up a continuous operation to torque control point, "continuous operation to torque control error (operation alarm 5D, detail No.0A)" occurs.

Home position return Home position reset function

Application function

Command unit Electronic gear Speed unit Speed unit Set the continuous operation to torque control speed

limit value in speed units. Speed units multiplication factor Speed limit The continuous operation to torque control speed

limit value is restricted by speed limit value (control parameter No.0222, No.0223)

Acceleration/ deceleration

Linear acceleration/deceleration Smoothing filter Invalid during continuous operation to torque control. Start up speed enable Valid when starting up operation point. However, it is

invalid during continuous operation to torque control. S-curve acceleration/deceleration (Sine acceleration/deceleration)

Invalid during continuous operation to torque control.

Jerk ratio acceleration/ deceleration MC300

Invalid during continuous operation to torque control.

Vibration suppression command filter 1 MC300

Invalid during continuous operation to torque control.

Servo off Control mode is automatically changed to position control mode after an operation alarm occurrence.

Forced stop Control mode is automatically changed to position control mode after an operation alarm occurrence.

Stop operation Control mode is automatically changed to position control mode after an operation alarm occurrence.

Rapid stop operation Control mode is automatically changed to position control mode after an operation alarm occurrence.

Limit switch (stroke end) Control mode is automatically changed to position control mode after an operation alarm occurrence.

Software limit Control mode is automatically changed to position control mode after an operation alarm occurrence.

Interlock Control mode is automatically changed to position control mode after an operation alarm occurrence.

Rough match output At continuous operation to torque control points the rough match turns ON when the distance remaining based on the position data of the point table is within the rough match output range.

Torque limit During continuous operation to torque control and torque limit, torque limit stays OFF.

: Usable : Unusable : Restriction : Not applicable

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6. APPLICATION FUNCTIONS

Classification Function Compatibility Remarks Application function

Command change

Speed change Speed change error signal (SCE) turns ON. Change of time constants Acceleration time constant change error signal

(TACE), or deceleration time constant change error signal (TDCE) turns ON.

Position change Position change error signal turns ON. Backlash When following up by current feedback position, a

position that takes into account the backlash is followed up.

Position switch Determined by the current feedback position. Completion of operation signal Output after position control switch. Interference check function Interference check function is invalid. Home position search limit Gain switching PI-PID switching Home position set Absolute position detection system Home position return request High response I/F Other axes start When current command position is set to the axis

judgment coordinate of start condition, a current command position matching the current feedback position is determined.

Digital I/O I/O device Servo amplifier general I/O Dual port memory exclusive control Pass position interrupt When current command position is set to the axis

judgment coordinate of start condition, a current command position matching the current feedback position is determined. Therefore when a current command position is specified, it may not be correctly determined.

Mark detection SSCNET /H head module connection Sensing module connection

Auxiliary function

Reading/writing parameters Changing parameters at the servo Alarm and system error Monitor function The speed limit value output to the servo amplifier is

output for the "travel speed" during continuous operation to torque control mode.

High speed monitor function The speed limit value output to the servo amplifier is output for the "travel speed" during continuous operation to torque control mode.

Interrupt During continuous operation to torque control is notified from when the output torque reaches the torque settle width and press time passes, until return to position control mode.

Interrupt output cycle Command data update cycle User watchdog function Software reboot function

: Usable : Unusable : Restriction : Not applicable

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6. APPLICATION FUNCTIONS

Classification Function Compatibility Remarks Auxiliary function

Parameter backup Test mode Reconnect/disconnect function When reconnecting, startup is in position control

mode. Sampling Log Operation cycle monitor function Amplifier-less axis function After reaching the continuous operation to torque

control speed limit value, it is regarded that the torque settle width has been reached, and operation is completed after the continuous operation to torque control time has passed. For electrical current feedback, torque 0% occurs before reaching the speed limit value, and target torque occurs after reaching the speed limit value.

Alarm history function External forced stop disable Transient transmit

Tandem drive Tandem drive When continuous operation to torque control is startup "continuous operation to torque control error (operation alarm 5D, detail No.01)" occurs.

: Usable : Unusable : Restriction : Not applicable

6.32.8 Restrictions on servo amplifier functions

The following servo amplifier functions cannot be used during continuous operation to torque control mode. Base cut delay time function Forced stop deceleration function Vertical axis freefall prevention function

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6. APPLICATION FUNCTIONS

6.33 SSCNET /H head module connection

6.33.1 Summary

The SSCNET /H head module can connect MELSEC-L series I/O modules and intelligent function modules on SSCNET /H. The SSCNET /H head module controls input and output of I/O modules and intelligent function modules using link devices. By assigning inputs and outputs of modules mounted to the SSCNET /H head module to the I/O device table, they can be used as position board inputs and outputs. Additionally, by using the transient transmit function, the SSCNET /H head module can access the buffer memory of intelligent function modules. Settings for the SSCNET /H head module and modules mounted to the SSCNET /H head module are made in GX Works2.

Input word device

Output bit device

Output word device

Input bit device RX

Remote input

RY Remote output

RWr Remote register

(Input)

RWw Remote register

(Output)

RX Remote input

RY Remote output

RWr Remote register

(Input)

RWw Remote register

(Output)

X

Y

Buffer memory

I/O module, intelligent function module

GX Works2

Servo amplifier MR-J4(W)- BPosition board

SSCNET /H head module LJ72MS15

SSCNET /H

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6. APPLICATION FUNCTIONS

(1) Number of connectable stations

The SSCNET /H head module can use up to 4 stations. The following shows the number of stations that can be controlled depending on the control cycle. (a) Using MR-MC2

Control cycle Maximum number of stations

connected Maximum number of stations

connected per line Recommended number of control

axes (Note 1) 0.88ms 4 stations 4 stations 32 axes 0.44ms 2 stations 2 stations 12 axes 0.22ms 1 station 1 station 4 axes

(b) Using MR-MC3

Control cycle Maximum number of stations

connected Maximum number of stations

connected per line Recommended number of control

axes (Note 1) 0.88ms 16 stations 8 stations 64 axes 0.44ms 16 stations 8 stations 38 to 49 axes 0.22ms 8 stations 4 stations 17 to 23 axes

Note 1. The recommended number of control axes when the maximum number of stations are connected. 2. Processing times vary depending on the number of axes and functions used.

When operation cycle alarm (OCME), and operation cycle warning (OCMW) turn ON, review the following: Make the control cycle longer. (Example: When control cycle is 0.44ms, change it to 0.88ms) Reduce the number of control axes. Review the operation pattern so that the operation startup times of each axis do not overlap.

6.33.2 Supported functions

Classification Function Compatibility Remarks Application function

Forced stop Inputting a forced stop has no affect on the I/O status of bit devices.

Other axes start Can turn ON/OFF output bit devices in line with other axes start conditions.

Auxiliary function

Reading/writing parameters Supports RIO control parameters only (Cannot read/write parameters for the SSCNET /H head module).

Alarm and system error Detail RIO module alarm No. are fixed at 0. Remote I/O disconnect Monitor function Interrupt Parameter backup Supports RIO control parameters only (Cannot

backup RIO module parameters). Test mode Reconnect/disconnect function Sampling Sampling of I/O devices is supported in the test

tool only. Log Alarm history function When a RIO module alarm occurs, the RIO

module alarm No. (upper/lower) is stored in alarm history data. (Detail RIO module alarm No. are not stored)

Transient transmit Note. : Usable : Restriction : Unusable

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6. APPLICATION FUNCTIONS

6.33.3 System startup

(1) Station No. setting parameter Station No. settings are made with the station No. setting switch.

"x10" sets the tens digit of the station No.

"x1" sets the ones digit of the station No.

0 5

2 31 4

6

0 5

2 3

8 7

1 4

9 6

STATION NO.

The station No. and station No. setting switch number are correlated as shown on the table below. Set the station No. so that it will not duplicate in the same line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah).

Station No. on remote

I/O module Station No.

setting switch Available/unavailable Station No. on remote

I/O module Station No.

setting switch Available/unavailable

MR-MC2 MR-MC3 MR-MC2 MR-MC3 Station 1 1

Unavailable

Unavailable

Station 33 33

Unavailable

Unavailable

Station 2 2 Station 34 34 Station 3 3 Station 35 35 Station 4 4 Station 36 36 Station 5 5 Station 37 37 Station 6 6 Station 38 38 Station 7 7 Station 39 39 Station 8 8 Station 40 40 Station 9 9 Station 41 41 Station 10 10 Station 42 42 Station 11 11 Station 43 43 Station 12 12 Station 44 44 Station 13 13 Station 45 45 Station 14 14 Station 46 46 Station 15 15 Station 47 47 Station 16 16 Station 48 48 Station 17 17 Station 49 49

Available

Station 18 18 Station 50 50 Station 19 19 Station 51 51 Station 20 20 Station 52 52 Station 21 21

Available

Station 53 53 Station 22 22 Station 54 54 Station 23 23 Station 55 55 Station 24 24 Station 56 56 Station 25 25

Unavailable

Station 57 57

Unavailable

Station 26 26 Station 58 58 Station 27 27 Station 59 59 Station 28 28 Station 60 60 Station 29 29 Station 61 61 Station 30 30 Station 62 62 Station 31 31 Station 63 63 Station 32 32 Station 64 64

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6. APPLICATION FUNCTIONS

(2) Station No. assignment

With station No. assignment, station No. (station No. on the position board) are assigned to station No. on remote I/O modules. Also refer to axis No. assignment (Section 4.5.6) for station No. assignment. When station No. assignment is invalid, correspondence between the station No. on a remote I/O module and the station No. is shown in the following table. (a) Using MR-MC2

Station No. on remote I/O module

Line 1 21 22 23 24

Station No.

0.88ms 1 2 3 4 0.44ms 1 2 - - 0.22ms 1 - - -

(b) Using MR-MC3

Station No. on remote I/O module

Line 1 49 50 51 52 53 54 55 56

Station No.

0.88ms 1 2 3 4 5 6 7 8 0.44ms 1 2 3 4 5 6 7 8 0.22ms 1 2 3 4 - - - -

Station No. on

remote I/O module Line 2

49 50 51 52 53 54 55 56 Station No.

0.88ms 9 10 11 12 13 14 15 16 0.44ms 9 10 11 12 13 14 15 16 0.22ms 5 6 7 8 - - - -

API LIBRARY

When setting the API function argument "Axis No." to a station No., set a negative value. (Example: Station 1: -1, station 2: -2, station 3: -3, station 4: -4)

(3) Remote I/O module I/O setting

When using remote I/O modules, set the I/O table selection of I/O table (parameter No.004A) to "1: Use I/O device table (MR-MC2 method)" or "2: Use I/O device table (expanded points method) MC300 ". Also, set the points of the I/O devices controller by the position board, and the start No. to be assigned to the I/O device table.

(4) Vendor ID and type code setting

Available functions, parameter settings and ranges will vary by remote I/O module type. At the time the communication with the remote I/O module has started, the position board will perform consistency check between vendor ID and type code of the module connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output, therefore set correct vendor ID (parameter No.021D) and type code (parameter No.021E).

POINT

If driver type code error (system error E405) occurred, the station that has set an incorrect type code can be confirmed with "type code erroneous station information" (system information monitor No.04C1).

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6. APPLICATION FUNCTIONS

6.33.4 Interface

(1) Parameter (a) System parameter

Parameter No.

Symbol Name Initial value

Units Setting range

Function

004A *IOTBL I/O table 0000h 0000h to 0001h MC200

0000h to

0002h MC300

00 0

I/O table selection Set the I/O table to be used. 0: Use digital I/O table 1: Use I/O device table (MR-MC2 method) 2: Use I/O device table (expanded points method) MC300

Note. For SSCNET /H head module, set "1: Use I/O device table (MR-MC2 method)", or "2: Use I/O device table (expanded points method) MC300 ".

(b) RIO control parameter

Parameter No.

Symbol Name Initial value

Units Setting range

Function

0200 *OPC1 Control option 1 0000h 0000h to 0011h

Control station Set to 1 for implementing control of a remote I/O module. 0: Not controlled 1: Controlled Remote I/O disconnect Set to 1 when remote I/O communication is not implemented. When set to 1 together with the control station, it is possible to run without a remote I/O (simulate). 0: Invalid 1: Valid

0 0

0201 OPC2 Control option 2 0000h 0000h to

0001h

RI control at communication error Set input device control at communication error(system error E401 to E407) 0: All points OFF 1: Maintain status

00 0

0202 *UTALC Station No.

assignment 0000h 0000h to

011Fh MC200

0000h to 013Fh MC300

Remote I/O station No. Set the remote I/O station No. to be assigned to the station No. on the position board. 00h : No station No. assignment 15h to 18h : Station No. 31h to 38h : Station No. Example) 16h: Remote I/O station No. 22 Remote I/O line No. Set the remote I/O line No. to be assigned to the station No.on the position board 0 to 1: Line No. - 1

0

MC300 MC200

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0203 ITM Interrupt condition 0000h 0000h to FFFFh

Set interrupt condition.

0210 *BDIO Input bit device points

0000h 0000h to 0200h

Set the points used for input bit device. 0000h to 0200h: 0 to 512

Note. Only a multiple of 16 can be selected. 0211 *BDINA Input bit device start

number 0000h 0000h to

0FF0h MC200

0000h to 2FF0h MC300

Set the start of the input bit device number assigned to RX. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 0FF0h: DVI_000 to DVI_FF0 [When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: DVI_000 to DVI_23F0 Note. Only a multiple of 16 can be selected. Example: When the input points are 64, and input bit device 020

is specified as the start, assign the 64 points of DVI_020 to DVI_05F.

0212 *WDIO Input word device points

0000h 0000h to 0020h

Set the points used for input word device. 0000h to 0020h: 0 to 32

Note. The size used is 1 word set value. 0213 *WDINA Input word device

start number 0000h 0000h to

00FFh MC200

0000h to 02FFh MC300

Set the start of the input word device number assigned to RWr. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 00FFh: Input word device 00 to input word device FF [When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: Input word device 00 to input word device 23F Example: When the input points are 2, and input word device 06

is specified as the start, assign input word devices 06 to 07.

0214 *BDOO Output bit device points

0000h 0000h to 0200h

Set the points used for output bit device. 0000h to 0200h: 0 to 512

Note. Only a multiple of 16 can be selected. 0215 *BDONA Output bit device

start number 0000h 0000h to

0FF0h MC200

0000h to 2FF0h MC300

Set the start of the output bit device number assigned to RY. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 0FF0h: DVO_000 to DVO_FF0 [When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: DVO_000 to DVO_23F0 Note. Only a multiple of 16 can be selected. Example: When the output points are 64, and output bit device

040 is specified as the start, assign the 64 points of DVO_040 to DVO_07F.

0216 *WDOO Output word device points

0000h 0000h to 0020h

Set the points used for output word device. 0000h to 0020h: 0 to 32

Note. The size used is 1 word set value.

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0217 *WDONA Output word device start number

0000h 0000h to 00FFh MC200

0000h to 2FF0h MC300

Set the start of the output word device number assigned to RWw. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 00FFh: Output word device 00 to output word device FF

[When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: Output word device 00 to output word device 23F

Example: When the output points are 2, and output word device 08 is specified as the start, assign output word devices 08 to 09.

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code 3000h 0000h to FFFFh

Set the type code. 3000h: SSCNET /H head module

POINT Set "1: Use I/O device table (MR-MC2 method)" or "2: Use I/O device table

(expanded points method) MC300 " for the I/O table setting. When "0: Use digital I/O table" is set, system setting error (operation alarm No. 38, detail 05 to 06) will occur.

Assign the I/O device table not to overlap other settings. If the assignment is overlapped or exceeds the maximum points of the I/O device table, the I/O No. assignment error (system error E510) and I/O No. assignment setting error (RIO control alarm 39, detail 01 and 02) occur.

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6. APPLICATION FUNCTIONS

(2) RIO data command/status table

(a) RIO status bit Address (Note)

Bit Symbol Signal name MR-MC2 MR-MC3

3440 00F060 0 RURDY Receiving controller ready on 1 RUA Outputting DO 2

Reserved 3 4 5 RUALM RIO module alarm 6 RUWRN RIO module warning 7 Reserved

Note. The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. Using MR-MC2 : +80h Using MR-MC3 : +C0h

1) Details on RIO status bit

Symbol Signal name Function details RURDY Receiving controller ready

on Shows the operating status of remote I/O module. RURDY: OFF, RUA: OFF .................... No communication RURDY: ON, RUA: OFF ..................... Stop RURDY: ON, RUA: ON ....................... Run RURDY: OFF, RUA: ON ..................... Error

RUA Outputting DO

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6. APPLICATION FUNCTIONS

(3) I/O device table

(a) Input device table Address Input word

device number Input bit device

number Symbol Remarks

MR-MC2 MR-MC3 DB00 0F9F00 Input word

device 00 (2 bytes)

Input bit device 000 to Input bit device 00F

DVI_000 to DVI_00F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_000 (bit0) to DVI_00F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB02 0F9F02 Input word device 01 (2 bytes)

Input bit device 010 to Input bit device 01F

DVI_010 to DVI_01F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_010 (bit0) to DVI_01F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB04 0F9F04 Input word device 02 (2 bytes)

Input bit device 020 to Input bit device 02F

DVI_020 to DVI_02F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_020 (bit0) to DVI_02F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB06 0F9F06 Input word device 03 (2 bytes)

Input bit device 030 to Input bit device 03F

DVI_030 to DVI_03F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_030 (bit0) to DVI_03F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB08 0F9F08 Input word device 04 (2 bytes)

Input bit device 040 to Input bit device 04F

DVI_040 to DVI_04F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_040 (bit0) to DVI_04F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB0A 0F9F0A Input word device 05 (2 bytes)

Input bit device 050 to Input bit device 05F

DVI_050 to DVI_05F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_050 (bit0) to DVI_05F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

: : : : : : DCFE 0FA0FE Input word

device FF (2 bytes)

Input bit device FF0 to Input bit device FFF

DVI_FF0 to DVI_FFF

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_FF0 (bit0) to DVI_FFF (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

0FA100 Input word device 100 (2 bytes) (expanded points method)

Input bit device 1000 to Input bit device 100F (expanded points method)

DVI_1000 to DVI_100F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_1000 (bit0) to DVI_100F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

: : : : : 0FA37E Input word

device 23F (2 bytes) (expanded points method)

Input bit device 23F0 to Input bit device 23FF (expanded points method)

DVI_23F0 to DVI_23FF

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_23F0 (bit0) to DVI_23FF (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

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6. APPLICATION FUNCTIONS

(b) Output device table

Address Output word device number

Output bit device number

Symbol Remarks MR-MC2 MR-MC3

DD00 0FA380 Output word device 00 (2 bytes)

Output bit device 000 to Output bit device 00F

DVO_000 to DVO_00F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_000 (bit0) to DVO_00F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD02 0FA382 Output word device 01 (2 bytes)

Output bit device 010 to Output bit device 01F

DVO_010 to DVO_01F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_010 (bit0) to DVO_01F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD04 0FA384 Output word device 02 (2 bytes)

Output bit device 020 to Output bit device 02F

DVO_020 to DVO_02F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_020 (bit0) to DVO_02F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD06 0FA386 Output word device 03 (2 bytes)

Output bit device 030 to Output bit device 03F

DVO_030 to DVO_03F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_030 (bit0) to DVO_03F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD08 0FA388 Output word device 04 (2 bytes)

Output bit device 040 to Output bit device 04F

DVO_040 to DVO_04F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_040 (bit0) to DVO_04F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD0A 0FA38A Output word device 05 (2 bytes)

Output bit device 050 to Output bit device 05F

DVO_050 to DVO_05F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_050 (bit0) to DVO_05F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

: : : : : : DEFE 0FA57E Output word

device FF (2 bytes)

Output bit device FF0 to Output bit device FFF

DVO_FF0 to DVO_FFF

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_FF0 (bit0) to DVO_FFF (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

0FA580 Output word device 100 (2 bytes) (expanded points method)

Output bit device 1000 to Output bit device 100F (expanded points method)

DVO_1000 to

DVO_100F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_1000 (bit0) to DVO_100F

(bit15). [When word device is assigned] Turns ON/OFF the word device output signal.

: : : : : 0FA7FE Output word

device 23F (2 bytes) (expanded points method)

Output bit device 23F0 to Output bit device 23FF (expanded points method)

DVO_23F0 to

DVO_23FF

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_23F0 (bit0) to DVO_23FF

(bit15). [When word device is assigned] Turns ON/OFF the word device output signal.

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6. APPLICATION FUNCTIONS

POINT

When a communication error (system error E401 to E407) occurs or SSCNET is disconnected, the status of the input device table is the same as RI control at communication error of control option 2 (parameter No.0201). The status of the output device table is maintained.

When using remote I/O modules, set the I/O table selection of I/O table (parameter No.004A) to "1: Use I/O device table (MR-MC2 method)" or "2: Use I/O device table (expanded points method)" MC300 . When "0: Use digital I/O table" is set and I/O devices are assigned, I/O table select error (system error E511), and system setting error (RIO control alarm 38, detail 05 to 06) occur.

Assign the I/O device not to overlap other settings. If the assignment is overlapped or exceeds the range of the I/O device table, the I/O No. assignment error (system error E510) and I/O No. assignment setting error (RIO control alarm 39, detail 01 and 02) occur.

Set the total points of the I/O devices assigned to remote I/O when setting I/O device points (parameter No.0210, 0212, 0214, 0216).

The delay time for the input device table to be updated after the signals of an input module or intelligent function module are input is SSCNET /H head module input response time + (control cycle 2). Refer to "MELSEC-L SSCNET /H Head Module User's Manual" for input response time of SSCNET /H head module.

The delay time for the host controller to update the output device table, and signals of an output module or intelligent function module to be output is SSCNET /H head module output response time + (control cycle 3). Also, for output of output bit devices using the other axes start function, the delay time from when other axes start conditions are established is SSCNET /H head module output response time + (control cycle 2). Refer to "MELSEC-L SSCNET /H Head Module User's Manual" for output response time of SSCNET /H head module.

When using I/O modules and intelligent function modules the I/O status may not be updated every control cycle depending on the control cycle setting and points used. Refer to "MELSEC-L SSCNET /H Head Module User's Manual" for I/O status update times. When the time for the I/O status of the SSCNET /H head module to be updated does not fit in the control cycle, the I/O status of I/O devices may not be updated every control cycle. When the I/O status is not updated every control cycle, perform any of the following. Change the control cycle. If more than one SSCNET /H head module is being used, change the

distribution of I/O modules and intelligent function modules. Increase the number of SSCNET /H head modules.

API LIBRARY

Use the sscGetInputDeviceBit function to get input bit device. Use the sscGetInputDeviceWord function to get input word device. Use the sscSetOutputDeviceBit function to set output bit device. Use the sscSetOutputDeviceWord function to set output word device. Use the sscGetOutputDeviceBit function to get output bit device. Use the sscGetOutputDeviceWord function to get output word device.

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6. APPLICATION FUNCTIONS

6.33.5 Example of setting procedure

The following shows the settings for two SSCNET /H head modules (station 21 and station 22). (1) Entire system configuration diagram

Output device table

Input device table RX

RY

Position boardUser program Get

sscGetInputDeviceDataBit

sscGetInputDeviceDataWord

sscSetOutputDeviceDataBit

sscSetOutputDeviceDataWord

Set

RWr

RWw

: Used device : Not used device

RX X

YRY

W

X

Y

Input module

X

Y

Output module

X

Y

Intelligent function module

Buffer memory

X

Y

Intelligent function module

Intelligent function module

Buffer memory

X

Y

Buffer memory

RWr

RWw

RX X

YRY

WRWr

RWw

SSCNET /H head module Station No. 21

SSCNET /H head module Station No. 22

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6. APPLICATION FUNCTIONS

Station No. Input/Output Setting for SSCNET /H head module (link

device assignment) I/O device table

Device name Points Points Start 1 Input RX 64 64 Input bit device 000

RWr 1 (1 word) 1 (1 word) Input word device 0A Output RY 64 64 Output bit device 000

2 Input RX 32 32 Input bit device 070 RWr 1 (1 word) 1 (1 word) Input word device 10

Output RY 32 32 Output bit device 080 RWw 2 (2 words) 2 (2 words) Output word device 14

(2) SSCNET /H head module setting

Use GX Works2 to assign I/O of modules and buffer memory to the SSCNET /H head module link devices. Refer to "MELSEC-L SSCNET /H Head Module User's Manual" for SSCNET /H head module settings.

POINT

When setting SSCNET /H head module in GX Works2, check that the mode of "SSCNET /H Network Setting" on the "Communication Head Setting" tab is set to "Online". If the mode is not set to "Online", the position board cannot communicate with the SSCNET /H head module. If the system is startup in this state, it stays in a waiting for SSCNET response (system status code 0009) state, or an axis that has not been mounted exists (system error E400) occurs.

(3) Position board setting

In order to allocate SSCNET /H head module link devices to the position board I/O device table, set the total number of points (in units of 16) of each link device, and the start I/O device number to be assigned. (a) Station parameter

Module No. Parameter No. Symbol Name Setting value 1 0210 *BDIO Input bit device points 64

0211 *BDINA Input bit device start number 0000h 0212 *WDIO Input word device points 1 0213 *WDINA Input word device start number 000Ah 0214 *BDOO Output bit device points 64 0215 *BDONA Output bit device start number 0000h 0216 *WDOO Output word device points 0 0217 *WDONA Output word device start number 0000h

2 0210 *BDIO Input bit device points 32 0211 *BDINA Input bit device start number 0070h 0212 *WDIO Input word device points 1 0213 *WDINA Input word device start number 0010h 0214 *BDOO Output bit device points 32 0215 *BDONA Output bit device start number 0080h 0216 *WDOO Output word device points 2 0217 *WDONA Output word device start number 0014h

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6. APPLICATION FUNCTIONS

(4) Setting/getting I/O devices with API functions

Examples of getting input devices and setting/getting output devices are shown in the table below. Note that the board ID is 0, and channel number is 1.

Module No. Device name Set/get Setting value 1 RX Get input bit device 002 sscGetInputDeviceBit (0, 1, 00002, &data);

RWr Get one word of input word device 0A sscGetInputDeviceWord (0, 1, 00000A, 1, &data); RY Set output bit device 087 to ON sscSetOutputDeviceBit (0, 1, 00087, SSC_ON);

2 RWw Set output word device 14 to 000Ah (one word)

sscSetOutputDeviceWord (0, 1, 00014, 1, 0000A);

6.33.6 SSCNET /H head module disconnect

The system can be startup with the SSCNET /H head module disconnected, and simulate can be performed by making remote I/O disconnect valid in control option 1 (parameter No.0200) of the RIO module parameter. However, the input bit devices allocated to SSCNET /H head module are OFF, and input word devices are 0 and are not updated. Also, any changes made to the status of output bit devices and output word devices allocated to SSCNET /H head module are not output to the SSCNET /H head module. (The status of output bit devices and output word devices can only be checked.)

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6. APPLICATION FUNCTIONS

6.34 Sensing module (station mode) connection

6.34.1 Summary

The sensing module consists of a SSCNET /H communication module (sensing SSCNET /H head module), and sensing extension modules (sensing I/O module, sensing pulse I/O module, sensing analog I/O module, sensing encoder I/F module) and fetches and outputs signals synchronized with SSCNET /H communication. The sensing module controls input and output of sensing SSCNET /H head module and sensing extension module I/O using link devices. By assigning inputs and outputs of sensing SSCNET /H head module and sensing extension modules to the I/O device table, they can be used as position board inputs and outputs. This section is for sensing module station mode. Refer to Section 6.35 for sensing module axis mode.

Input word device

Output bit device

Output word device

Input bit device RX

Remote input

RY Remote output

RWr Remote register

(Input)

RWw Remote register

(Output)

RX Remote input

RY Remote output

RWr Remote register

(Input)

RWw Remote register

(Output)

SSCNET /H

RX Remote input

RY Remote output

RWr Remote register

(Input)

RWw Remote register

(Output)

Sensing extension module MR-MT2100/MR-MT2200/ MR-MT2300/MR-MT2400

Sensing module MR-MT2000 series

Position board Servo amplifier MR-J4(W)- B

Sensing SSCNET /H head module MR-MT2010

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6. APPLICATION FUNCTIONS

(1) Number of connectable stations

The sensing module can use up to 4 stations. The following shows the number of stations that can be controlled depending on the control cycle. (a) Using MR-MC2

Control cycle Maximum number of stations

connected Maximum number of stations

connected per line Recommended number of control

axes (Note 1) 0.88ms 4 stations 4 stations 32 axes 0.44ms 2 stations 2 stations 12 axes 0.22ms 1 station 1 station 4 axes

(b) Using MR-MC3

Control cycle Maximum number of stations

connected Maximum number of stations

connected per line Recommended number of control

axes (Note 1) 0.88ms 16 stations 8 stations 64 axes 0.44ms 16 stations 8 stations 38 to 49 axes 0.22ms 8 stations 4 stations 17 to 23 axes

Note 1. The recommended number of control axes when the maximum number of stations are connected. 2. Processing times vary depending on the number of axes and functions used.

When operation cycle alarm (OCME), and operation cycle warning (OCMW) turn ON, review the following: Make the control cycle longer. (Example: When control cycle is 0.44ms, change it to 0.88ms) Reduce the number of control axes. Review the operation pattern so that the operation startup times of each axis do not overlap.

POINT For details on the stations of the sensing module, refer to the Sensing Module

Instruction Manual. When using the sensing module and SSCNET /H head module at the same

time, the maximum number of stations connected is the total number of stations connected by the sensing module and SSCNET /H head module combined.

When 2 or more sensing extension modules are connected to a sensing SSCNET /H head module, set the control station to "1: Controlled" for the RIO module parameter control option 1 (parameter No.0200) of all connected stations. If the control station is not set to "1: Controlled" for the RIO module parameter control option 1 (parameter No.0200) of all connected stations, an axis that has not been mounted exists (system error E400) occurs.

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6. APPLICATION FUNCTIONS

6.34.2 Supported functions

The following sensing module and position board functions are supported when the sensing module is used. (1) Sensing module functions supported by the position board Classification Function Compatibility Remarks Sensing SSCNET /H head module

Digital input function Returns the current ON/OFF state of the DI signals (12 points) to the position board.

Timing-latch input function Digital output function Turns ON/OFF the DO signal (2 points) according to the command

from the position board. Level output function Provides digital output according to the level of the monitor values of

the sensing pulse I/O module, sensing analog I/O module, and sensing encoder I/F module. Digital output is provided without going through the position board.

Output CLEAR/HOLD function Specifies the state of output of external DO signals of the sensing module when communication is disconnected.

Sensing I/O module

Digital input function Returns the current ON/OFF state of the DI signals (16 points) to the position board.

Timing-latch input function Digital output function Turns ON/OFF the DO signal (16 points) according to the command

from the position board. Level output function Provides digital output according to the level of the monitor values of

the sensing pulse I/O module, sensing analog I/O module, and sensing encoder I/F module. Digital output is provided without going through the position board.

Output CLEAR/HOLD function Specifies the state of output of external DO signals of the sensing module when communication is disconnected.

Sensing pulse I/O module

Axis mode Available for the following software versions. MR-MC2 : Software version B3 or later. MR-MC3 : No software restrictions.

Pulse input function Enables the sending of feedback pulses to the position board. (Maximum 2 points)

Pulse output function Enables the output of pulses. (Maximum 2 points) Digital input function Returns the current ON/OFF state of the DI signals (14 points) to the

position board. Digital output function Turns ON/OFF the DO signal (maximum 10 points) according to the

command from the position board. Pulse coincidence output function Controls the DO signal when pulse output coincides with the pulse

counter value specified by the position board. (Maximum 2 points) Output CLEAR/HOLD function Specifies the state of output of external DO signals of the sensing

module when communication is disconnected. Sensing analog I/O module

Analog input function Enables the sending of analog input to the position board. (Maximum 4 channels)

Analog output function Enables the output of analog signals. (Maximum 4 channels) Analog input averaging function Averages multiple analog channel data, and notifies the position

board. (Maximum 2 groups) Maximum/minimum value holding function

Enables checking of the values held in the analog I/O module with the position board.

Sensing encoder I/F module

Encoder input function Sends the position data from the encoder to the position board. Compatible with open specification encoder interface.

Note. : Usable : Restriction : Unusable : Not applicable

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6. APPLICATION FUNCTIONS

(2) Supported position board functions Classification Function Compatibility Remarks Application functions

Forced stop Controller forced stop warning (RIO module warning E7) occurs. Refer to Sensing Module Instruction Manual for operation at a controller forced stop warning occurrence.

Other axes start Digital I/O I/O device Dual port memory exclusive control

SSCNET /H head module Auxiliary functions

Reading/writing parameters Do not write RIO module parameters when the system is running. Changing parameters at the servo

Alarm and system error Remote I/O disconnect Monitor function Interrupt User watchdog function When user watchdog function is used, there is no effect on the state

of the link device I/O. Software reboot function The I/O devices on the dual port memory are cleared to 0 regardless

of the control option 2 setting. The output state of the external DO signal of the sensing module depends on the output CLEAR/HOLD function.

Parameter backup Test mode Reconnect/disconnect function Only the start station of the sensing module can be specified as

disconnecting axis No. Sampling Only the test tool supports the sampling of I/O device. Log Operation cycle monitor function Alarm history function Transient transmission

Note. : Usable : Restriction : Unusable : Not applicable

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6. APPLICATION FUNCTIONS

6.34.3 System startup

(1) Station No. setting parameter Station No. settings are made with the station number selection rotary switch.

Set the start station No. with a combination of SW1 and SW2.

SW1 RUN

ERR

5 0

4

9

3

8

2

7

1

6

SW2 5 0

4

9

3

8

2

7

1

6

The station No. and station number selection rotary switch combinations are correlated as shown on the table below. Set the station No. so that it will not duplicate in the same line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah).

Station number selection

rotary switch Station No. on remote I/O module (Note 1) Available/unavailable

SW1 SW2 Start station Second station Third station Fourth station MR-MC2 MR-MC3

0

0 Station 1 Station 2 Station 3 Station 4

Unavailable

Unavailable

1 Station 2 Station 3 Station 4 Station 5 : : : : : 8 Station 9 Station 10 Station 11 Station 12 9 Station 10 Station 11 Station 12 Station 13

1

0 Station 11 Station 12 Station 13 Station 14 1 Station 12 Station 13 Station 14 Station 15 : : : : : 8 Station 19 Station 20 Station 21 Station 22 9 Station 20 Station 21 Station 22 Station 23

2

0 Station 21 Station 22 Station 23 Station 24

Available 1 Station 22 Station 23 Station 24 (Note 2) 2 Station 23 Station 24 (Note 2) 3 Station 24 (Note 2) 4 Station 25 Station 26 Station 27 Station 28

Unavailable

5 Station 26 Station 27 Station 28 Station 29 : : : : : 8 Station 29 Station 30 Station 31 Station 32 9 Station 30 Station 31 Station 32 Station 33

3

0 Station 31 Station 32 Station 33 Station 34 1 Station 32 Station 33 Station 34 Station 35 : : : : : 8 Station 39 Station 40 Station 41 Station 42 9 Station 40 Station 41 Station 42 Station 43

4

0 Station 41 Station 42 Station 43 Station 44 1 Station 42 Station 43 Station 44 Station 45 : : : : : 7 Station 48 Station 49 Station 50 Station 51 8 Station 49 Station 50 Station 51 Station 52

Available 9 Station 50 Station 51 Station 52 Station 53

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6. APPLICATION FUNCTIONS

Station number selection

rotary switch Station No. on remote I/O module (Note 1) Available/unavailable

SW1 SW2 Start station Second station Third station Fourth station MR-MC2 MR-MC3

5

0 Station 51 Station 52 Station 53 Station 54

Unavailable

Available

1 Station 52 Station 53 Station 54 Station 55 2 Station 53 Station 54 Station 55 Station 56 3 Station 54 Station 55 Station 56 (Note 2) 4 Station 55 Station 56 (Note 2) 5 Station 56 (Note 2) 6 Station 57 Station 58 Station 59 Station 60

Unavailable

7 Station 58 Station 59 Station 60 Station 61 8 Station 59 Station 60 Station 61 Station 62 9 Station 60 Station 61 Station 62 Station 63

6

0 Station 61 Station 62 Station 63 Station 64 1 Station 62 Station 63 Station 64 2 Station 63 Station 64 3 Station 64

Note 1. When connecting sensing SSCNET /H head module + sensing extension module, the station No. for the second sensing extension module and after is assigned in ascending order from the sensing SSCNET /H head module.

2. Set so that the remote I/O station No. of last connected sensing extension module does not exceed the station below. If the station below is exceeded, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah). Using MR-MC2 : Station 24 Using MR-MC3 : Station 56

(2) Station No. assignment

With station No. assignment, station No. (station No. on the position board) are assigned to station No. on remote I/O modules. Also refer to axis No. assignment (Section 4.5.6) for station No. assignment. When station No. assignment is invalid, correspondence between the station No. on a remote I/O module and the station No. is shown in the following table. (a) Using MR-MC2

Station No. on remote I/O module

Line 1 21 22 23 24

Station No.

0.88ms 1 2 3 4 0.44ms 1 2 - - 0.22ms 1 - - -

(b) Using MR-MC3

Station No. on remote I/O module

Line 1 49 50 51 52 53 54 55 56

Station No.

0.88ms 1 2 3 4 5 6 7 8 0.44ms 1 2 3 4 5 6 7 8 0.22ms 1 2 3 4 - - - -

Station No. on

remote I/O module Line 2

49 50 51 52 53 54 55 56 Station No.

0.88ms 9 10 11 12 13 14 15 16 0.44ms 9 10 11 12 13 14 15 16 0.22ms 5 6 7 8 - - - -

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6. APPLICATION FUNCTIONS

API LIBRARY

When setting the API function argument "Axis No." to a station No., set a negative value. (Example: Station 1: -1, station 2: -2, station 3: -3, station 4: -4)

(3) Remote I/O module I/O setting

When using remote I/O modules, set the I/O table selection of I/O table (parameter No.004A) to "1: Use I/O device table (MR-MC2 method)", or "2: Use I/O device table (expanded points method) MC300 ". Also, set the points of the I/O devices controller by the position board, and the start No. to be assigned to the I/O device table.

(4) Vendor ID and type code setting

Available functions, parameter settings and ranges will vary by remote I/O module type. At the time the communication with the remote I/O module has started, the position board will perform consistency check between vendor ID and type code of the module connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output, therefore set correct vendor ID (parameter No.021D) and type code (parameter No.021E).

POINT If driver type code error (system error E405) occurred, the station that has set

an incorrect type code can be confirmed with "type code erroneous station information" (system information monitor No.04C1).

6.34.4 Interface

(1) Parameter (a) System parameter

Parameter No.

Symbol Name Initial value

Units Setting range

Function

004A *IOTBL I/O table 0000h 0000h to 0001h MC200

0000h to

0002h MC300

00 0

I/O table selection Set the I/O table to be used. 0: Use digital I/O table 1: Use I/O device table (MR-MC2 method) 2: Use I/O device table (expanded points method) MC300

Note. For sensing module, set "1: Use I/O device table (MR- MC2 method)", or "2: Use I/O device table (expanded points method) MC300 ".

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6. APPLICATION FUNCTIONS

(b) RIO module parameter

The parameter Nos. for each sensing module are shown below. Module Parameter No. Sensing module parameter No.

Sensing SSCNET /H head module 1100 to 117F PTA001 to PTA128 Sensing I/O module 1180 to 127F PTB001 to PTB256 Sensing pulse I/O module 1280 to 12FF PTC001 to PTC128 Sensing analog I/O module 1300 to 137F PTD001 to PTD128 Sensing encoder I/F module 1380 to 13FF PTE001 to PTE128

POINT

Do not write RIO module parameters when the system is running.

(c) RIO control parameter Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0200 *OPC1 Control option 1 0000h 0000h to 0011h

Control station Set to 1 for implementing control of a remote I/O module. 0: Not controlled 1: Controlled Remote I/O disconnect Set to 1 when remote I/O communication is not implemented. When set to 1 together with the control station, it is possible to run without a remote I/O (simulate). 0: Invalid 1: Valid

0 0

0201 OPC2 Control option 2 0000h 0000h to

0001h

RI control at communication error Set input device control at communication error(system error E401 to E407) 0: All points OFF 1: Maintain status

00 0

0202 *UTALC Station No.

assignment 0001h 0000h to

011Fh MC200

0000h to 013Fh MC300

Remote I/O line No. Set the remote I/O line No. to be assigned to the station No.on the position board 0 to 1: Line No. - 1

0

Remote I/O station No. Set the remote I/O station No. to be assigned to the station No. on the position board. 00h : No station No. assignment 15h to 18h : Station No. 31h to 38h : Station No. Example) 16h: Remote I/O station No. 22

MC300 MC200

0210 *BDIO Input bit device

points 0000h 0000h to

0200h Set the points used for input bit device.

0000h to 0200h: 0 to 512 Note. Only a multiple of 16 can be selected.

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0211 *BDINA Input bit device start number

0000h 0000h to 0FF0h MC200

0000h to 2FF0h MC300

Set the start of the input bit device number assigned to RX. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 0FF0h: DVI_000 to DVI_FF0 [When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: DVI_000 to DVI_23F0 Note. Only a multiple of 16 can be selected. Example: When the input points are 64, and input bit device 020

is specified as the start, assign the 64 points of DVI_020 to DVI_05F.

0212 *WDIO Input word device points

0000h 0000h to 0020h

Set the points used for input word device. 0000h to 0020h: 0 to 32

Note. The size used is 1 word set value. 0213 *WDINA Input word

device start number

0000h 0000h to 00FFh MC200

0000h to 02FFh MC300

Set the start of the input word device number assigned to RWr. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 00FFh: Input word device 00 to input word device FF [When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: Input word device 00 to input word device 23F Example: When the input points are 2, and input word device 06

is specified as the start, assign input word devices 06 to 07.

0214 *BDOO Output bit device points

0000h 0000h to 0200h

Set the points used for output bit device. 0000h to 0200h: 0 to 512

Note. Only a multiple of 16 can be selected. 0215 *BDONA Output bit

device start number

0000h 0000h to 0FF0h MC200

0000h to 2FF0h MC300

Set the start of the output bit device number assigned to RY. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 0FF0h: DVO_000 to DVO_FF0 [When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: DVO_000 to DVO_23F0 Note. Only a multiple of 16 can be selected. Example: When the output points are 64, and output bit device

040 is specified as the start, assign the 64 points of DVO_040 to DVO_07F.

0216 *WDOO Output word device points

0000h 0000h to 0020h

Set the points used for output word device. 0000h to 0020h: 0 to 32

Note. The size used is 1 word set value.

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0217 *WDONA Output word device start number

0000h 0000h to 00FFh MC200

0000h to 2FF0h MC300

Set the start of the output word device number assigned to RWw. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set]

0000h to 00FFh: Output word device 00 to output word device FF

[When use I/O device table (expanded points method) is set] MC300

0000h to 23F0h: Output word device 00 to output word device 23F

Example: When the output points are 2, and output word device 08 is specified as the start, assign output word devices 08 to 09.

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code 3000h 0000h to FFFFh

Set the type code. 3000h: SSCNET /H head module 3010h: Sensing SSCNET /H head module 3011h: Sensing SSCNET /H head module+Sensing I/O

module 3012h: Sensing SSCNET /H head module+Sensing pulse

I/O module 3013h: Sensing SSCNET /H head module+Sensing analog

I/O module 3014h: Sensing SSCNET /H head module+Sensing

encoder I/F module 3021h: Sensing I/O module 3022h: Sensing pulse I/O module 3023h: Sensing analog I/O module 3024h: Sensing encoder I/F module

POINT Set "1: Use I/O device table (MR-MC2 method)" or "2: Use I/O device table

(expanded points method) MC300 " for the I/O table setting. When "0: Use digital I/O table" is set, system setting error (operation alarm No. 38, detail 05 to 06) will occur.

Assign the I/O device table not to overlap other settings. If the assignment is overlapped or exceeds the maximum points of the I/O device table, the I/O No. assignment error (system error E510) and I/O No. assignment setting error (RIO control alarm 39, detail 01 and 02) occur.

Refer to Sensing Module Instruction Manual for points used for I/O devices.

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6. APPLICATION FUNCTIONS

(2) RIO data command/status table

(a) RIO status bit Address (Note)

Bit Symbol Signal name MR-MC2 MR-MC3

3440 00F060 0 RURDY Receiving controller ready on 1 RUA Outputting DO 2

Reserved 3 4 5 RUALM RIO module alarm 6 RUWRN RIO module warning 7 Reserved

Note. The addresses in the table are the addresses for the first station. For the second station and after, add the following value for

each station. Using MR-MC2 : +80h Using MR-MC3 : +C0h

1) Details on RIO status bit

Symbol Signal name Function details RURDY Receiving controller ready

on Shows the operating status of remote I/O module. RURDY: OFF, RUA: OFF .................... No communication RURDY: ON, RUA: OFF ...................... Stop RURDY: ON, RUA: ON ....................... Run RURDY: OFF, RUA: ON ...................... Error

RUA Outputting DO

Note 1. When I/O No. assignment error (system error E510), and I/O table select error (system error E511) have occurred,

Outputting DO (RUA) does not turn ON.

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6. APPLICATION FUNCTIONS

(3) I/O device table

(a) Input device table Address Input word

device number Input bit device

number Symbol Remarks

MR-MC2 MR-MC3 DB00 0F9F00 Input word

device 00 (2 bytes)

Input bit device 000 to Input bit device 00F

DVI_000 to DVI_00F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_000 (bit0) to DVI_00F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB02 0F9F02 Input word device 01 (2 bytes)

Input bit device 010 to Input bit device 01F

DVI_010 to DVI_01F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_010 (bit0) to DVI_01F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB04 0F9F04 Input word device 02 (2 bytes)

Input bit device 020 to Input bit device 02F

DVI_020 to DVI_02F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_020 (bit0) to DVI_02F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB06 0F9F06 Input word device 03 (2 bytes)

Input bit device 030 to Input bit device 03F

DVI_030 to DVI_03F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_030 (bit0) to DVI_03F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB08 0F9F08 Input word device 04 (2 bytes)

Input bit device 040 to Input bit device 04F

DVI_040 to DVI_04F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_040 (bit0) to DVI_04F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

DB0A 0F9F0A Input word device 05 (2 bytes)

Input bit device 050 to Input bit device 05F

DVI_050 to DVI_05F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_050 (bit0) to DVI_05F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

: : : : : : DCFE 0FA0FE Input word

device FF (2 bytes)

Input bit device FF0 to Input bit device FFF

DVI_FF0 to DVI_FFF

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_FF0 (bit0) to DVI_FFF (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

0FA100 Input word device 100 (2 bytes) (expanded points method)

Input bit device 1000 to Input bit device 100F (expanded points method)

DVI_1000 to DVI_100F

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_1000 (bit0) to DVI_100F (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

: : : : : 0FA37E Input word

device 23F (2 bytes) (expanded points method)

Input bit device 23F0 to Input bit device 23FF (expanded points method)

DVI_23F0 to DVI_23FF

[When bit device is assigned] Notifies the status of the bit device input signal. The bits are DVI_23F0 (bit0) to DVI_23FF (bit15).

[When word device is assigned] Notifies the status of the word device input signal.

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(b) Output device table

Address Output word device number

Output bit device number

Symbol Remarks MR-MC2 MR-MC3

DD00 0FA380 Output word device 00 (2 bytes)

Output bit device 000 to Output bit device 00F

DVO_000 to DVO_00F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_000 (bit0) to DVO_00F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD02 0FA382 Output word device 01 (2 bytes)

Output bit device 010 to Output bit device 01F

DVO_010 to DVO_01F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_010 (bit0) to DVO_01F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD04 0FA384 Output word device 02 (2 bytes)

Output bit device 020 to Output bit device 02F

DVO_020 to DVO_02F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_020 (bit0) to DVO_02F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD06 0FA386 Output word device 03 (2 bytes)

Output bit device 030 to Output bit device 03F

DVO_030 to DVO_03F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_030 (bit0) to DVO_03F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD08 0FA388 Output word device 04 (2 bytes)

Output bit device 040 to Output bit device 04F

DVO_040 to DVO_04F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_040 (bit0) to DVO_04F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

DD0A 0FA38A Output word device 05 (2 bytes)

Output bit device 050 to Output bit device 05F

DVO_050 to DVO_05F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_050 (bit0) to DVO_05F (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

: : : : : : DEFE 0FA57E Output word

device FF (2 bytes)

Output bit device FF0 to Output bit device FFF

DVO_FF0 to DVO_FFF

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_FF0 (bit0) to DVO_FFF (bit15).

[When word device is assigned] Turns ON/OFF the word device output signal.

0FA580 Output word device 100 (2 bytes) (expanded points method)

Output bit device 1000 to Output bit device 100F (expanded points method)

DVO_1000 to

DVO_100F

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_1000 (bit0) to DVO_100F

(bit15). [When word device is assigned] Turns ON/OFF the word device output signal.

: : : : : 0FA7FE Output word

device 23F (2 bytes) (expanded points method)

Output bit device 23F0 to Output bit device 23FF (expanded points method)

DVO_23F0 to

DVO_23FF

[When bit device is assigned] Turns ON/OFF the bit device output signal. The bits are DVO_23F0 (bit0) to DVO_23FF

(bit15). [When word device is assigned] Turns ON/OFF the word device output signal.

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6. APPLICATION FUNCTIONS

(4) Sensing module link devices

The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the position board and sensing module (station mode) are different for each module. The contents of the devices for storage of link data for each module are shown below. (a) Sensing SSCNET /H head module

1) Input device a) Bit data area (RX)

Offset(Note) Signal name Description +0 External input DI1 Stores the input state of DI1 to DI12 of sensing SSCNET /H head

module. 0: OFF 1: ON

+1 External input DI2 +2 External input DI3 +3 External input DI4 +4 External input DI5 +5 External input DI6 +6 External input DI7 +7 External input DI8 +8 External input DI9 +9 External input DI10

+10 External input DI11 +11 External input DI12 +12 Unusable +13 +14 +15 +16 DO1 output enabling Stores the output enable state of DO1 and DO2 of sensing

SSCNET /H head module. 0: Disable 1: Enable

+17 DO2 output enabling

+18 Unusable +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the bit units from the start of the input device table that assigned the input bit device.

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b) Word data area (RWr)

Offset(Note) Signal name Description +0 DO output state (DO for each

signal) Stores the DO output state of the sensing SSCNET /H head module.

+1 Unusable +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the word units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

2) Output device

a) Bit data area (RY) Offset(Note) Signal name Description

+0 External output DO1 Sets the command for DO1, DO2 of sensing SSCNET /H head module. 0: OFF 1: ON

+1 External output DO2

+2 Unusable +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 DO1 output enable Enables output of DO1, DO2 of the sensing SSCNET /H head

module. 0: Disable 1: Enable

+17 DO2 output enable

+18 Unusable +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the bit units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWw)

Offset(Note) Signal name Description +0 Unusable +1 +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the word units from the start of the output device table that assigned the output bit device.

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(b) Sensing SSCNET /H head module+Sensing extension module

1) Input device a) Bit data area (RX)

Offset(Note) Signal name Description +0 External input DI1 Stores the input state of DI1 to DI12 of sensing SSCNET /H head

module. 0: OFF 1: ON

+1 External input DI2 +2 External input DI3 +3 External input DI4 +4 External input DI5 +5 External input DI6 +6 External input DI7 +7 External input DI8 +8 External input DI9 +9 External input DI10

+10 External input DI11 +11 External input DI12 +12 Unusable +13 +14 +15 +16 DO1 output enabling Stores the output enable state of DO1 and DO2 of sensing

SSCNET /H head module. 0: Disable 1: Enable

+17 DO2 output enabling

+18 Unusable +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31 +32 Sensing extension module bit

data area Stores the bit data area (RX) of the sensing extension module set to first station. :

+63 Note. The offset is the bit units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWr)

Offset(Note) Signal name Description +0 DO output state (DO for each

signal) Stores the DO output state of the sensing SSCNET /H head module.

+1 Unusable +2 +3 +4 +5 +6 Sensing extension module

word data area Stores the word data area (RWr) of the sensing extension module set to first station. :

+27

Note. The offset is the word units from the start of the input device table that assigned the input bit device.

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2) Output device

a) Bit data area (RY) Offset(Note) Signal name Description

+0 External output DO1 Sets the command for DO1, DO2 of sensing SSCNET /H head module. 0: OFF 1: ON

+1 External output DO2

+2 Unusable +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 DO1 output enable Enables output of DO1, DO2 of the sensing SSCNET /H head

module. 0: Disable 1: Enable

+17 DO2 output enable

+18 Unusable +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31 +32 Sensing extension module bit

data area Stores the bit data area (RY) of the sensing extension module set to first station. :

+63

Note. The offset is the bit units from the start of the output device table that assigned the output bit device.

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b) Word data area (RWw)

Offset(Note) Signal name Description +0 Unusable +1 +2 +3 +4 +5 +6 Sensing extension module

word data area Stores the word data area (RWw) of the sensing extension module set to first station. :

+27

Note. The offset is the word units from the start of the output device table that assigned the output bit device.

(c) Sensing I/O module 1) Input device

a) Bit data area (RX) Offset(Note) Signal name Description

+0 External input DI1 Stores the input state of DI1 to DI16 of sensing I/O module. 0: OFF 1: ON

+1 External input DI2 +2 External input DI3 +3 External input DI4 +4 External input DI5 +5 External input DI6 +6 External input DI7 +7 External input DI8 +8 External input DI9 +9 External input DI10

+10 External input DI11 +11 External input DI12 +12 External input DI13 +13 External input DI14 +14 External input DI15 +15 External input DI16 +16 DO1 output enabling Stores the output enable state of DO1 to DO16 of sensing I/O

module. 0: Disable 1: Enable

+17 DO2 output enabling +18 DO3 output enabling +19 DO4 output enabling +20 DO5 output enabling +21 DO6 output enabling +22 DO7 output enabling +23 DO8 output enabling +24 DO9 output enabling +25 DO10 output enabling +26 DO11 output enabling +27 DO12 output enabling +28 DO13 output enabling +29 DO14 output enabling +30 DO15 output enabling +31 DO16 output enabling

Note. The offset is the bit units from the start of the input device table that assigned the input bit device.

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b) Word data area (RWr)

Offset(Note) Signal name Description +0 DO output state (DO for each

signal) Stores the DO output state of the sensing I/O module.

+1 Unusable +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the input device table that assigned the input bit device.

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2) Output device

a) Bit data area (RY) Offset(Note) Signal name Description

+0 External output DO1 Sets the command for DO1 to DO16 of sensing I/O module. 0: OFF 1: ON

+1 External output DO2 +2 External output DO3 +3 External output DO4 +4 External output DO5 +5 External output DO6 +6 External output DO7 +7 External output DO8 +8 External output DO9 +9 External output DO10

+10 External output DO11 +11 External output DO12 +12 External output DO13 +13 External output DO14 +14 External output DO15 +15 External output DO16 +16 DO1 output enable Enables output of DO1 to DO16 of the sensing I/O module.

0: Disable 1: Enable

+17 DO2 output enable +18 DO3 output enable +19 DO4 output enable +20 DO5 output enable +21 DO6 output enable +22 DO7 output enable +23 DO8 output enable +24 DO9 output enable +25 DO10 output enable +26 DO11 output enable +27 DO12 output enable +28 DO13 output enable +29 DO14 output enable +30 DO15 output enable +31 DO16 output enable

Note. The offset is the bit units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWw)

Offset(Note) Signal name Description +0 Unusable +1 +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

(d) Sensing pulse I/O module

1) Input device a) Bit data area (RX)

Offset(Note) Signal name Description +0 CN1 External input DI1A Stores the input state of CN1-DI1A to CN1-DI7A of sensing pulse

I/O module. 0: OFF 1: ON

+1 External input DI2A +2 External input DI3A +3 External input DI4A +4 External input DI5A +5 External input DI6A +6 External input DI7A +7 Unusable +8 DO1A output enabling Stores the output enable state of CN1-DO1A to CN1-DO5A of

sensing pulse I/O module. 0: Disable 1: Enable

+9 DO2A output enabling +10 DO3A output enabling +11 DO4A output enabling +12 DO5A output enabling +13 Unusable +14 +15 +16 CN2 External input DI1B Stores the input state of CN2-DI1B to CN2-DI7B of sensing pulse

I/O module. 0: OFF 1: ON

+17 External input DI2B +18 External input DI3B +19 External input DI4B +20 External input DI5B +21 External input DI6B +22 External input DI7B +23 Unusable +24 DO1B output enabling Stores the output enable state of CN2-DO1B to CN2-DO5B

sensing pulse I/O module. 0: Disable 1: Enable

+25 DO2B output enabling +26 DO3B output enabling +27 DO4B output enabling +28 DO5B output enabling +29 Unusable +30 +31

Note. The offset is the bit units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWr)

Offset(Note) Signal name Description +0 CN1 Pulse accumulated

value Stores the pulse accumulated value input to CN1 of sensing pulse I/O module. +1

+2 Latch counter DI4A (pulse counter value)

Stores the pulse count value when the CN1-DI4A of sensing pulse I/O module were input. +3

+4 DO output state (for each DO signal)

Stores the output state of CN1-DO of sensing pulse I/O module.

+5 Unusable +6 +7 +8 CN2 Pulse accumulated

value Stores the pulse accumulated value input to CN2 of sensing pulse I/O module. +9

+10 Latch counter DI4B (pulse counter value)

Stores the pulse count value when the CN2-DI4B of sensing pulse I/O module were input. +11

+12 DO output state (for each DO signal)

Stores the output state of CN2-DO of sensing pulse I/O module.

+13 Unusable +14 +15 +16 Unusable +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

2) Output device

a) Bit data area (RY) Offset(Note) Signal name Description

+0 CN1 External output DO1A Sets the command for CN1-DO1A to CN1-DO5A of sensing pulse I/O module. 0: OFF 1: ON

+1 External output DO2A +2 External output DO3A +3 External output DO4A +4 External output DO5A +5 Unusable +6 +7 +8 DO1A output enable Enables output of CN1-DO1A to CN1-DO5A of sensing pulse I/O

module. 0: Disable 1: Enable

+9 DO2A output enable +10 DO3A output enable +11 DO4A output enable +12 DO5A output enable +13 Unusable +14 +15 +16 CN2 External output DO1B Sets the command for CN2-DO1B to CN2-DO5B of sensing pulse

I/O module. 0: OFF 1: ON

+17 External output DO2B +18 External output DO3B +19 External output DO4B +20 External output DO5B +21 Unusable +22 +23 +24 DO1B output enable Enables output of CN2-DO1B to CN2-DO5B of sensing pulse I/O

module. 0: Disable 1: Enable

+25 DO2B output enable +26 DO3B output enable +27 DO4B output enable +28 DO5B output enable +29 Unusable +30 +31

Note. The offset is the bit units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWr)

Offset(Note) Signal name Description +0 CN1 Pulse command value Sets the accumulated pulses since the power supply ON of the

control circuit, output by CN1 of sensing pulse I/O module. +1 +2 ON timing (For pulse

coincidence output function)

Sets the ON timing when counter coincidence DO output is enabled. +3

+4 OFF timing (For pulse coincidence output function)

Sets the OFF timing when counter coincidence DO output is enabled. +5

+6 Unusable +7 +8 CN2 Pulse command value Sets the accumulated pulses since the power supply ON of the

control circuit, output by CN2 of sensing pulse I/O module. +9 +10 ON timing (For pulse

coincidence output function)

Sets the ON timing when counter coincidence DO output is enabled. +11

+12 OFF timing (For pulse coincidence output function)

Sets the OFF timing when counter coincidence DO output is enabled. +13

+14 Unusable +15 +16 Unusable +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

(e) Sensing analog I/O module

1) Input device a) Bit data area (RX)

Offset(Note) Signal name Description +0 Analog output signal CH1 Stores the output state of analog output CH1 to CH4 of sensing

analog I/O module. 0: Stopped 1: Outputting

+1 Analog output signal CH2 +2 Analog output signal CH3 +3 Analog output signal CH4 +4 Unusable +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the bit units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWr)

Offset(Note) Signal name Description +0 Maximum/Minimum value

reset complete Stores the reset state of maximum/minimum value. b0 0: CH1 resetting 1: CH1 reset complete b1 0: CH2 resetting 1: CH2 reset complete b2 0: CH3 resetting 1: CH3 reset complete b3 0: CH4 resetting 1: CH4 reset complete

+1 Unusable +2 Digital value of analog input

CH1 Converts the scaled value of voltage input to analog input CH1 to CH4 of sensing analog I/O module, and transfers to the position board. +3 Digital value of analog input

CH2 +4 Digital value of analog input

CH3 +5 Digital value of analog input

CH4 +6 Analog input channel average

value Setting 1 Stores the average value of data for the CH set to analog input average 1 and 2.

+7 Analog input channel average value Setting 2

+8 Analog input maximum CH1 Stores the maximum value of voltage input to analog input CH1 to CH4 of sensing analog I/O module. +9 Analog input maximum CH2

+10 Analog input maximum CH3 +11 Analog input maximum CH4 +12 Analog input minimum CH1 Stores the minimum value of voltage input to analog input CH1 to

CH4 of sensing analog I/O module. +13 Analog input minimum CH2 +14 Analog input minimum CH3 +15 Analog input minimum CH4 +16 Unusable +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

2) Output device

a) Bit data area (RY) Offset(Note) Signal name Description

+0 Analog output enable CH1 Enable output of CH1 to CH4 of the sensing analog I/O module. 0: Disable 1: Enable

+1 Analog output enable CH2 +2 Analog output enable CH3 +3 Analog output enable CH4 +4 Unusable +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the bit units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWw)

Offset(Note) Signal name Description +0 Maximum/Minimum value

reset request Stores the reset state of maximum/minimum value. b0 0: CH1 reset command OFF 1: CH1 reset command ON b1 0: CH2 reset command OFF 1: CH2 reset command ON b2 0: CH3 reset command OFF 1: CH3 reset command ON b3 0: CH4 reset command OFF 1: CH4 reset command ON

+1 Unusable +2 Digital value of analog output

CH1 Sets the voltage output by CH1 to CH4 of sensing analog I/O module with the scaled internal value.

+3 Digital value of analog output CH2

+4 Digital value of analog output CH3

+5 Digital value of analog output CH4

+6 Unusable +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

(f) Sensing encoder I/F module

1) Input device a) Bit data area (RX)

Offset(Note) Signal name Description +0 Unusable +1 +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the bit units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWr)

Offset(Note) Signal name Description +0 CH.A Encoder information 1 Transfers all data acquired from the encoder connected to CH.A

of sensing encoder input I/F module. The information that can be acquired differs by encoder.

+1 +2 Encoder information 2 +3 +4 Encoder information 3 +5 +6 Encoder current value

(signed 32-bit data) Transfers the current position data of the encoder connected to CH.A of sensing encoder input I/F module. +7

+8 Encoder error information

Transfers the alarm information of the encoder connected to CH.A of sensing encoder input I/F module. b0 to b1: Not used b2: 0: No alarm 1: Alarm b3 to bF: Not used

+9 Unusable +10 CH.B Encoder information 1 Transfers all data acquired from the encoder connected to CH.B

of sensing encoder input I/F module. The information that can be acquired differs by encoder.

+11 Encoder information 2 +12 Encoder information 3 +13 External input signal

DI2 latch counter +14 External input signal

DI3 latch counter +15 External input signal

DI4 latch counter +16 Encoder current value

(signed 32-bit data) Transfers the current position data of the encoder connected to CH.B of sensing encoder input I/F module. +17

+18 Encoder error information

Transfers the alarm information of the encoder connected to CH.B of sensing encoder input I/F module. b0 to b1: Not used b2: 0: No alarm 1: Alarm b3 to bF: Not used

+19 Unusable +20 Unusable +21

Note. The offset is the word units from the start of the input device table that assigned the input bit device.

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6. APPLICATION FUNCTIONS

2) Output device

a) Bit data area (RY) Offset(Note) Signal name Description

+0 Unusable +1 +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21 +22 +23 +24 +25 +26 +27 +28 +29 +30 +31

Note. The offset is the bit units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

b) Word data area (RWw)

Offset(Note) Signal name Description +0 Unusable +1 +2 +3 +4 +5 +6 +7 +8 +9

+10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21

Note. The offset is the word units from the start of the output device table that assigned the output bit device.

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6. APPLICATION FUNCTIONS

POINT

When a communication error (system error E401 to E407) occurs or SSCNET is disconnected, the status of the input device table is the same as RI control at communication error of control option 2 (parameter No.0201). Also, for a sensing module that supports the output CLEAR/HOLD function, the status of the external DO signals of the sensing module is the same as the operation selection when communication is disconnected for DO setting 1. Refer to the Sensing Module Instruction Manual for output CLEAR/HOLD function settings.

When RI control at communication error of control option 2 (parameter No.0201) is set to "1: Maintain status", and the sensing module power supply is cut while the sensing module and position board are communicating, an incorrect value may be held in the input device table.

When using remote I/O modules, set the I/O table selection of I/O table (parameter No.004A) to "1: Use I/O device table (MR-MC2 method)" or "2: Use I/O device table (expanded points method)" MC300 . When "0: Use digital I/O table" is set and I/O devices are assigned, I/O table select error (system error E511), and system setting error (RIO control alarm 38, detail 05 to 06) occur.

Assign the I/O device not to overlap other settings. If the assignment is overlapped or exceeds the range of the I/O device table, the I/O No. assignment error (system error E510) and I/O No. assignment setting error (RIO control alarm 39, detail 01 and 02) occur.

Set the total points of the I/O devices assigned to remote I/O when setting I/O device points (parameter No.0210, 0212, 0214, and 0216).

The delay time for the input device table to be updated after the signals of a sensing module are input is sensing module input response time + (control cycle 2). Refer to Sensing Module Instruction Module for input response time of sensing module.

The delay time for the host controller to update the output device table, and signals of a sensing module to be output is sensing module output response time + (control cycle 3). Also, for output of output bit devices using the other axes start function, the delay time from when other axes start conditions are established is sensing module output response time + (control cycle 2). Refer to Sensing Module Instruction Manual for output response time of sensing module.

API LIBRARY

Use the sscGetInputDeviceBit function to get input bit device. Use the sscGetInputDeviceWord function to get input word device. Use the sscSetOutputDeviceBit function to set output bit device. Use the sscSetOutputDeviceWord function to set output word device. Use the sscGetOutputDeviceBit function to get output bit device. Use the sscGetOutputDeviceWord function to get output word device.

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6. APPLICATION FUNCTIONS

6.34.5 Example of setting procedure

The following shows the settings for two sensing modules (stations 1 to 3 and station 4). (1) Entire system configuration diagram

Output device table

sscSetOutputDeviceBit

sscSetOutputDeviceWord

Input device table RX

RY

RWw

Position boardUser program Get

Set

sscGetInputDeviceBit

sscGetInputDeviceWord

: Used device : I/O device

RX

RY

RWr RWr

RWw

RWr

RWw

RWr

RWw

RX

Sensing I/O module

(Station No.2)

RX

RX RX

Sensing pulse I/O module

(Station No.3)

RX

RY

RWr

RWw

Sensing SSCNET /H head module +

Sensing I/O module (Station No.1)

Sensing SSCNET /H head module (Station No.4)

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6. APPLICATION FUNCTIONS

(2) Position board setting

(a) Type code setting Set the type code and vendor ID according to the system configuration.

Station No. Module Parameter No. Symbol Name Setting value 1 Sensing SSCNET /H head

module + sensing I/O module 021D *VEND Vendor ID 0000h 021E *CODE Type code 3011h

2 Sensing I/O module 021D *VEND Vendor ID 0000h 021E *CODE Type code 3021h

3 Sensing pulse I/O module 021D *VEND Vendor ID 0000h 021E *CODE Type code 3023h

4 Sensing SSCNET /H head module

021D *VEND Vendor ID 0000h 021E *CODE Type code 3010h

(b) Link device setting

To allocate sensing module link devices to the position board I/O table, set the total number of points (in units of 16) of each link device, and the start I/O device number to be assigned 1) Station parameter

Module No. Parameter No. Symbol Name Setting value 1 0210 *BDIO Input bit device points 0040h

0211 *BDINA Input bit device start number 0000h 0212 *WDIO Input word device points 001Ch 0213 *WDINA Input word device start number 0004h 0214 *BDOO Output bit device points 0040h 0215 *BDONA Output bit device start number 0000h 0216 *WDOO Output word device points 001Ch 0217 *WDONA Output word device start number 0004h

2 0210 *BDIO Input bit device points 0040h 0211 *BDINA Input bit device start number 0400h 0212 *WDIO Input word device points 0016h 0213 *WDINA Input word device start number 0044h 0214 *BDOO Output bit device points 0040h 0215 *BDONA Output bit device start number 0400h 0216 *WDOO Output word device points 0016h 0217 *WDONA Output word device start number 0044h

3 0210 *BDIO Input bit device points 0020h 0211 *BDINA Input bit device start number 0800h 0212 *WDIO Input word device points 0016h 0213 *WDINA Input word device start number 0084h 0214 *BDOO Output bit device points 0020h 0215 *BDONA Output bit device start number 0800h 0216 *WDOO Output word device points 0016h 0217 *WDONA Output word device start number 0084h

4 0210 *BDIO Input bit device points 0020h 0211 *BDINA Input bit device start number 0C00h 0212 *WDIO Input word device points 0016h 0213 *WDINA Input word device start number 00C4h 0214 *BDOO Output bit device points 0020h 0215 *BDONA Output bit device start number 0C00h 0216 *WDOO Output word device points 0016h 0217 *WDONA Output word device start number 00C4h

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6. APPLICATION FUNCTIONS

(3) Setting/getting I/O devices with API functions

Examples of getting input devices and setting/getting output devices are shown in the table below. Note that the board ID is 0, and channel number is 1.

Station No. Device name Set/get Setting value 1 RX Get input bit device 000 int data;

sscGetInputDeviceBit (0, 1, 00000, &data); 2 RWr Get one word of input word device 3C unsigned short data;

sscGetInputDeviceWord (0, 1, 0003C, 1, &data); 3 RY Set output bit device 608 to ON sscSetOutputDeviceBit (0, 1, 00608, SSC_ON); 3 RWw Set output word device 52 to 000Ah

(one word) sscSetOutputDeviceWord (0, 1, 00052, 1, 0000A);

6.34.6 Sensing module disconnect

The system can be startup with the sensing module disconnected, and simulate can be performed by making remote I/O disconnect valid in control option 1 (parameter No.0200) of the RIO module parameter. However, the input bit devices allocated to sensing module are OFF, and input word devices are 0 and are not updated. Also, any changes made to the status of output bit devices and output word devices allocated to sensing module are not output to the sensing module. (The status of output bit devices and output word devices can only be checked.)

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6. APPLICATION FUNCTIONS

6.35 Sensing module (axis mode) connection

6.35.1 Summary

The sensing pulse I/O module of the sensing module can be connected as axis mode. By connecting as axis mode, the position board automatic operation etc. can be used to control pulses as if controlling a servo amplifier. This section is for sensing module axis mode. Refer to Section 6.34 when using the sensing module in station mode.

Position board

Sensing extension module MR-MT2200 (Note 1)

Note 1. Feedback pulse input enabled 2. Feedback pulse input disabled

Sensing module MR-MT2000 series

Sensing extension module MR-MT2200 (Note 2)Servo amplifier

MR-J4(W)-B

MR-MC2: Up to 20 axes (Up to 32 axes when using 2 lines) MR-MC3: Up to 32 axes (Up to 64 axes when using 2 lines)

Sensing SSCNET /H head module MR-MT2010

Sensing SSCNET /H head module MR-MT2010

SSCNET /H

(1) Number of connecting axes on the sensing pulse I/O module For sensing pulse I/O modules being used in axis mode, up to 4 axes can be connected per sensing SSCNET /H head module. The number of axes that can be connected to a sensing pulse I/O module varies according to whether feedback pulses are enabled/disabled. The number of axes that can be connected to a sensing pulse I/O module according to whether feedback pulses are enabled/disabled are shown in the table below.

Feedback pulse input Number of axes connected per sensing pulse I/O module Enabled 1 axis Disabled 2 axes

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6. APPLICATION FUNCTIONS

(2) Specifications comparison with servo amplifier MR-J4(W )- B

The following is a table comparing the specifications when using a sensing pulse I/O module (axis mode) and servo amplifier (MR-J4(W )- B)

Classification Item Sensing pulse I/O module (axis mode) Servo amplifier (MR-J4(W )- B)

Operation function

JOG operation Available Available Incremental feed Available Available Automatic operation Available Available Linear interpolation Some restrictions Available Circular interpolation MC300 Some restrictions Available

Home position return

Dog method, data set method, dog cradle method, limit switch combined method, limit switch front end method,

dog front end method, Z-phase detection method (with restrictions)

Dog method, data set method, stopper method, dog cradle method, limit switch combined method, limit switch front end method, dog front end method, Z-phase detection method, scale home position signal detection method, scale home position signal detection method 2

Home position reset function Available Available Application function

Electronic gear Available Available

Speed unit Command units/min, command units/s,

r/min Command units/min, command units/s,

r/min

Acceleration/deceleration

Linear acceleration/deceleration, start up speed enable, S-curve

acceleration/deceleration (sine acceleration/deceleration), jerk ratio

acceleration/deceleration MC300 , vibration suppression command filter

1 MC300

Linear acceleration/deceleration, start up speed enable, S-curve

acceleration/deceleration (sine acceleration/deceleration), jerk ratio

acceleration/deceleration MC300 , vibration suppression command filter

1 MC300 Servo off Some restrictions Available

Stop function Forced stop (Note 1), stop operation,

rapid stop operation Forced stop, stop operation, rapid stop

operation Limit switch Available Available Software limit Available Available Interlock Available Available Rough match output Available Available Torque limit Not available Available Command change Position, speed, time constant Position, speed, time constant Backlash Available Available Position switch Some restrictions (Note 2) Available Completion of operation signal Available Available Interference check Some restrictions (Note 2) Available Home position search limit Available Available Gain switching Not available Available PI-PID switching Not available Available Absolute position detection system Not available Available Home position return request Available Available Other axes start Some restrictions (Note 2) Available Pass position interrupt Some restrictions (Note 2) Available High response I/F Available Available In-position signal Some restrictions Available Digital I/O Available Available I/O device Available Available Servo amplifier general I/O Some restrictions (Start axis only) Available Mark detection Not available Available

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6. APPLICATION FUNCTIONS

Classification Item Sensing pulse I/O module (axis mode) Servo amplifier (MR-J4(W )- B)

Application function

Continuous operation to torque control

Not available Available

Auxiliary function

Reading/writing parameters Available Available Changing parameters at the servo Not available Available Alarm and system error Available Available Monitor Some restrictions Available High speed monitor Some restrictions (Note 3) Available Interrupt Some restrictions Available User watchdog function Some restrictions (Note 1) Available Parameter backup Available Available Test mode (with MR-Configurator2)

Not available Connection to MR Configurator2 via position board is available

Reconnect/disconnect function Available Available Sampling Available Available Log Available Available Amplifier-less axis function Some restrictions Available Alarm history function Available Available Transient transmit Available Available

Tandem drive Tandem drive Not available Available Interface mode Control mode switch Not available (position control only) Available

Event detection Some restrictions Available Home position set Not available Available

Note 1. The operation at a forced stop input depends on the specifications of the sensing pulse I/O module (axis mode). 2. When there is no feedback pulse input, the feedback position is determined as the position output to the driver by the sensing pulse

I/O module. 3. Electrical current feedback and position droop are not supported.

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6. APPLICATION FUNCTIONS

6.35.2 System startup

(1) Power supply ON/power supply OFF (a) At system startup, turn ON the control circuit power supply of all modules connected to the position

board (servo amplifiers, sensing pulse I/O modules). Modules connected after modules whose control circuit power supply is not turned ON are unable to communicate with the position board. An axis that has not been mounted exists (system error E400) occurs in the position board, and the servo amplifiers and sensing pulse I/O modules are in a forced stop status. Note: Turn ON the control circuit power supply for modules even when they are not being controlled

partially through operation (control axis setting of parameter No.0200 is "0: Not controlled").

(b) If the control circuit power supply of modules (servo amplifiers, sensing pulse I/O modules) is turned OFF while the system is running, communication with all the modules connected after the module whose control circuit power supply was turned OFF is disconnected, and an axis that has not been mounted exists (system error E400) occurs in the position board. Also, the axes connected to the sensing pulse I/O module stop according to the settings and specifications of the sensing pulse I/O module and drivers being used.

(2) Axis mode settings/feedback pulse input settings

The axis mode setting of the sensing pulse I/O module and the feedback pulse input enable/disable setting are made with the mode select switch (SW1).

Mode select switch Mode Occupied axes Description

SW1-1 SW1-2 OFF OFF Axis mode 2 axes A axis and B axis can be used in axis mode. Feedback

pulse input cannot be used. (factory default) CN1: A axis pulse output CN2: B axis pulse output

ON OFF Axis mode 1 axis A axis can be used in axis mode. CN1: A axis pulse output CN2: A axis feedback pulse input

OFF ON Axis mode 1 axis B axis can be used in axis mode. CN1: B axis feedback pulse input CN2: B axis pulse output

ON ON Station mode 0 axes A axis and B axis can be used in station mode. (Note 1) Note 1. Refer to Section 6.34 for the station mode connection method.

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6. APPLICATION FUNCTIONS

(3) Axis No. setting parameter

Axis No. settings are made with the sensing SSCNET /H head module station number selection rotary switch.

Set the start station No. with a combination of SW1 and SW2.

SW1 RUN

ERR

5 0

4

9

3

8

2

7

1

6

SW2 5 0

4

9

3

8

2

7

1

6

The axis No. and station number selection rotary switch combinations are correlated as shown on the table below. Set the axis No. so that it will not duplicate in the same line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah).

Station number selection rotary switch Sensing pulse I/O module (axis mode) axis No. (Note 1) SW1 SW2 Start axis Second axis Third axis Fourth axis

0

0 d1 d2 d3 d4 1 d2 d3 d4 d5 2 d3 d4 d5 d6 3 d4 d5 d6 d7 4 d5 d6 d7 d8 5 d6 d7 d8 d9 6 d7 d8 d9 d10 7 d8 d9 d10 d11 8 d9 d10 d11 d12 9 d10 d11 d12 d13

1

0 d11 d12 d13 d14 1 d12 d13 d14 d15 2 d13 d14 d15 d16 3 d14 d15 d16 d17 4 d15 d16 d17 d18 5 d16 d17 d18 d19 6 d17 d18 d19 d20 7 d18 d19 d20 d21 8 d19 d20 d21 d22 9 d20 d21 d22 d23

2

0 d21 d22 d23 d24 1 d22 d23 d24 d25 2 d23 d24 d25 d26 3 d24 d25 d26 d27 4 d25 d26 d27 d28 5 d26 d27 d28 d29 6 d27 d28 d29 d30 7 d28 d29 d30 d31 8 d29 d30 d31 d32 9 d30 d31 d32 (Note 2)

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6. APPLICATION FUNCTIONS

Station number selection rotary switch Sensing pulse I/O module (axis mode) axis No. (Note 1)

SW1 SW2 Start axis Second axis Third axis Fourth axis

3 0 d31 d32 (Note 2) 1 d32 (Note 2)

Note 1. When connecting sensing SSCNET /H head module + sensing extension module, the axis No. for the second sensing

extension module and after is assigned in ascending order from the sensing SSCNET /H head module. 2. Set so that the axis No. of last connected sensing extension module does not exceed the axis below. If the axis below is

exceeded, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah). Using MR-MC2 : d20 Using MR-MC3 : d32

POINT

The sensing I/O module (axis mode) axis No. and the axis No. to be managed on the position board are different. For details, refer to Section 4.5.6.

(4) Parameter setting

After parameter initialization, set the parameters according to the system such as for control cycle and external signal (sensor) input option. (a) System option 1 setting

SSCNET communication method and control cycle is set by System option 1 (parameter No.0001). Set the SSCNET communication method to SSCNET /H method. The number of axes that can be connected depends on the control cycle setting. The number of axes that can be connected (maximum number of axes connected) is the same as when a servo amplifier is used. Refer to Section 4.5.2. Make sure the total number of axes used by the servo amplifier and sensing pulse I/O module (axis mode) do not exceed maximum number of axes connected.

(b) System option 2 setting

Set control mode (standard mode or interface mode) by System option 2 (parameter No.0002).

(c) Servo parameter setting When the power supply is turned ON or after parameter initialization (system command code: 0003h), all of the servo parameters in the position board are the servo amplifier MR-J4(W )- B parameter initial values. Change all of the servo parameter settings for axis mode.

(d) Control option 1 setting

When controlling sensing pulse I/O module (axis mode), set "1: Control" for control axis of control option 1 (parameter No.0200) for all axes to be controlled. When the axis No. is set out of the controllable range, a system setting error (alarm No. 38, detail 01) will occur at the corresponding station, and the station cannot be controlled. If a module set to "1: Control" is in a state where communication cannot be made, such as not connected or control circuit power is OFF, the "An axis that has not been mounted exists" (system error E400) will occur during system startup (system command code: 000Ah), and the module is in a forced stop state.

POINT

If "An axis that has not been mounted exists" (system error E400) occurs, it is possible to check which axis was set using an incorrect axis No. by checking "Information concerning axis that is not mounted 1" (monitor No.0480) or "Information concerning axis that is not mounted 2" (monitor No.0481).

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6. APPLICATION FUNCTIONS

1) Control parameter

Parameter No.

Symbol Name Initial value

Units Setting range

Function

0200 *OPC1 Control option 1 0000h 0000h to 2101h

0

Control Axis Set to 1 for implementing control of servo amplifier 0: Not controlled 1: Controlled

Speed units Set the units for the speed command. 0: Position command units/min 1: Position command units/sec 2: r/min

No home position If the position when power is turned on is to be defined as home position set to 1. If home position return is performed, the current position after executing home position return is the home position. 0: Invalid 1: Valid

(e) Sensor input option setting External signal (sensor) is connected by setting sensor input options (parameter No.0219). Setting is the same as when using a servo amplifier. Refer to Section 4.5.7. 1) When selecting driver input

When 1 (driver input) is selected as the sensor destination, the sensor (LSP, LSN, DOG) status connected to the driver is imported via SSCNET. When using sensing pulse input module, the sensor signal is connected to the following connectors.

Signal name

Destination connector pin No. Symbol ( : A, B) A-axis B-axis

LSP CN1-9 CN2-9 FLS LSN CN1-21 CN2-21 RLS DOG CN1-10 CN2-10 DOG

POINT

For sensor connection to the driver, refer to the instruction manual of the driver. If communication error (system error E401 to E407) occurs, sensor (LSP, LSN,

DOG) input status turns off. If communication error (system error E400) occurs, the input status of the

corresponding axis turns off.

CAUTION When "1: driver input" is selected as sensor destination, a delay occurs due to the communication to

detect the signal status. Take the delay time due to communication into consideration when installing each sensor. Communication delay when control cycle is 0.88ms: approx. 2ms Communication delay when control cycle is 0.44ms: approx. 1.5ms Communication delay when control cycle is 0.22ms: approx. 1.3ms.

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6. APPLICATION FUNCTIONS

2) When selecting digital or input device input

Same as when servo amplifier is used. 3) When selecting not connected

Same as when servo amplifier is used. 4) When selecting dual port memory input

Same as when servo amplifier is used.

(f) Vendor ID and type code setting Available functions, parameter settings and ranges will vary by servo amplifier, sensing pulse I/O module (axis mode), and the connected driver type. At the time the communication with the sensing pulse I/O module has started, the position board will perform consistency check between vendor ID and type code of the sensing pulse I/O module connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output. Therefore set the correct vendor ID (parameter No.021D) or "type code (parameter No.021E)".

1) Control parameter

Parameter No.

Symbol Name Initial Value

Units Setting range

Function

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. (SSCNET /H communication) 0000h: Mitsubishi Electric

021E *CODE Type code 1000h 0000h to FFFFh

Set the type code. 3015h: Sensing SSCNET /H head module +

sensing pulse I/O module (axis mode) 3025h: Sensing pulse I/O module (axis mode)

POINT If driver type code error (system error E405) occurred, the axis that has set an

incorrect type code can be confirmed with "type code erroneous axis information" (monitor No.0484, 0485).

Set the control axis of control option 1 (parameter No.0200) to "1: Controlled" to match the sensing pulse I/O module connected. When the connection status does not match, the "An axis that has not been mounted exists" (system error E400) occurs.

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6. APPLICATION FUNCTIONS

6.35.3 Operation functions

When using a sensing pulse I/O module (axis mode), unlike when using a servo amplifier, there are restrictions in some operation functions. The following describes details regarding restrictions.

Function Restriction details JOG operation

Refer to "(1) Interval time" in this section. Incremental feed Automatic operation Linear interpolation Circular interpolation MC300 Home position return Refer to "(2) Home position return" in this section. Home position reset Refer to "(3) Home position reset function" in this section.

(1) Interval time

When switching rotation direction for drivers such as stepping motors, there are normally restrictions on command pulse timing (interval time). Take the restrictions of the driver you are using into consideration when switching rotation direction and set a dwell time (the time when pulses are not output). (Example) When the movement direction changes in linear interpolation continuous operation

When the movement direction changes in continuous operation, the interval time may not be kept. Continuous operation cannot be used in this case. Instead, use the smoothing stop or in- position stop and adjust the interval time through dwell time.

OFF ON

OFF ON

Auxiliary axis speed

Primary axis speed

Primary axis during operation (OP)

When the movement direction changes in continuous operation, the interval time may not be kept.

Point 0 is being executed.

Point 1 is being executed.

Vector speed

Primary axis start operation (ST)

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6. APPLICATION FUNCTIONS

(2) Home position return

When using sensing pulse I/O module (axis mode), the methods that can be used and the operation of home position return are different to when a servo amplifier is used.

Method Characteristics Remarks Dog method home position return

A method that starts deceleration at the front end dog, and uses the first zero point signal after the rear end dog for home position.

Because this method uses the zero point signal for home position, make sure to input the zero point signal to the sensing pulse I/O module.

Data set method home position return

A method that uses the current position as the home position when moving to a given position in JOG operation etc.

Dog and zero point signal are not required.

Stopper method home position return

A method that uses the position after a collision stop caused by JOG operation etc., as the home position.

Not supported.

Dog cradle method home position return

A method that starts deceleration at dog front end, returns to the dog front end once, and moves at creep speed again, using the first zero point signal after passing the proximity dog front end as the home position.

Because this method uses the zero point signal for home position, make sure to input the zero point signal to the sensing pulse I/O module.

Limit switch combined method home position return

A method that uses the zero point signal prior to the limit switch of the opposite direction to the home position return direction as the home position.

Because this method uses the zero point signal for home position, make sure to input the zero point signal to the sensing pulse I/O module.

Limit switch front end method home position return

A method that uses the limit switch front end of the opposite direction to the home position return direction as the home position.

Dog and zero point signal are not required.

Dog front end method home position return

A method that starts deceleration at the front end dog, moves at creep speed in the opposite direction, and uses the position where dog front end is detected for home position.

Zero point signal is not required.

Z-phase detection method home position return

A method that uses the first zero point signal in the direction of the home position return as the home position. The shortcut direction for home position return cannot be used. Z-phase mask amount cannot be used.

Because this method uses the zero point signal for home position, make sure to input the zero point signal to the sensing pulse I/O module.

Scale home position signal detection method home position return

A method that uses the linear scale home position signal as the home position.

Not supported.

Scale home position signal detection method 2 home position return

A method that uses the linear scale home position signal as the home position.

Not supported.

Note. Home position return that uses an incremental linear scale is not supported. Unlike when using a servo amplifier, home position

signal re-search of home position return option 1 (parameter No.0240) cannot be set to "1: Search again."

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6. APPLICATION FUNCTIONS

(a) Standby time after clear signal output

The standby time until the position for home position return is settled can be adjusted by setting standby time after clear signal output (parameter No.0252). When feedback pulse input is enabled, and the position reference for home position is established before the position is settled, the home position return is completed with a discrepancy between the current position and the feedback position. In such cases, set the standby time after clear signal output (parameter No.0252) for both the system configuration and operation pattern.

Parameter No.

Symbol Name Initial Value

Units Setting range

Function

0252 COW Standby time after clear signal output

0 ms 0 to 1000 Set the standby time from the clear signal output until position settling is completed during home position return. 0 : 100ms 1 to 1000 : 1 to 1000ms

Note. Set the standby time after clear signal output to a longer time than the clear signal output pulse width time (parameter No.114B) of the

sensing pulse I/O module.

(b) Operation for standby time after clear signal output Standby time after clear signal output is the time it takes for position settling to be completed after the clear signal is output. The operation for standby time after clear signal output of dog method home position return is shown below.

OFF ON

OFF ON

OFF ON

OFF ON

Clear signal (CR)

Zero point signal

Travel speed

Home position return speed

Creep speed

Proximity dog

Amount of home position shift Home position coordinates

Completion of operation (OPF)

Home position return complete (ZP)

Standby time after clear signal output

The standby time after clear signal output for each home position return is shown below

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6. APPLICATION FUNCTIONS

1) Dog method home position return

Home position return speed

Creep speed

Home position return direction Amount of home position shift

Home position coordinates

OFF ON

OFF ON

OFF ON

OFF ON

Clear signal(CR)

Zero point signal

Travel speed

Completion of operation (OPF)

Proximity dog

Home position return complete (ZP)

Standby time after clear signal output

2) Data set method

Standby time after clear signal output

Change to home position coordinates Start operation (ST)

Clear signal (CR)

OFF ON

OFF ON

OFF ON

OFF ON

Completion of operation (OPF)

Home position return complete (ZP)

3) Dog cradle method home position return

Home position return speed

Creep speed

Home position return direction

Amount of home position shift Home position coordinatesTravel speed

Proximity dog

OFF ON

OFF ON

OFF ON

OFF ON

Clear signal (CR)

Zero point signal

Completion of operation (OPF)

Home position return complete (ZP)

Standby time after clear signal output

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6. APPLICATION FUNCTIONS

4) Limit switch combined method

Standby time after clear signal output

Creep speed

Home position return direction Home position return speed

Amount of home position shift

Home position coordinates

Limit switch

OFF ON

OFF ON

OFF ON

OFF ON

Clear signal (CR)

Zero point signal

Travel speed

Completion of operation (OPF)

Home position return complete (ZP)

5) Limit switch front end method

Standby time after clear signal output

Creep speed

Home position return direction Home position return speed

Amount of home position shift

Home position coordinates

Limit switch

OFF ON

OFF ON

OFF ON

Clear signal (CR)

Travel speed

Completion of operation (OPF)

Home position return complete (ZP)

6) Dog front end method

Standby time after clear signal output

Creep speed

Home position return direction Home position return speed

Amount of home position shift Home position coordinates

Proximity dog

OFF ON

OFF ON

OFF ONClear signal (CR)

Travel speed

Completion of operation (OPF)

Home position return complete (ZP)

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6. APPLICATION FUNCTIONS

7) Z-phase detection method

Zero point signal

Creep speed

Home position return direction

Amount of home position shift Home position coordinates

Travel speed

OFF ON

OFF ON

OFF ON

OFF ON

Clear signal (CR)

Completion of operation (OPF)

Home position return complete (ZP)

Standby time after clear signal output

(3) Home position reset function When feedback pulse input is enabled, if home position reset is executed before position is settled such as immediately after operation, the home position reset is completed with a discrepancy between the current position and the feedback position. In such cases, the standby time after clear signal output (parameter No.0252) can be set in the same way as the data set method home position return to adjust the standby time until position settling of home position reset is completed.

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6. APPLICATION FUNCTIONS

6.35.4 Application functions

(1) Servo OFF If a motor was rotated due to an external force while the servo was OFF (such as during servo alarms and while the servo ON signal is OFF), a position discrepancy occurs, and corect positioning cannot be executed until home position return is made again. (Note 1) By setting incompletion of home position return after servo OFF of control option 3 (parameter No.0202) to "1: Make home position return incomplete", incorrect operation when there are position discrepancies can be prevented. (Note 2) Also, when position discrepancies during servo OFF do not need to be considered, setting incompletion of home position return after servo OFF of control option 3 (parameter No.0202) to "0: Do not make home position return incomplete", enables operation without home position return after servo OFF.

Note 1. Position discrepancy occurs regardless of the feedback pulse input enable/disable setting. 2. After servo OFF, home position return not complete (operation alarm 90, detail 01) occurs at startup for operations that require

home position return (automatic operation, linear interpolation operation MC200 /interpolation operation MC300 , data set function) until home position return is executed again.

Parameter No.

Symbol Name Initial Value

Units Setting range

Function

0202 *OPC3 Control option 3 0001h 0000h to 1001h

0 0

Interlock signal polarity Set the polarity of the Interlock signal. 0: B-contact 1: A-contact Incompletion of home position return after servo OFF Set 1 to make the home position return incomplete after servo OFF 0: Do not make home position return

incomplete 1: Make home position return

incomplete

(2) In-position signal For the in-position signal (INP), the position board checks the in-position range and controls turning on or off the signal. The in-position signal controlled by the driver is displayed as the servo amplifier in-position signal (SINP). Match the position board and driver in-position range settings.

OFF ON

In-position range [pulse]

Actual speed Command speed

In-position signal (INP)

Note. When there is no feedback pulse input, the speed is the speed output by the sensing pulse I/O module.

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6. APPLICATION FUNCTIONS

(a) Control parameter

Parameter No.

Symbol Name Initial Value

Units Setting range

Function

0232 INPC In-position range (controller)

0 pulse 0 to 65535 Set the in-position range to be determined by the position board. Note. When there is no feedback pulse input, the

position is determined with the position output to the driver by the sensing pulse I/O module.

(b) Axis data status bit

Address (Note) Bit Symbol Signal name

When in tandem

drive

Address (Note) Bit Symbol Signal name

When in tandem

drive MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1060 0050A0

0 RDY Servo ready Each axis 1069 0050A9

0 IWT Interference check standby

Each axis

1 INP In-position Each axis

1 SINP Servo amplifier in-position

Each axis

2 Reserved 2

Reserved

3 ZPAS Passed Z-phase Each axis 3 4 Reserved 4 5 SALM Servo alarm Each axis 5 6 SWRN Servo warning Each axis 6 7 Reserved 7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +C0h Using MR-MC3 : +140h

(3) Servo amplifier general I/O

The servo amplifier general I/O function controls the I/O signal connected to the sensing SSCNET /H head module via SSCNET. The user program can control the I/O signal with the digital I/O table or I/O device table, by assigning the I/O signal connected to the sensing SSCNET /H head module to the digital I/O table or I/O device table.

POINT

When a communication error (system error E401 to E407) occurs or SSCNET is disconnected, all the general I/O signals of the servo amplifier turn off.

The delay time from an input of the general I/O signal of the sensing SSCNET /H head module to the update of the digital input table is "approx. 0.88ms + (control cycle 2)" (approx. 2.7ms when the control cycle is 0.88ms). The delay time is also the same for when using an input device table.

The delay time from the update of the output device table by the host controller to the output of the sensing module signal is "sensing module output response time + (control cycle 3)". In the case of the output bit device output using in the other axes start function, the delay time from other axes start condition satisfaction to the output is "sensing module output response time + (control cycle 2)". Refer to the sensing module instruction manual for the sensing module output response time.

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6. APPLICATION FUNCTIONS

[Compatible models]

Model Remarks Sensing SSCNET /H head module Input : 12 points

Output : 2 points

The following shows the connectors of the sensing SSCNET /H head module to be connected to the general I/O signals. Each general I/O signal is assigned to the digital input signal (DI_ ) and digital output signal (DO_ ).

(a) General input

Signal name Destination connector pin No. Symbol DI_ 1 CN2-13 DI1 DI_ 2 CN2-1 DI2 DI_ 3 CN2-14 DI3 DI_ 4 CN2-2 DI4 DI_ 5 CN2-15 DI5 DI_ 6 CN2-3 DI6 DI_ 7 CN2-16 DI7 DI_ 8 CN2-4 DI8 DI_ 9 CN2-17 DI9

DI_ 10 CN2-5 DI10 DI_ 11 CN2-18 DI11 DI_ 12 CN2-6 DI12

(b) General output

Signal name Destination connector pin No. Symbol DO_ 1 CN2-20 D01 DO_ 2 CN2-8 D02

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6. APPLICATION FUNCTIONS

(2) Settings

When using the general I/O function of the sensing SSCNET /H head module, set the following parameters. Set the parameters to the axes whose type code (parameter No.021E) is set to 3015h

(a) Servo parameter

Parameter No. MR-J4-B parameter No. Symbol Name 11A0 PC33 *HDI1 Head module DI1 (CN2-13) setting 11A1 PC34 *HDI2 Head module DI2 (CN2-1) setting 11A2 PC35 *HDI3 Head module DI3 (CN2-14) setting 11A3 PC36 *HDI4 Head module DI4 (CN2-2) setting 11A4 PC37 *HDI5 Head module DI5 (CN2-15) setting 11A5 PC38 *HDI6 Head module DI6 (CN2-3) setting 11A6 PC39 *HDI7 Head module DI7 (CN2-16) setting 11A7 PC40 *HDI8 Head module DI8 (CN2-4) setting 11A8 PC41 *HDI9 Head module DI9 (CN2-17) setting 11A9 PC42 *HDI10 Head module DI10 (CN2-5) setting 11AA PC43 *HDI11 Head module DI11 (CN2-18) setting 11AB PC44 *HDI12 Head module DI12 (CN2-6) setting 11AE PC47 *HDIO1 Head module DO1 (CN2-20) setting 11AF PC48 *HDIO2 Head module DO2 (CN2-8) setting

(b) Control parameter

Parameter No. Symbol Name Initial

value Unit Setting range

Function

0213 *GIOO General I/O option 0000h 0000h to

0011h

0 0

Servo amplifier general input setting Set whether to use the general input of the servo amplifier. 0: Not used 1: Used Servo amplifier general output setting Set whether to use the general output of the servo amplifier. 0: Not used 1: Used

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name Initial value Unit

Setting range

Function

0214 *GDNA General I/O number assignment

0000h 0000h to

FFFFh

Set assignment of the general I/O number. The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

General input assignment Specify the first digital input area number to assign the general input. 00h to 3Fh: Digital input area 0 to 63 Example: When the digital input

area number 01 is specified, assign 16 points of DI_010 to DI_01F. However, DI_013 to DI_01F are unavailable.

General output assignment Specify the first digital output area number to assign the general output. 00h to 3Fh: Digital output area

0 to 63 Example: When the digital output

area number 02 is specified, 16 points are assigned from DO_020 to DO_02F. However, DO_023 to DO_02F are unavailable.

[When using a I/O device table (MR-MC2 method)]

General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 00h to FFh: Input word device

number 0 to FF Example: When the input word

device number 01 is specified, 16 points are assigned from DVI_010 to DVI_01F. However, DVI_013 to DVI_01F are unavailable.

General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 00h to FFh: Output word device

number 00 to FF Example: When the output word

device number 02 is specified, 16 points are assigned from DVO_020 to DVO_02F. However, DVO_023 to DVI_02F are unavailable.

[When using a I/O device table (expanded points method)] MC300 Set in general input No. assignment (parameter No.0215) and general output No. assignment (parameter No.0216).

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6. APPLICATION FUNCTIONS

Parameter

No. Symbol Name Initial value

Unit Setting range

Function

0215 *GDINA General input No. assignment MC300

0000h 0000h to

023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)". 0

General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 000h to 23Fh: Input word device

number 000 to 23F Example: When the input word

device number 001 is specified, 16 points are assigned from DVI_0010 to DVI_001F. However, DVI_0013 to DVI_001F are unavailable.

0216 *GDONA General output No. assignment MC300

0000h 0000h to

023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)". 0

General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 000h to 23Fh: Output word device

number 000 to 23F Example: When the output word

device number 002 is specified, 16 points are assigned from DVO_0020 to DVO_002F. However, DVO_0023 to DVI_002F are unavailable.

0219 *SOP Sensor input option 0000h 0000h to

0304h

0 0

Sensor input system Set the input system of the sensor (LSP, LSN, DOG). 0: Not use 1: Driver input 2: Digital or input device input 3: Not connected (does not detect LSP, LSN, DOG) 4: Dual port memory input Limit switch signal selection Set valid/invalid of limit switch. 0: LSP/LSN are valid 1: LSP is valid, LSN is invalid 2: LSP is invalid, LSN is valid 3: LSP/LSN are invalid

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6. APPLICATION FUNCTIONS

6.35.5 Auxiliary functions

(1) Interrupt (a) Interrupt conditions

The interrupt conditions that can be used with a servo amplifier and in axis mode vary. The interrupt conditions that can be used with sensing pulse I/O module (axis mode) are shown below.

Parameter No.0204 Interrupt conditions 1 Parameter No.0205 Interrupt conditions 2

Bit Symbol Name Bit Symbol Name

0 RDY Servo ready 0

Reserved

1 INP In-position 1 2 Reserved 2 3 ZPAS Passed Z-phase 3 4 Reserved 4 5 SALM Servo alarm 5 6 SWRN Servo warning 6 7 Reserved 7 8 OP During operation 8 IWT Interference check standby 9 CPO Rough match 9 SINP Servo amplifier in-position

10 PF Positioning complete 10

Reserved

11 ZP Home position return complete 11 12 SMZ During smoothing of stopping 12 13 OALM Operation alarm 13 14 OPF Completion of operation 14 15 PSW Position switch 15

6.35.6 Interface mode

(1) Servo OFF If a motor was rotated due to an external force while the servo was OFF in interface mode, a position discrepancy can occur. When a position discrepancy occurs, the current position is matched with the feedback position automatically at servo ON. However, is servo ON is executed with the motor operating, the current position and feedback position discrepancy could remain. Do not execute servo ON when the motor is operating.

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6. APPLICATION FUNCTIONS

(2) Event detection function

The event factors that can be used with a servo amplifier and in axis mode vary. The event factors that can be used in axis mode are shown below. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +04h Using MR-MC3 : +08h

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

0EE0 to

0EE3

0043E0 to

0043E7

0 iRDYON Servo ready (ON edge) 1 iINPON In-position (ON edge) 2

Reserved 3 4 iSALMON Servo alarm (ON edge) 5 iSWRNON Servo warning (ON edge) 6 Reserved 7 iOALMON Operation alarm (ON edge) 8

Reserved 9 10 11 12 13 iLSPON + side limit switch (ON edge) 14 iLSNON - side limit switch (ON edge) 15 iDOGON Proximity dog (ON edge) 16 iRDYOF Servo ready (OFF edge) 17 iINPOF In-position (OFF edge) 18

Reserved 19 20 iSALMOF Servo alarm (OFF edge) 21 iSWRNOF Servo warning (OFF edge) 22 Reserved 23 iOALMOF Operation alarm (OFF edge) 24

Reserved 25 26 27 28 29 iLSPOF + side limit switch (OFF edge) 30 iLSNOF - side limit switch (OFF edge) 31 iDOGOF Proximity dog (OFF edge)

32

Reserved : 63

Note. OFF: No factor of event exists.

ON: A factor of event exists.

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7

7. AUXILIARY FUNCTION

7. AUXILIARY FUNCTION

7.1 Reading/writing parameters

The parameter data in the position board is accessed using the parameter read/write function. Types of parameters include: system parameters, control parameters, and servo parameters. The parameter read/write function can be used after system preparation completion (system status code: 0001h). 7.1.1 Writing parameters

1) 2) 3)Dual port memory

Parameter data (internal memory) Only when changing servo

parameters while system is running

Servo amplifier

Position board processing

Parameter write command (PWRT)

ON OFF

Valid data

Valid data

Valid data

Valid data

User program processing

Parameter write No.

Parameter write data

Parameter write complete (PWFIN)

Parameter write No (answer back)

Parameter write data (answer back)

ON OFF

Wait until the parameter write command signal (PWRT) turns on.

The parameters are read from the dual port memory into the parameter data area in the internal memory (2) in Fig. 7.1) if parameter is a servo parameter it is transferred to the servo amplifier (3) in Fig. 7.1).

The number for the parameter data received and data to be written are set in the dual port memory. parameter write complete signal (PWFIN) is turned on.

Wait until the parameter write command signal (PWRT) is turned off.

Turn off the parameter write complete signal (PWFIN).

Parameter No. and data for parameter(s) to be written are set in the dual port memory (1) in Fig. 7.1).

Turn on the parameter write command signal (PWRT) on the dual port memory.

Wait until the parameter write complete signal (PWFIN) on the dual port memory turns on.

Turn off the parameter write command signal (PWRT) on the dual port memory.

Position board

sscChangeParameter/sscChange2Parameter function

Host controller

Fig. 7.1 Flow when data is written to parameters

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7. AUXILIARY FUNCTION

POINT

In some parameters, changing the settings after the system has started is invalid. Refer to "Chapter 11", concerning which parameters this applies to.

32 bit length parameters are separated into upper and lower items, therefore change them simultaneously. Changing of 32 bit length parameters separately can lead to erroneous operation.

Two parameters can be written at a time. When writing one parameter, set 0 to the other parameter.

If an erroneous parameter No. is set, a parameter number error (PWENn (n = 1 to 2)) is turned on. However, the parameter No.0 is not considered an erroneous parameter No.

If a parameter setting is outside the setting range, a parameter data out of bounds (PWEDn (n = 1 to 2)) is set.

Parameter limit checks are not performed before system running (System status code: 000Ah). If the parameter set is incorrect, parameter error (system alarm 37, servo alarm 37, operation alarm 37, detail 01) occurs when the system is started. Check the error parameter number in servo parameter error number (monitor No.0510 to 0537), control parameter error number (monitor No.0330 to 033F) and system parameter error number (monitor No.0410 to 0417), and after rebooting software, set correct parameter and start the system again. Parameter error (system alarm 37, operation alarm 37, detail 01) cannot be reset by the alarm reset.

In system parameter write, parameter write command (SPWRT), parameter write access complete (SPWFIN), parameter number error (SPWENn (n = 1 to 2)) and parameter data out of bounds (SPWEDn (n = 1 to 2)) are used.

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7. AUXILIARY FUNCTION

7.1.2 Reading parameters

Dual port memory

Parameter data (internal memory)

Servo amplifier

1)2)

Position board

Wait until the parameter read command signal (PRD) turns on.

The parameters are read from the internal memory area into the 2 port memory (1) in Fig. 7.2).

Wait until the parameter read command signal (PRD) is turned off.

Turn off the parameter read complete signal (PRFIN).Position board

processing

Parameter read command (PRD)

ON OFF

Valid data

Valid data

Valid data

Turn on the parameter read command signal (PRD) on the dual port memory.

Parameter No. for parameter(s) to be read are set in the dual port memory.User program

processing

Wait until the parameter read complete signal (PRFIN) on the dual port memory turns on.

After reading the parameter(s) from the dual port memory, turn off the parameter read command (PRD) on the dual port memory. (2) in Fig. 7.2)

Parameter read No.

Parameter read complete (PRFIN)

Parameter read No (answer back)

Parameter read data

ON OFF

The Number for the parameter received is set in the dual port memory. Parameter read complete signal (PRFIN) is turned on.

Host controller

sscCheckParameter/sscCheck2Parameter function

Fig. 7.2 Flow when data is read from parameters

POINT Two parameters can be read at a time. When reading one parameter, set 0 to

the other parameter. If an erroneous parameter number is set, a parameter number error

(PR ENn (n = 1 to 2)) turned on. However, the parameter number. 0 is not considered an erroneous parameter number.

In system parameter read, parameter read command (SPRD), parameter read access complete (SPRFIN) and parameter number error (SPRENn (n = 1 to 2)) are used.

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7. AUXILIARY FUNCTION

7.2 Changing parameters at the servo

The position board has a function of reflecting the results of changes made to parameters on the servo amplifier to the host controller. When parameters are changed on the servo amplifier, the position board changes the parameter data area (internal memory), and notifies the host controller using the "changes to servo parameters exist" (PSCHG) signal. The changed servo parameter numbers are notified in units of 16 to the servo parameter change number table. To identify the changed parameter, check the servo parameter change number (monitor No.0590 to 05B7) corresponding to the notification. Monitor this signal periodically and record parameters for which changes have been made.

POINT The reasons that parameters are re-written on the servo amplifier are as

follows. When parameters are changed using MR Configurator2 (This includes

execution of the machine analyzer and the gain search function). The parameter was automatically changed such as by the real time auto

tuning function. Refer to the Servo Amplifier Instruction Manual on your servo amplifier

concerning servo parameters that are automatically changed.

API LIBRARY Use the sscCheckSvPrmChangeNumEx function to get the servo parameter

change number.

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7. AUXILIARY FUNCTION

The sequence for when servo parameters are changed is as follows.

Dual port memory

Parameter data (internal memory)

Servo amplifier

2)3) 1)

Position board

Servo parameters that were changed are set in the parameter data area of the internal memory (1) in Fig. 7.3). The parameter number for the parameter that was changed is set in the servo parameter change number (Note).

The "changes to servo parameters exist" signal (PSCHG) on the dual port memory is turned on.

Turn off the "changes to servo parameters exist" signal (PSCHG).

Position board processing

Changes to servo parameter exist (PSCHG)

ON OFF

Valid data

Data after change

Servo parameter change number (Note)

Parameter data (internal memory)

Servo parameter read complete (PSF)

ON OFF

After confirming the servo parameter change number (Note), read the parameter that was changed using the parameter read function. (2) and 3) in Fig. 7.3)

Check if the "changes to servo parameter exist" signal (PSCHG) on the dual port memory has turned on.

User program processing

Turn on the servo parameter read complete signal (PSF) on the dual port memory.

Turn off the servo parameter read complete signal (PSF).

Wait until the servo parameter read complete signal (PSF) on the dual port memory is turned on.

Wait until the "changes to servo parameter exist" signal (PSCHG) on the dual port memory turns off.

Host controller

Note. Check the servo parameter change number (monitor No.0590 to 05B7) corresponding to the servo parameter change number 11 to 13 (PSN11 to PSN13).

Fig. 7.3 Data flow when servo parameter(s) are changed

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7. AUXILIARY FUNCTION

7.3 Alarm and system error

When an incorrect setting or incorrect operation is done, the position board raises an alarm, so make user program monitor the alarm periodically. The position board can raise the following six alarms: system alarm, servo alarm, operation alarm, RIO module alarm, RIO control alarm, and system error. For the cause of occurrence and treatment for each alarm, refer to Chapter 13.

API LIBRARY Use the sscGetAlarm/sscResetAlarm functions to get/reset the alarm number.

Specify the following in the argument for the alarm type. System alarm : SSC_ALARM_SYSTEM Servo alarm : SSC_ALARM_SERVO Operation alarm : SSC_ALARM_OPERATION RIO module alarm : SSC_ALARM_UNIT RIO control alarm : SSC_ALARM_UNIT_CTRL

Use the sscGetSystemStatusCode function to get the system error. (1) System alarm

System alarm is an alarm a position board raises by incorrect setting of a system parameter or each function. When a system alarm occurs, during system alarm signal (CALM) turns on and the alarm number and the detail number are stored in System alarm number and Specific system alarm number. To reset the system alarm, turn on the system alarm reset signal (CRST).

POINT

Parameter error (system alarm 37) cannot be reset with the system alarm reset signal. Reexamine the parameter and start the system again.

If another system alarm occurs while the system alarm is occurring, the first system alarm is notified to the system alarm number. By using log function, the history of the system alarm number can be checked.

(2) Servo alarm

Servo alarm is an alarm a servo amplifier raises by incorrect setting of a system parameter. When a servo alarm occurs, during servo alarm signal (SALM) or during servo warning (SWRN) turns on and the alarm number and the detail number are stored in Servo alarm number and Specific servo alarm number. To reset the servo alarm, turn on the servo alarm reset signal (SRST).

POINT For the reset of servo alarms, it depends on the specifications of the servo

amplifier. For details, refer to the Servo Amplifier specification for your servo amplifier.

When servo alarms have occurred by multiple causes, the servo alarm number notified to depends on the specifications of the servo amplifier.

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7. AUXILIARY FUNCTION

(3) Operation alarm

Operation alarm is an alarm a position board raises in each axis by incorrect setting of a system parameter or each function. When an operation alarm occurs, during operation alarm signal (OALM) turns on and the alarm number and the detail number are stored in Operation alarm number and Specific operation alarm number. To reset the operation alarm, turn on the operation alarm reset signal (ORST).

POINT

Parameter error (operation alarm 37) and system setting error (operation alarm 38) cannot be reset with the operation alarm reset signal. Check the cause of the alarm and treatment, and start the system again.

If another operation alarm occurs while the operation alarm is occurring, the first operation alarm is notified to the operation alarm number. By using log function, the history of the operation alarm number can be checked.

(4) RIO module alarm

RIO module alarms occur from remote I/O modules as a result of incorrect RIO module parameter settings, and remote I/O module hardware errors. When a RIO module alarm occurs, the RIO module alarm (RUALM), or RIO module warning (RUWRN) signal turns ON, and the alarm number/detail number is stored to the RIO module alarm No./detail RIO module alarm No. To reset the RIO module alarm, turn ON the RIO module alarm reset (RURST) signal.

POINT

The resetting of the RIO module alarm depends on the specifications of the remote I/O module. Refer to the User's Manual of the remote I/O module being used for details.

When a RIO module alarm occurs due to several factors, the RIO module alarm No. that is notified depends on the specification of the remote I/O module.

(5) RIO control alarm

RIO control alarms occur at each station from the position board as a result of incorrect control parameter settings, and incorrect settings for each function. When a RIO control alarm occurs, the RIO control alarm (RCALM) signal turns ON, and the alarm number/detail number is stored to the RIO control alarm No./detail RIO control alarm No. To reset the RIO control alarm, turn ON the RIO control alarm reset (RCRST) signal.

POINT

The following RIO control alarms cannot be reset. Check the error causes and corrective actions, and start the system again. Parameter error (RIO control alarm 37) System setting error (RIO control alarm 38) I/O No. assignment setting error (RIO control alarm 39)

When another RIO control alarm occurs at the same time a RIO control alarm has already occurred, the RIO control alarm No. of the RIO control alarm that occurred first is notified. The RIO control alarm No. history can be checked by using the log function.

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7. AUXILIARY FUNCTION

(6) System error

System error occurs in the case when positioning control cannot be continued, such as when a hardware error of a position board occurs, when SSCNET communication error occurs. Error code of the system error is stored in the system status code.

POINT System error cannot be reset. Reboot the software as necessary and start the

system again. If another system error occurs while the system error is occurring, the error

code of the system status code is overwritten. By using log function, the history of the system error occurred while system is running can be checked.

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7. AUXILIARY FUNCTION

7.4 Monitor function

7.4.1 Summary

The monitor function is for referencing servo information such as current command position, speed feedback etc. and operation information and system information. When monitoring system information, the monitor area in the system command/status table is used. Also, when monitoring servo information and operational information, the monitor area of the command/status table for each axis is used. 2 items of system information and 4 items per axis of servo information can be monitored. While the monitor command signal (MON) is on, the monitor data is continuously updated.

POINT The update period is the control cycle to several ms and the updated period

differs depending on the control status.

Monitor output (MOUT)

ON OFF

sscGetMonitor function

Monitor number

Monitor number (answer back)

Monitor command (MON)

Monitor data

sscSetMonitor function ON OFF

When changing the monitor number, turn off the monitor command signal (MON). Changing of the monitor number is performed on the raising edge of the monitor command signal (MON) (if monitor number is changed while the monitor command is on, it is ignored). Monitor data is 16 bits per item. For referencing 32 bit data, designate 2 items, upper and lower or designate an operation information (double word) number. For designating operation information (double word) set the monitor number to monitor number 1 or monitor number 3. If the operation information (double word) number is set to monitor number 2 or monitor number 4 a monitor number error occurs. Also, when designating operation information (double word) using monitor number 1 or monitor number 3, set monitor number 2 and monitor number 4 to 0. If a different monitor number is set for monitor number 2 or monitor number 4, a monitor number error occurs.

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7. AUXILIARY FUNCTION

POINT

If an erroneous monitor number is commanded, a monitor number error (MERn (n = 1 to 4)) is turned on. Data for a correct monitor number can be monitored at this time (monitor output is turned on). However, if the monitor number is set to 0, a monitor number error is not set and monitor data is continually set to 0.

Servo information can not be referenced if the servo amplifier is not connected. If the servo amplifier is not connected, "servo amplifier is not connected" signal (MESV) is turned on.

When using the monitor function (when monitoring the system information), the monitor command (SMON), monitor output (SMOUT), monitor number error signal (SMERn (n = 1 to 2)) are used.

7.4.2 Monitor latch function

Monitor data is not updated while the monitor latch command signal (MONR) is on.

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_MON)

Monitor data is not updated during this period

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_MRCH)

Monitor number

Monitor output (MOUT)

Monitor number (answer back)

Monitor latch command (MONR)

Monitor data

Monitor command (MON)

Monitor latch (MRCH)

sscSetMonitor function

sscGetMonitor function

ON OFF

ON OFF

ON OFF

ON OFF

POINT

When using the monitor function (when monitoring the system information), monitor latch command (SMONR) and monitor latch (SMRCH) are used.

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7. AUXILIARY FUNCTION

API LIBRARY

To turn ON/OFF the monitor latch command (MONR), set SSC_CMDBIT_AX_MON to the command bit number of the sscSetCommandBitSignalEx function. When using the monitor function (when monitoring the system information), use SSC_CMDBIT_SYS_SMON.

To check if monitor latch (MRCH or SMRCH) is ON/OFF, set SSC_STSBIT_AX_MRCH to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions. When using the monitor function (when monitoring the system information), use SSC_STSBIT_SYS_SMRCH.

7.4.3 High-speed update of monitor data MC300

By setting the monitor data high-speed update function, the data set to monitor No. 1 to 4 can be checked at each control cycle. When using this function, set high-speed update of monitor data (parameter No.0206) to enabled.

POINT The monitor Nos. need to be set in the monitor function in advance. When the

monitor number error (MERn(n = 1 to 4)) is ON, the monitor data with the incorrect monitor No. is 0.

Monitor data 1 to 4 (high-speed monitor) are only updated when monitor command (MON) and monitor output (MOUT) are ON. When monitor output (MOUT) is OFF, monitor data 1 to 4 (high-speed monitor) are 0. Similarly, when monitor Nos. are being changed, monitor data 1 to 4 (high-speed monitor) are 0.

When a double word (4-byte) monitor No. is set, in order to prevent the separation of the upper and lower data, access 4 bytes of the monitor data (high-speed monitor) when getting monitor data. When using the API library, internally, 4 bytes of data is got.

When using the monitor latch function, it takes from 4 control cycles to several ms after monitor latch command is turned ON for monitor data to actually be latched.

This function does not support remote I/O stations.

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7. AUXILIARY FUNCTION

7.5 High speed monitor function

7.5.1 Summary

High speed monitor function is a function for monitoring current command position and current feedback position etc. It becomes valid after system is started up, and monitor data is updated every control cycle. The data that can be referenced with the high speed monitor function are the following 6 items.

Data item Units Data size Address (Note 1)

Remarks MR-MC2 MR-MC3

Current command position

Command units 4 byte A000h+20h(n-1) 0E0000h+20h(n-1) Same as monitor No.300, 301

Current feedback position

Command units 4 byte A004h+20h(n-1) 0E0004h+20h(n-1) Same as monitor No.302, 303

Moving speed Speed units 4 byte A008h+20h(n-1) 0E0008h+20h(n-1) Same as monitor No.304, 305 Feedback moving speed

Speed units 4 byte A00Ch+20h(n-1) 0E000Ch+20h(n-1) Same as monitor No.316, 317

Electrical current feedback

0.1% 2 byte A010h+20h(n-1) 0E0010h+20h(n-1) Same as monitor No.20B

External signal status (Note 2)

2 byte A012h+20h(n-1) 0E0012h+20h(n-1) Same as monitor No.320

Position droop (Note 3)

pulse 4 byte A014h+20h(n-1) 0E0014h+20h(n-1) Same as monitor No.204, 205

Note 1. n is the axis No. 2. The sensor status specified at the sensor input option (parameter No.0219) is displayed for the external signal status. 3. The position droop monitor is supported by the following software version or later and only in interface mode.

Using MR-MC2 : Software version A4 or later Using MR-MC3 : No software restriction

API LIBRARY Use the following functions to get high speed monitor data.

Current command position : sscGetCurrentCmdPositionFast Current feedback position : sscGetCurrentFbPositionFast Moving speed : sscGetCmdSpeedFast Feedback moving speed : sscGetFbSpeedFast Electrical current feedback : sscGetCurrentFbFast External signal status : sscGetIoStatusFast

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7. AUXILIARY FUNCTION

7.5.2 Monitor latch function

Monitor data is not updated while the high speed monitor latch command signal (RMONR) is on.

Monitor data

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_RMONR)

Monitor data is not updated during this period

High speed monitor is latched (RMRCH)

High speed monitor latch command (RMONR)

sscGetCurrentCmdPositionFast function etc.

ON OFF

ON OFF

API LIBRARY

To turn ON/OFF the high speed monitor latch command (RMONR), set SSC_CMDBIT_AX_RMONR to the command bit number of the sscSetCommandBitSignalEx function. When using the monitor function (when monitoring the system information), use SSC_CMDBIT_SYS_SMON.

To check if high speed monitor is latched (RMRCH) is ON/OFF, set SSC_STSBIT_AX_RMRCH to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

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7. AUXILIARY FUNCTION

7.6 Interrupt

7.6.1 Interrupt sequence

If the interrupt output valid signal (ITS) is on and interrupt conditions are satisfied (Note1), the position board sets the interrupt trigger on the dual port memory and generates an interrupt. For MR-MC2 , write 1 to an interrupt signal clear register (Note 2) using a host controller for cancellation of the interrupt. For MR-MC3 cancellation of the interrupt is not required because the PCI Express message signal interrupt (MSI) is used. After cancellation of the interrupt, turn on the interrupt processing complete signal (ITE). The position board turns off the outputting with factor of interrupt signal (ITO) and clears the factor of interrupt to 0 after confirming the interrupt processing complete signal (ITE) is on. The next interrupt output will be put on hold until this operation is performed. Note 1. The interrupt conditions can be set in system interrupt conditions (parameter No.0004), interrupt conditions 1 and 2 (parameter

No.0204, 0205). 2. The interrupt signal clear register is changed to 0 automatically after the interrupt signal (IRQ ) is turned off.

Outputting with factor of interrupt (ITO)

Factor of interrupt

Interrupt per axis (Note)

Interrupt output signal on

Interrupt processing complete (ITE)

Interrupt signal - Clear register write

Cancellation of interruptInterrupt ON OFF

ON OFF

ON OFF

ON OFF

Position board

Host controller

Interrupt thread and device driver

MC200

Note. Only the axis signal with an interrupt generated turns on.

POINT If multiple interrupt conditions are satisfied during one control cycle, all

corresponding factors for interrupts are turned on.

API LIBRARY The factor of interrupt check and interrupt clear register are processed by the

interrupt thread and device driver that is created when calling the sscIntStart function. Thus processing by user program is unnecessary.

7 - 15

7. AUXILIARY FUNCTION

If another interrupt condition is satisfied while the outputting with factor of interrupt (ITO is on), the factor of interrupt will be put on hold until the interrupt processing complete signal (ITE) turns off from on.

Cancellation of interrupt

Outputting with factor of interrupt (ITO)

Factor of interrupt

Interrupt per axis (Note)

Interrupt output signal on

Interrupt processing complete (ITE)

Interrupt signal - Clear register write

Interrupt

The next interrupt output is held until the interrupt processing complete signal (ITE) turns off.

Position board

Host controller

Interrupt thread and device driver

Interrupt ON OFF

ON OFF

ON OFF

ON OFF

MC200

Note. The signal for the axis where the interrupt occurs is turned on.

POINT After occurrence of an interrupt, if cancel of interrupt processing can not be

performed by the host controller due to being backed up or some other reason, the interrupt output from the position board can not be cancelled. In this case, turn off the power for the position board. MC200

7 - 16

7. AUXILIARY FUNCTION

7.6.2 Interrupt conditions

(1) Interrupt conditions (system parameters) When interrupts the system are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to the parameter interrupt conditions (parameter No.0004).

API LIBRARY

Use sscChangeParameter to set interrupt conditions.

Parameter No.0004 Interrupt conditions Bit Symbol Name Bit Symbol Name

0 SYSE Current system error

8 OASF Outputting with factor of other axes start interrupt

1 CALM Current system alarm

9 PPI Outputting with factor of pass position interrupt

2 EMIO During forced stop 10

Reserved

3

Reserved

11

4 12

5 13

6 14

7 OCME Operation cycle alarm 15 (2) Interrupt conditions (control parameters)

When interrupts each axis are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to the interrupt conditions 1 (parameter No.0204) and the interrupt conditions 2 (parameter No.0205) of the parameter.

Parameter No.0204 Interrupt conditions 1 Parameter No.0205 Interrupt conditions 2

Bit Symbol Signal name Bit Symbol Signal name

0 RDY Servo ready 0 GAINO During gain switching 1 INP In-position 1 Reserved 2 ZSP Zero speed 2 TLSO Selecting torque limit 3 ZPAS Passed Z-phase 3 SPC During PID control 4 TLC Torque limit effective 4 Reserved 5 SALM Servo alarm 5 MAK1 Mark detection 1 6 SWRN Servo warning 6 MAK2 Mark detection 2

7 ABSE Absolute position erased

7 PRSMO During continuous operation to torque control

8 OP During operation 8 IWT Interference check standby 9 CPO Rough match 9 SINP Servo amplifier in-position

10 PF Positioning complete 10

Reserved

11 ZP Home position return complete 11 12 SMZ During smoothing of stopping 12 13 OALM Operation alarm 13 14 OPF Completion of operation 14 15 PSW Position switch 15

Interrupts occur on the leading edge of the signal corresponding to the interrupt condition. Multiple interrupt conditions can be selected.

7 - 17

7. AUXILIARY FUNCTION

(3) Interrupt conditions (RIO control parameters)

When interrupts each station are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to the interrupt conditions (parameter No.0203) of the parameter.

Parameter No.0203 Interrupt conditions

Bit Symbol Signal name Bit Symbol Signal name

0

Reserved

8

Reserved 1 9 2 10 3 11 4 12 5 RUALM RIO module alarm 13 RCALM RIO control alarm 6 RUWRN RIO module warning 14

Reserved 7 Reserved 15

Interrupts occur on the leading edge of the signal corresponding to the interrupt condition. Multiple interrupt conditions can be selected.

7 - 18

7. AUXILIARY FUNCTION

7.6.3 Factor of interrupt

API LIBRARY

The factor of interrupt check is processed by the interrupt thread that is created when calling the sscIntStart function. Thus processing by user program is unnecessary.

Use the following functions for wait of factor of interrupt. System and factor of axis interrupt : sscWaitIntEvent/sscWaitIntEventMulti Factor of other axes start interrupt : sscWaitIntOasEvent Factor of pass position interrupt : sscWaitIntPassPosition

(1) Information of outputting with factor of interrupt

When an interrupt occurs, the bit corresponding to the axis No., station No., or system which is the cause of the interrupt turns on.

Address Content Remarks

MR-MC2 MR-MC3 04C0 002000

Outputting with factor of axis interrupt 1 Axis 1 (bit 0) to axis 32 (bit 31) 04C1 002001 04C2 002002 04C3 002003 04C4 002004

Outputting with factor of axis interrupt 2 (Note)

Axis 33 (bit 0) to axis 64 (bit 31) 04C5 002005 04C6 002006 04C7 002007

002008

Reserved

002009 00200A 00200B 00200C 00200D 00200E 00200F

04C8 002010 Outputting with factor of station interrupt (Note)

Station 1 (bit0) to station 4 (bit3) MC200 Station 1 (bit0) to station 16 (bit15) MC300

04C9 002011 002012

002013 04CA 002014 Outputting with factor of system interrupt System (bit 0) 04CB 002015

Reserved

04CC 002016 04CD 002017 04CE 002018 04CF 002019

00201A 00201B 00201C 00201D 00201E 00201F

Note. When using MR-MC2 , 04C4 to 04C7, and 04C9 are "Reserved".

7 - 19

7. AUXILIARY FUNCTION

(2) Factor of axis interrupt

Address Content

Address Content

MR-MC2 MR-MC3 MR-MC2 MR-MC3 04D0 002020

Factor of interrupt Axis 1

04FC 00204C

Factor of interrupt Axis 12 04D1 002021 04FD 00204D 04D2 002022 04FE 00204E 04D3 002023 04FF 00204F 04D4 002024

Factor of interrupt Axis 2

0500 002050

Factor of interrupt Axis 13 04D5 002025 0501 002051 04D6 002026 0502 002052 04D7 002027 0503 002053 04D8 002028

Factor of interrupt Axis 3

0504 002054

: 04D9 002029

: : 04DA 00202A 04DB 00202B 054B 00209B 04DC 00202C

Factor of interrupt Axis 4

054C 00209C

Factor of interrupt Axis 32 04DD 00202D 054D 00209D 04DE 00202E 054E 00209E 04DF 00202F 054F 00209F 04E0 002030

Factor of interrupt Axis 5

0550 0020A0 Factor of interrupt Axis 33 (Note)

04E1 002031 0551 0020A1 04E2 002032 0552 0020A2 04E3 002033 0553 0020A3 04E4 002034

Factor of interrupt Axis 6

0554 0020A4

: 04E5 002035

: : 04E6 002036 04E7 002037 058B 0020DB 04E8 002038

Factor of interrupt Axis 7

058C 0020DC Factor of interrupt Axis 48 (Note)

04E9 002039 058D 0020DD 04EA 00203A 058E 0020DE 04EB 00203B 058F 0020DF 04EC 00203C

Factor of interrupt Axis 8

0020E0

Factor of interrupt Axis 49 04ED 00203D 0020E1 04EE 00203E 0020E2 04EF 00203F 0020E3 04F0 002040

Factor of interrupt Axis 9

0020E4

: 04F1 002041

: 04F2 002042 04F3 002043 00211B 04F4 002044

Factor of interrupt Axis 10

00211C

Factor of interrupt Axis 64 04F5 002045 00211D 04F6 002046 00211E 04F7 002047 00211F 04F8 002048

Factor of interrupt Axis 11

002120

Reserved 04F9 002049

: 04FA 00204A 04FB 00204B 00221F

Note. When using MR-MC2 , 0550 to 058F is "Reserved".

7 - 20

7. AUXILIARY FUNCTION

(a) Details on factor of interrupt on axis n

The addresses in the table are the addresses for the first axis. For the second axis and after, increase in units of 04h for each axis.

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

04D0 to

04D3

002020 to

002023

0 iRDY Servo ready (interrupt) 1 iINP In-position (interrupt) 2 iZSP Zero speed (interrupt) 3 iZPAS Passed Z-phase (interrupt) 4 iTLC Torque limit effective (interrupt) 5 iSALM Servo alarm (interrupt) 6 iSWRN Servo warning (interrupt) 7 iABSE Absolute position erased (interrupt) 8 iOP During operation (interrupt) 9 iCPO Rough match (interrupt) 10 iPF Positioning complete (interrupt) 11 iZP Home position return complete (interrupt) 12 iSMZ During smoothing of stopping (interrupt) 13 iOALM Operation alarm (interrupt) 14 iOPF Completion of operation (interrupt) 15 iPSW Position switch (interrupt) 16 iGAINO During gain switching (interrupt)

17 iFCLSO Fully closed loop control changing (interrupt)

18 iTLSO Selecting torque limit (interrupt) 19 iSPC During PID control (interrupt) 20 Reserved 21 iMAK1 Mark detection 1 (interrupt) 22 iMAK2 Mark detection 2 (interrupt)

23 iPRSMO During continuous operation to torque control (interrupt)

24 iIWT Interference check standby (interrupt) 25 iSINP Servo amplifier in-position (interrupt) 26

Reserved

27 28 29 30 31

Note. OFF: No factor of interrupt exists. ON: A factor of interrupt exists.

7 - 21

7. AUXILIARY FUNCTION

(3) System interrupt factors

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 0590 002220

Factor of system interrupt 0598 002238

Factor of pass position interrupt 1 0591 002221 0599 002239 0592 002222

Reserved

059A 00223A 0593 002223 059B 00223B

002224 059C 00223C

Factor of pass position interrupt 2 002225 059D 00223D 002226 059E 00223E 002227 059F 00223F

0594 002228 Factor of other axes start interrupt MC200

Factor of other axes start interrupt 1 MC300

002240

Factor of pass position interrupt 3 0595 002229 002241 0596 00222A 002242 0597 00222B 002243

00222C

Factor of other axes start interrupt 2

002244

Factor of pass position interrupt 4 00222D 002245 00222E 002246 00222F 002247 002230

Reserved

05A0 002248 Reserved 002231 : :

002232 05AF 00229F 002233 002234 002235 002236 002237

(a) Details on system interrupt factors

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

0590 to

0591

002220 to

002221

0 iSYSE System error (interrupt) 1 iCALM System alarm (interrupt) 2 iEMIO During forced stop (interrupt) 3

Reserved 4 5 6 7 iOCME Operation cycle alarm (interrupt) 8 iOASF Outputting with factor of other axes start interrupt (interrupt) 9 iPPI Outputting with factor of pass position interrupt (interrupt) 10

Reserved

11 12 13 14 15

Note. OFF: No factor of interrupt exists. ON: A factor of interrupt exists.

7 - 22

7. AUXILIARY FUNCTION

(b) Factor of other axes start interrupt

When the outputting with factor of other axes start interrupt (iOASF) is on, the bit corresponding to other axes start data No. turns on. 1) Factor of other axes start interrupt MC200 /Factor of other axes start interrupt 1 MC300

Address Bit Symbol Signal name

MR-MC2 MR-MC3 0594

to 0597

002228 to

00222B

0 iOAS1 Other axes start data 1 (interrupt) 1 iOAS2 Other axes start data 2 (interrupt) 2 iOAS3 Other axes start data 3 (interrupt) 3 iOAS4 Other axes start data 4 (interrupt) 4 iOAS5 Other axes start data 5 (interrupt) 5 iOAS6 Other axes start data 6 (interrupt) 6 iOAS7 Other axes start data 7 (interrupt) 7 iOAS8 Other axes start data 8 (interrupt) 8 iOAS9 Other axes start data 9 (interrupt) 9 iOAS10 Other axes start data 10 (interrupt)

10 iOAS11 Other axes start data 11 (interrupt) 11 iOAS12 Other axes start data 12 (interrupt) 12 iOAS13 Other axes start data 13 (interrupt) 13 iOAS14 Other axes start data 14 (interrupt) 14 iOAS15 Other axes start data 15 (interrupt) 15 iOAS16 Other axes start data 16 (interrupt) 16 iOAS17 Other axes start data 17 (interrupt) 17 iOAS18 Other axes start data 18 (interrupt) 18 iOAS19 Other axes start data 19 (interrupt) 19 iOAS20 Other axes start data 20 (interrupt) 20 iOAS21 Other axes start data 21 (interrupt) 21 iOAS22 Other axes start data 22 (interrupt) 22 iOAS23 Other axes start data 23 (interrupt) 23 iOAS24 Other axes start data 24 (interrupt) 24 iOAS25 Other axes start data 25 (interrupt) 25 iOAS26 Other axes start data 26 (interrupt) 26 iOAS27 Other axes start data 27 (interrupt) 27 iOAS28 Other axes start data 28 (interrupt) 28 iOAS29 Other axes start data 29 (interrupt) 29 iOAS30 Other axes start data 30 (interrupt) 30 iOAS31 Other axes start data 31 (interrupt) 31 iOAS32 Other axes start data 32 (interrupt)

7 - 23

7. AUXILIARY FUNCTION

2) Factor of other axes start interrupt 2

Address Bit Symbol Signal name

MR-MC2 MR-MC3 00222C

to 00222F

0 iOAS33 Other axes start data 33 (interrupt) 1 iOAS34 Other axes start data 34 (interrupt) 2 iOAS35 Other axes start data 35 (interrupt) 3 iOAS36 Other axes start data 36 (interrupt) 4 iOAS37 Other axes start data 37 (interrupt) 5 iOAS38 Other axes start data 38 (interrupt) 6 iOAS39 Other axes start data 39 (interrupt) 7 iOAS40 Other axes start data 40 (interrupt) 8 iOAS41 Other axes start data 41 (interrupt) 9 iOAS42 Other axes start data 42 (interrupt)

10 iOAS43 Other axes start data 43 (interrupt) 11 iOAS44 Other axes start data 44 (interrupt) 12 iOAS45 Other axes start data 45 (interrupt) 13 iOAS46 Other axes start data 46 (interrupt) 14 iOAS47 Other axes start data 47 (interrupt) 15 iOAS48 Other axes start data 48 (interrupt) 16 iOAS49 Other axes start data 49 (interrupt) 17 iOAS50 Other axes start data 50 (interrupt) 18 iOAS51 Other axes start data 51 (interrupt) 19 iOAS52 Other axes start data 52 (interrupt) 20 iOAS53 Other axes start data 53 (interrupt) 21 iOAS54 Other axes start data 54 (interrupt) 22 iOAS55 Other axes start data 55 (interrupt) 23 iOAS56 Other axes start data 56 (interrupt) 24 iOAS57 Other axes start data 57 (interrupt) 25 iOAS58 Other axes start data 58 (interrupt) 26 iOAS59 Other axes start data 59 (interrupt) 27 iOAS60 Other axes start data 60 (interrupt) 28 iOAS61 Other axes start data 61 (interrupt) 29 iOAS62 Other axes start data 62 (interrupt) 30 iOAS63 Other axes start data 63 (interrupt) 31 iOAS64 Other axes start data 64 (interrupt)

7 - 24

7. AUXILIARY FUNCTION

(c) Details on factor of other axes start interrupt

When the factor of other axes start interrupt (iOAS ) is on, the interrupt factor of other axes start status bit corresponding to other axes start data No. turns on.

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 0FE0 0048E0 Details on factor of other axes start interrupt 1

004900 Details on factor of other axes start interrupt 33 0FE1 0048E1 Details on factor of other axes start interrupt 2 004901 Details on factor of other axes start interrupt 34 0FE2 0048E2 Details on factor of other axes start interrupt 3 004902 Details on factor of other axes start interrupt 35 0FE3 0048E3 Details on factor of other axes start interrupt 4 004903 Details on factor of other axes start interrupt 36 0FE4 0048E4 Details on factor of other axes start interrupt 5 004904 Details on factor of other axes start interrupt 37 0FE5 0048E5 Details on factor of other axes start interrupt 6 004905 Details on factor of other axes start interrupt 38 0FE6 0048E6 Details on factor of other axes start interrupt 7 004906 Details on factor of other axes start interrupt 39 0FE7 0048E7 Details on factor of other axes start interrupt 8 004907 Details on factor of other axes start interrupt 40 0FE8 0048E8 Details on factor of other axes start interrupt 9 004908 Details on factor of other axes start interrupt 41 0FE9 0048E9 Details on factor of other axes start interrupt 10 004909 Details on factor of other axes start interrupt 42 0FEA 0048EA Details on factor of other axes start interrupt 11 00490A Details on factor of other axes start interrupt 43 0FEB 0048EB Details on factor of other axes start interrupt 12 00490B Details on factor of other axes start interrupt 44 0FEC 0048EC Details on factor of other axes start interrupt 13 00490C Details on factor of other axes start interrupt 45 0FED 0048ED Details on factor of other axes start interrupt 14 00490D Details on factor of other axes start interrupt 46 0FEE 0048EE Details on factor of other axes start interrupt 15 00490E Details on factor of other axes start interrupt 47 0FEF 0048EF Details on factor of other axes start interrupt 16 00490F Details on factor of other axes start interrupt 48 0FF0 0048F0 Details on factor of other axes start interrupt 17 004910 Details on factor of other axes start interrupt 49 0FF1 0048F1 Details on factor of other axes start interrupt 18 004911 Details on factor of other axes start interrupt 50 0FF2 0048F2 Details on factor of other axes start interrupt 19 004912 Details on factor of other axes start interrupt 51 0FF3 0048F3 Details on factor of other axes start interrupt 20 004913 Details on factor of other axes start interrupt 52 0FF4 0048F4 Details on factor of other axes start interrupt 21 004914 Details on factor of other axes start interrupt 53 0FF5 0048F5 Details on factor of other axes start interrupt 22 004915 Details on factor of other axes start interrupt 54 0FF6 0048F6 Details on factor of other axes start interrupt 23 004916 Details on factor of other axes start interrupt 55 0FF7 0048F7 Details on factor of other axes start interrupt 24 004917 Details on factor of other axes start interrupt 56 0FF8 0048F8 Details on factor of other axes start interrupt 25 004918 Details on factor of other axes start interrupt 57 0FF9 0048F9 Details on factor of other axes start interrupt 26 004919 Details on factor of other axes start interrupt 58 0FFA 0048FA Details on factor of other axes start interrupt 27 00491A Details on factor of other axes start interrupt 59 0FFB 0048FB Details on factor of other axes start interrupt 28 00491B Details on factor of other axes start interrupt 60 0FFC 0048FC Details on factor of other axes start interrupt 29 00491C Details on factor of other axes start interrupt 61 0FFD 0048FD Details on factor of other axes start interrupt 30 00491D Details on factor of other axes start interrupt 62 0FFE 0048FE Details on factor of other axes start interrupt 31 00491E Details on factor of other axes start interrupt 63 0FFF 0048FF Details on factor of other axes start interrupt 32 00491F Details on factor of other axes start interrupt 64

7 - 25

7. AUXILIARY FUNCTION

1) Details on factor of other axes start interrupt

Address (Note 1) Bit

Symbol (Note 2)

Signal name MR-MC2 MR-MC3

0FE0 0048E0 0 iOSOP Other axes start notice (interrupt) 1 iOSFIN Other axes start complete (interrupt) 2 iOSERR Other axes start incomplete (interrupt) 3

Reserved 4 5 6 7

Note 1. The addresses in the table are the addresses for the other axes start status table 1. For the other axes status table 2 and after, increase in units of 1h for each other axes start status table.

2. : Other axes start No.

(d) Factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI) is on, the bit corresponding to the pass position condition number of the factor of the pass position interrupt turns on. 1) Factor of pass position interrupt 1

Address Bit Symbol Signal name

MR-MC2 MR-MC3 0598

to 059B

002238 to

00223B

0 iPPI1 Pass position condition 1 (interrupt) 1 iPPI2 Pass position condition 2 (interrupt) 2 iPPI3 Pass position condition 3 (interrupt) 3 iPPI4 Pass position condition 4 (interrupt) 4 iPPI5 Pass position condition 5 (interrupt) 5 iPPI6 Pass position condition 6 (interrupt) 6 iPPI7 Pass position condition 7 (interrupt) 7 iPPI8 Pass position condition 8 (interrupt) 8 iPPI9 Pass position condition 9 (interrupt) 9 iPPI10 Pass position condition 10 (interrupt)

10 iPPI11 Pass position condition 11 (interrupt) 11 iPPI12 Pass position condition 12 (interrupt) 12 iPPI13 Pass position condition 13 (interrupt) 13 iPPI14 Pass position condition 14 (interrupt) 14 iPPI15 Pass position condition 15 (interrupt) 15 iPPI16 Pass position condition 16 (interrupt) 16 iPPI17 Pass position condition 17 (interrupt) 17 iPPI18 Pass position condition 18 (interrupt) 18 iPPI19 Pass position condition 19 (interrupt) 19 iPPI20 Pass position condition 20 (interrupt) 20 iPPI21 Pass position condition 21 (interrupt) 21 iPPI22 Pass position condition 22 (interrupt) 22 iPPI23 Pass position condition 23 (interrupt) 23 iPPI24 Pass position condition 24 (interrupt) 24 iPPI25 Pass position condition 25 (interrupt) 25 iPPI26 Pass position condition 26 (interrupt) 26 iPPI27 Pass position condition 27 (interrupt) 27 iPPI28 Pass position condition 28 (interrupt) 28 iPPI29 Pass position condition 29 (interrupt) 29 iPPI30 Pass position condition 30 (interrupt) 30 iPPI31 Pass position condition 31 (interrupt) 31 iPPI32 Pass position condition 32 (interrupt)

7 - 26

7. AUXILIARY FUNCTION

2) Factor of pass position interrupt 2

Address Bit Symbol Signal name

MR-MC2 MR-MC3 059C

to 059F

00223C to

00223F

0 iPPI33 Pass position condition 33 (interrupt) 1 iPPI34 Pass position condition 34 (interrupt) 2 iPPI35 Pass position condition 35 (interrupt) 3 iPPI36 Pass position condition 36 (interrupt) 4 iPPI37 Pass position condition 37 (interrupt) 5 iPPI38 Pass position condition 38 (interrupt) 6 iPPI39 Pass position condition 39 (interrupt) 7 iPPI40 Pass position condition 40 (interrupt) 8 iPPI41 Pass position condition 41 (interrupt) 9 iPPI42 Pass position condition 42 (interrupt)

10 iPPI43 Pass position condition 43 (interrupt) 11 iPPI44 Pass position condition 44 (interrupt) 12 iPPI45 Pass position condition 45 (interrupt) 13 iPPI46 Pass position condition 46 (interrupt) 14 iPPI47 Pass position condition 47 (interrupt) 15 iPPI48 Pass position condition 48 (interrupt) 16 iPPI49 Pass position condition 49 (interrupt) 17 iPPI50 Pass position condition 50 (interrupt) 18 iPPI51 Pass position condition 51 (interrupt) 19 iPPI52 Pass position condition 52 (interrupt) 20 iPPI53 Pass position condition 53 (interrupt) 21 iPPI54 Pass position condition 54 (interrupt) 22 iPPI55 Pass position condition 55 (interrupt) 23 iPPI56 Pass position condition 56 (interrupt) 24 iPPI57 Pass position condition 57 (interrupt) 25 iPPI58 Pass position condition 58 (interrupt) 26 iPPI59 Pass position condition 59 (interrupt) 27 iPPI60 Pass position condition 60 (interrupt) 28 iPPI61 Pass position condition 61 (interrupt) 29 iPPI62 Pass position condition 62 (interrupt) 30 iPPI63 Pass position condition 63 (interrupt) 31 iPPI64 Pass position condition 64 (interrupt)

7 - 27

7. AUXILIARY FUNCTION

3) Factor of pass position interrupt 3

Address Bit Symbol Signal name

MR-MC2 MR-MC3 002240

to 002243

0 iPPI65 Pass position condition 65 (interrupt) 1 iPPI66 Pass position condition 66 (interrupt) 2 iPPI67 Pass position condition 67 (interrupt) 3 iPPI68 Pass position condition 68 (interrupt) 4 iPPI69 Pass position condition 69 (interrupt) 5 iPPI70 Pass position condition 70 (interrupt) 6 iPPI71 Pass position condition 71 (interrupt) 7 iPPI72 Pass position condition 72 (interrupt) 8 iPPI73 Pass position condition 73 (interrupt) 9 iPPI74 Pass position condition 74 (interrupt)

10 iPPI75 Pass position condition 75 (interrupt) 11 iPPI76 Pass position condition 76 (interrupt) 12 iPPI77 Pass position condition 77 (interrupt) 13 iPPI78 Pass position condition 78 (interrupt) 14 iPPI79 Pass position condition 79 (interrupt) 15 iPPI80 Pass position condition 80 (interrupt) 16 iPPI81 Pass position condition 81 (interrupt) 17 iPPI82 Pass position condition 82 (interrupt) 18 iPPI83 Pass position condition 83 (interrupt) 19 iPPI84 Pass position condition 84 (interrupt) 20 iPPI85 Pass position condition 85 (interrupt) 21 iPPI86 Pass position condition 86 (interrupt) 22 iPPI87 Pass position condition 87 (interrupt) 23 iPPI88 Pass position condition 88 (interrupt) 24 iPPI89 Pass position condition 89 (interrupt) 25 iPPI90 Pass position condition 90 (interrupt) 26 iPPI91 Pass position condition 91 (interrupt) 27 iPPI92 Pass position condition 92 (interrupt) 28 iPPI93 Pass position condition 93 (interrupt) 29 iPPI94 Pass position condition 94 (interrupt) 30 iPPI95 Pass position condition 95 (interrupt) 31 iPPI96 Pass position condition 96 (interrupt)

7 - 28

7. AUXILIARY FUNCTION

4) Factor of pass position interrupt 4

Address Bit Symbol Signal name

MR-MC2 MR-MC3 002244

to 002247

0 iPPI97 Pass position condition 97 (interrupt) 1 iPPI98 Pass position condition 98 (interrupt) 2 iPPI99 Pass position condition 99 (interrupt) 3 iPPI100 Pass position condition 100 (interrupt) 4 iPPI101 Pass position condition 101 (interrupt) 5 iPPI102 Pass position condition 102 (interrupt) 6 iPPI103 Pass position condition 103 (interrupt) 7 iPPI104 Pass position condition 104 (interrupt) 8 iPPI105 Pass position condition 105 (interrupt) 9 iPPI106 Pass position condition 106 (interrupt)

10 iPPI107 Pass position condition 107 (interrupt) 11 iPPI108 Pass position condition 108 (interrupt) 12 iPPI109 Pass position condition 109 (interrupt) 13 iPPI110 Pass position condition 110 (interrupt) 14 iPPI111 Pass position condition 111 (interrupt) 15 iPPI112 Pass position condition 112 (interrupt) 16 iPPI113 Pass position condition 113 (interrupt) 17 iPPI114 Pass position condition 114 (interrupt) 18 iPPI115 Pass position condition 115 (interrupt) 19 iPPI116 Pass position condition 116 (interrupt) 20 iPPI117 Pass position condition 117 (interrupt) 21 iPPI118 Pass position condition 118 (interrupt) 22 iPPI119 Pass position condition 119 (interrupt) 23 iPPI120 Pass position condition 120 (interrupt) 24 iPPI121 Pass position condition 121 (interrupt) 25 iPPI122 Pass position condition 122 (interrupt) 26 iPPI123 Pass position condition 123 (interrupt) 27 iPPI124 Pass position condition 124 (interrupt) 28 iPPI125 Pass position condition 125 (interrupt) 29 iPPI126 Pass position condition 126 (interrupt) 30 iPPI127 Pass position condition 127 (interrupt) 31 iPPI128 Pass position condition 128 (interrupt)

7 - 29

7. AUXILIARY FUNCTION

(e) Details on factor of pass position interrupt

When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number turns on.

Address Content

MR-MC2 MR-MC3 0FA0 0047E0

Details on factor of pass position interrupt

Details on factor of pass position interrupt 1 0FA1 0047E1 Details on factor of pass position interrupt 2 0FA2 0047E2 Details on factor of pass position interrupt 3 0FA3 0047E3 Details on factor of pass position interrupt 4

: : : 0FDF 00481F Details on factor of pass position interrupt 64

004820 Details on factor of pass position interrupt 65

: : 00485F Details on factor of pass position interrupt 128

1) Details on factor of pass position interrupt

Address (Note 1) Bit

Symbol (Note 2)

Signal name MR-MC2 MR-MC3

0FA0 0047E0 0 iPPIF Pass position interrupt complete (interrupt) 1 iPPIE Pass position interrupt incompletion (interrupt) 2

Reserved

3 4 5 6 7

Note 1. The addresses in the table are the addresses for the pass position condition number 1. For the pass position condition number 2 and after, increase in units of 01h for each pass position condition number.

2. : Pass position condition number.

7 - 30

7. AUXILIARY FUNCTION

(4) Station interrupt factors

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

05B0 0022A0 Station interrupt factor station 1

0022B2 Station interrupt factor station 10

05B1 0022A1 0022B3 05B2 0022A2

Station interrupt factor station 2 0022B4

Station interrupt factor station 11 05B3 0022A3 0022B5 05B4 0022A4

Station interrupt factor station 3 0022B6

Station interrupt factor station 12 05B5 0022A5 0022B7 05B6 0022A6

Station interrupt factor station 4 0022B8

Station interrupt factor station 13 05B7 0022A7 0022B9 05B8 0022A8

Station interrupt factor station 5 (Note) 0022BA

Station interrupt factor station 14 05B9 0022A9 0022BB 05BA 0022AA

Station interrupt factor station 6 (Note) 0022BC

Station interrupt factor station 15 05BB 0022AB 0022BD 05BC 0022AC

Station interrupt factor station 7 (Note) 0022BE

Station interrupt factor station 16 05BD 0022AD 0022BF 05BE 0022AE

Station interrupt factor station 8 (Note) 0022C0

Reserved 05BF 0022AF 0022C1

0022B0 Station interrupt factor station 9

: 0022B1 0022DF

Note. When using MR-MC2 , 05B8 to 05BF is "Reserved".

(a) Details on station n interrupt factors The addresses in the table are the addresses for the first axis. For the second axis and after, increase in units of 02h for each axis.

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

05B0 to

05B1

0022A0 to

0022A1

0 iSYSE System error (interrupt) 1 iCALM System alarm (interrupt) 2 iEMIO During forced stop (interrupt) 3

Reserved 4 5 iRUALM RIO module alarm (interrupt) 6 iRUWRN RIO module warning (interrupt) 7 iOCME Operation cycle alarm (interrupt) 8 iOASF Outputting with factor of other axes start interrupt (interrupt) 9 iPPI Outputting with factor of pass position interrupt (interrupt)

10 Reserved 11

12 13 iRCALM RIO control alarm (interrupt) 14

Reserved 15

Note. OFF: No factor of interrupt exists. ON: A factor of interrupt exists.

7 - 31

7. AUXILIARY FUNCTION

7.6.4 Interrupt processing example

Write the interrupt signal clear register (Note 2)

Set an event for the interrupt service routine (ISR)

Interrupt Handler

CH number S 1

No

Yes

No

Yes

CH number S S 1

Is the maximum number of CH S?

Finish

Capture of system interrupt factors and interrupt factors for each axis

Execution of processing for each cause for interrupt (Note 3)

No

Yes

Turn on the interrupt processing complete signal (ITE)

Waiting for setting of event from interrupt handler

Interrupt service routine (ISR)

Is the outputting with factor of interrupt (ITO) OFF?

Is the during interrupt output signal (Note1) for CH number

S ON?

Note 1. Confirm the bit(s) for the during interrupt output signal. (If the bit(s) are on: a current interrupt is being output, while if the bit(s) are OFF: there is not a current interrupt)

2. When 1 is written in the interrupt signal clear register, the output of the interrupt is cancelled. 3. Implement processing necessary for the different causes of interrupts, such as for completion of operation and generation of an

operation alarm. (example) When an operation alarm occurs, send a stop request to other axes that are in operation.

API LIBRARY This interrupt processing example is processed by the device driver thus

processing by user program is unnecessary.

7 - 32

7. AUXILIARY FUNCTION

7.7 User watchdog function

User watchdog function is a function that checks for errors of the user program. Reset the value of watchdog check counter on the dual port memory using a host controller on a periodic basis. If the watchdog check counter value is not reset at the designated time (watchdog timer counts down to zero), it is determined that the host controller error and a forced stop status is entered. The position board decrements the watchdog timer on each control cycle until the watchdog check counter value is reset. When the watchdog check counter value is reset, it is reset to the value set for the watchdog timer start counter.

POINT When the watchdog timer start counter is set to 0, user watchdog is not

executed.

API LIBRARY Use the sscWdEnable/sscWdDisable functions to enable/disable user watchdog

function. Use the sscChangeWdCounter function to update the watchdog check counter. For a detailed procedure for watchdog, refer to the sample program (WatchDog)

contained on the utility software. (1) Normal conditions

n n+1 n+2 n+3

4 3 2 5 4 3 5 4 3 5 4 3Watchdog timer

Watchdog check counter

sscChangeWdCounter function

sscChangeWdCounter function

sscChangeWdCounter function

sscChangeWdCounter function

(2) When host controller overruns

n n+1

4 3 2 5 4 3 2 1 0Watchdog timer

Watchdog check counter

Host controller determined to be in overrun and a forced stop status is set.

7 - 33

7. AUXILIARY FUNCTION

7.8 Software reboot function

Through using the software reboot function, the host controller can restart the position board using software. Perform the software reboot according to the following procedure. (Refer to the system data table for the command/status signal.)

Turn on reboot preparation signal (RBR)

Turn on execution of reboot signal (RBS)

Start

Set reboot ID

No

Yes

Is the reboot preparation OK? (RBOK = ON?)

* Set reboot ID to 1EA5.

Finish

sscReboot function

POINT When reboot preparation is turned on, it becomes a forced stop status. If an erroneous reboot ID is set and reboot preparation turned on or execution

of reboot turned on without performing reboot preparation, a reboot preparation error occurs. If a reboot preparation error occurs, turn off reboot preparation and execution of reboot and restart the process from the beginning.

Accessing the position board via the bus during a software reboot may cause the host controller connected to the bus to freeze. MC300

API LIBRARY

Use the sscReboot function to perform software reboot.

7 - 34

7. AUXILIARY FUNCTION

7.9 Parameter backup

POINT When there are a lot of changing parameters of the position board and servo

amplifier and the parameter changing time effects the system startup, saving parameters in the flash ROM of the position board by this function can shorten the time of system startup.

(1) Flash ROM parameter backup

The contents of the parameter data area in the position board can be backed up to the flash ROM. When executing flash ROM parameter read (system command code: 0004h) at system preparation completion (system status code: 0001h), backup the parameter in the flash ROM with this function. Execute parameter backup in the flash ROM in the following procedure.

Note. At factory shipment, the initial value is set to each parameter.

No

Flash ROM transfer ID setting

Yes

Turn on flash ROM transfer execution (FTS).

End

Turn on flash ROM transfer preparation (FTR).

No

Yes

Turn off flash ROM transfer execution (FTS).

Turn off flash ROM transfer preparation (FTR).

Parameter setting

* Transfer parameters to flash ROM

No

* Set A51E to flash ROM transfer ID.

Start

Yes (Note 8,9)

* Set parameters in the position board using the parameter write function.

sscSaveAllParameterToFlashROM function

Flash ROM transfer

preparation completion? (FROK=ON?)

Flash ROM transfer error? (FSNG = OK?)

Flash ROM transfer complete?

(FSOK=ON?)

Check whether the number of write accesses to flash ROM error (system alarm

36) occurs.

7 - 35

7. AUXILIARY FUNCTION

Note 1. The flash ROM parameter backup function becomes available after the system preparation completion

(system status code: 0001h). 2. When the flash ROM transfer preparation error (FRNG) or the flash ROM transfer error (FSNG) occurs, check the procedure and

restart the process from the beginning. 3. Do not turn off the power supply of the position board, or execute the software reboot function during the parameter backup in the

flash ROM. If flash ROM parameter read is executed before normal backup completion, flash ROM parameter read error (system status code: 0005h) occurs. In this case, execute parameter initialization (system command code: 0003h), set parameters as required and backup data to flash ROM again.

4. When flash ROM parameter read is executed, the value of gain of the servo amplifier is the backed up value in the flash ROM, so vibration or abnormal sound may occur even when auto tuning is valid. Execute flash ROM backup after adjusting the gain of the servo amplifier.

5. Execute flash ROM backup after home position return is performed when the absolute position detection system is used. 6. Execute Note 5 above when changing a servo motor. 7. Execute flash ROM backup after changing a position board. 8. The flash ROM can be rewritten up to 100,000 times. If it exceeds 100,000 times, number of write accesses to flash ROM error

(system alarm 36, detail 01) occurs and parameter backup will not be performed. 9. The flash ROM can be rewritten up to 25 times after every system preparation completion. If it exceeds 25 times, number of write

accesses to flash ROM error (system alarm 36, detail 03) occurs and parameter backup will not be performed. Rewriting times to the flash ROM is cleared to 0 by resetting the system alarm or the software reboot. The parameter backup times executed after system preparation completion can be checked in the parameter backup times (system monitor No.040A).

10. Perform the parameter backup while the operation of all axes is stopped. 11. Writing and reading parameters are impossible during the flash ROM transfer. 12. It takes approximately 5 minutes from flash ROM transfer execution until flash ROM transfer is completed. MC300

7 - 36

7. AUXILIARY FUNCTION

(2) Flash ROM parameter initialization

The contents of the parameters which is backed up in the flash ROM is changed to the initial value.

Yes

Turn on flash ROM initialization execution (FIS).

End

No

Yes

Flash ROM transfer ID setting

* Transfer parameter the initial values to the flash ROM.

No

* Set A55A to flash ROM transfer ID.

Start

Yes (Note 4,5)

No

Turn off flash ROM initialization execution (FIS).

Turn off flash ROM initialization preparation

(FIR).

Flash ROM initialization complete?

(FIOK=ON?)

Flash ROM initialization error?

(FING=OK?)

Flash ROM initialization

preparation complete? (FIROK=ON?)

Turn on flash ROM initialization preparation (FIR).

Check whether the number of write accesses to flash ROM

error (system alarm 36) occurs.

Note 1. The flash ROM initialization function becomes available after the parameter initialization completion (system status code: 0003h) or the flash ROM parameter read (system status code: 0004h) is executed.

2. When the flash ROM initialization preparation error (FIRNG) or the flash ROM initialization error (FING) occurs, check the procedure and restart the process from the beginning.

3. Do not turn off the power supply of the position board while transferring parameter initial values to the flash ROM. If flash ROM parameter read is executed before normal initialization completion, flash ROM parameter read error (system status code: 0005h) occurs.

4. The flash ROM can be rewritten up to 100,000 times. If it exceeds 100,000 times, number of write accesses to flash ROM error (system alarm 36, detail 01) occurs and parameter initialization will not be performed. The parameter backup times executed (including flash ROM parameter initialization times) can be checked in the parameter backup times (system monitor No.040C, 040D).

5. The flash ROM can be rewritten up to 25 times after every system preparation completion. If it exceeds 25 times, number of write accesses to flash ROM error (system alarm 36, detail 03) occurs and parameter backup will not be performed. Rewriting times to the flash ROM is cleared to 0 by resetting the system alarm or the software reboot. The parameter backup times executed after system preparation completion can be checked in the parameter backup times (system monitor No.040A).

6. Perform the flash ROM parameter initialization while the operation of all axes is stopped. 7. Writing and reading parameters are impossible during the flash ROM initialization. 8. It takes approximately 5 minutes from flash ROM transfer execution until flash ROM transfer is completed. MC300

7 - 37

7. AUXILIARY FUNCTION

API LIBRARY

For flash ROM parameter initialization, save the flash ROM parameters with the sscSaveAllParameterToFlashROM function after initializing the parameters with the sscResetAllParameter function.

(3) Flash ROM parameter reading

The parameters backed up in the flash ROM is read when the system preparation is completed (system status code: 0001h).

sscLoadAllParameterFromFlashROM function

Yes

End

No

Yes

No

Start

Yes

No System preparation

completion? (system status code:

0001h?)

Perform the flash ROM parameter reading.

System command code: 0004h

Flash ROM parameter read completion?

(system status code: 0004h?)

Flash ROM parameter read error?

(system status code: 0005h?)

7 - 38

7. AUXILIARY FUNCTION

7.10 Test mode

Servo amplifier can be adjusted using test operation function (JOG, test positioning, machine analyzer etc.) of the MR Configurator2 attached to the position board using a USB connection. This sets the position board to test mode signal (TSTO) and operation (such as automatic operation) from the position board can not be performed. In order to perform operations using the position board, the system must be restarted. Refer to the servo amplifier instruction manual on your servo amplifier and/or MR Configurator2 help concerning MR Configurator2 test operation.

API LIBRARY To check if test mode (TSTO) is ON/OFF, check if SSC_STSBIT_AX_TSTO is

ON/OFF with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.

7.10.1 Structural diagram

(1) Under normal operation

Test tool

MR Configurator2

Position board status, monitor data monitoring etc.

Position board

Host controller

Dual port memory Operation request to position board

Servo amplifier

USB SSCNET /H

(2) While in test mode

MR Configurator2

Machine analyzer request etc.

Position board

Host controller

Dual port memory Position board status, monitor data monitoring etc.

Test tool

Servo amplifier

Data from MR Configurator2 transferred to servo amplifier

USB

SSCNET /H

7 - 39

7. AUXILIARY FUNCTION

7.10.2 Test operation mode

(1) Limitations (a) If operation is started using the position board, an in test mode error (operation alarm 1A, detail 01)

occurs and operation can not be performed.

(b) The commands to servo amplifier (servo-on/off, servo alarm reset, torque limit command etc.) are invalid. Monitoring and reading and writing of parameters can be performed as normal.

(2) Transition to test mode

In the following cases, it is not possible to transit to test mode. Confirm error messages on the MR Configurator2. (a) While not in system running (system status code 000Ah)

(b) While an axis is in operation

(c) While an axis has servo alarm

(3) When a servo parameter has been changed using the MR Configurator2

If a servo parameter is changed at the MR Configurator2 using the machine analyzer etc., it is necessary to reflect the parameters that are managed by the host controller for all the parameters that were changed. As the parameters that were changed can be confirmed using the "servo parameter change number", read the parameter and reflect it to the parameters being managed by the host controller.

7 - 40

7. AUXILIARY FUNCTION

7.11 Reconnect/disconnect function

7.11.1 Disconnection function summary

By turning on the disconnection command, SSCNET communication with selected axis and later can be disconnected. To use this function, set the consistency check selection at system startup of the control cycle (parameter No.0002) to invalid. This function becomes available after the system is started. The axes whose communication is disconnected become non-communicating axes, so their power supplies can be turned off and SSCNET cables can be detached. At this time, communicating axes are not affected. Note. If the power supplies of communicating axes are turned off or their SSCNET cables are detached, a system error of the position

board occurs and the axes enter forced stop status.

POINT Refer to the controlling axis information after the disconnection is completed to

check the bit corresponding to the non-communicating axis is off.

API LIBRARY Use the sscDisconnectSSCNET function to disconnect SSCNET

communication.

Communicating axes Axis 1Axis 15 Axis 14Axis 16

Communicating axes

Axis 16 Axis 14Axis 15 Axis 1 Non-communicating axes

Can be turned off and detached.

DI

SSCNET

DI

SSCNET

USB

USB

Set 000Dh to the disconnecting axis (axis 14) and turn on the disconnection command.

7 - 41

7. AUXILIARY FUNCTION

7.11.2 Reconnect function summary

This function is a function that searches for controlled and non-communicating axes from all connected axes and starts SSCNET communication with them by turning on the reconnection command (RCC). To use this function, set the consistency check selection at system startup of the control cycle (parameter No.0002) to invalid. This function becomes available after the system is started.

POINT Set all parameters related to reconnecting axes before system startup, including

the setting of control axis (parameter No.0200). Update time synchronization information before turning ON reconnection

command (RCC). Refer to the controlling axis information after the reconnection is completed to

check the bit corresponding to the communicating axis is on. When an axis which has completed home position return is reconnected after

being disconnected, it is in a home position return incomplete status (home position return request (ZREQ) is ON) at the time of reconnection. (Except for when absolute position detection system is valid and absolute position was correctly restored, and when no home position is valid (parameter No.0200))

API LIBRARY

Use the sscReconnectSSCNET function to reconnect SSCNET communication. Update the time synchronization information with the sscReconnectSSCNET

function.

7 - 42

7. AUXILIARY FUNCTION

Communicating axes

Axis 16 Axis 14Axis 15 Axis 1 Non-communicating axes

Axis 16 Axis 14Axis 15 Axis 1

Communicating axes

DI

SSCNET

DI

SSCNET

USB

USB

Connect axis 1 to axis 14 and turn on the disconnection command.

7 - 43

7. AUXILIARY FUNCTION

7.11.3 Interface

(1) System command/status table (a) System command

Address Content

MR-MC2 MR-MC3 0434 000B64

Disconnection axis No. 0435 000B65

Note. Set the axis No., and station No. to the following values. Using MR-MC2 : Set axis No. to 0000h (axis 1) to 001Fh (axis 32), and station No. to 8000h (station 1) to 8003h (station 4). Using MR-MC3 : Set axis No. to 0000h (axis 1) to 003Fh (axis 64), and station No. to 8000h (station 1) to 800Fh (station 16).

(b) System status

Address Content

MR-MC2 MR-MC3 04A4 000C44 Error code of

reconnection/disconnection 04A5 000C45

Note. Set the axis No., and station No. to the following values. Using MR-MC2 : Set axis No. to 0000h (axis 1) to 001Fh (axis 32), and station No. to 8000h (station 1) to 8003h (station 4). Using MR-MC3 : Set axis No. to 0000h (axis 1) to 003Fh (axis 64), and station No. to 8000h (station 1) to 800Fh (station 16).

1) [Error code of reconnection/disconnection] No. Content Detail

0001h Disconnected axis specification error The axis (station) specified as the disconnecting axis (station) is not in communication.

0002h Reconnected axis No. duplication error The axis No. (station No.) of the reconnected axis (station) is already used.

0003h Reconnected axis type code error The vendor ID and type code of the reconnected axis (station) differ from the setting of the parameter (parameter No.021D, 021E).

0004h Reconnection error during communication error Execute reconnection during communication error. 0006h Communication cycle error An axis (station) that is not compatible with the set control

cycle (communication cycle) is connected.

(2) System command/status bit

(a) System command bit Address

Bit Symbol Signal name MR-MC2 MR-MC3

03EB 000B0B 0 RCC Reconnection command 1

Reserved 2 3 CCC Disconnection command 4

Reserved 5 6 7

7 - 44

7. AUXILIARY FUNCTION

(b) System status bit

Address Bit Symbol Signal name

MR-MC2 MR-MC3 045B 000BEB

0 RCO During reconnection processing

1 RCF Reconnection complete 2 RCE Reconnection error

3 CCO During disconnection processing

4 CCF Disconnection complete 5 CCE Disconnection error 6

Reserved

7 (3) System parameter Parameter

No. Symbol Name Initial value Unit Setting range Function

0002 *SYSOP2 System option 2 0000h

0000h to 0101h

0

Consistency check selection at system startup Set whether to perform consistency check selection for controlled axes setting at system startup. 0: Valid 1: Invalid

0 0

(4) System configuration information table

Address Content Remarks

MR-MC2 MR-MC3 06E0 000CD0 Controlling axis information (lower) MC200

Controlling axis information 1 MC300 (4-byte)

The bit corresponding to the axis which can currently be controlled (SSCNET communicating axis or the amplifier-less axis) turns on. The bit is the axis 1 (bit 0) to the axis 32 (bit 31).

06E1 000CD1 06E2 000CD2 06E3 000CD3 06E4 000CD4 Controlling axis information (upper) MC200

Controlling axis information 2 MC300 (4-byte)

Using MR-MC2 Fixed at 0.

Using MR-MC3 The bit corresponding to the axis which can currently be controlled (SSCNET communicating axis or the amplifier-less axis) turns on. The bit is the axis 33 (bit 0) to the axis 64 (bit 31).

06E5 000CD5 06E6 000CD6 06E7 000CD7

06E8 000CE0 Controlling station information (2-byte) MC200 (4-byte) MC300

The bit corresponding to the station which can currently be controlled (SSCNET communicating station or the remote I/O disconnect station) turns on. The bit is the station 1 (bit 0) to the station 4 (bit3). MC200

The bit is the station 1 (bit 0) to the station 16 (bit15). MC300

06E9 000CE1 000CE2

000CE3

7 - 45

7. AUXILIARY FUNCTION

7.11.4 Disconnection method

SSCNET communication disconnection is executed by turning on the disconnection command after the axis No. of the axis to be disconnected is specified. The flowchart of the disconnection is shown below.

Turn on the disconnection command (CCC).

No

Yes

Turn off the disconnection command (CCC).

END

Set the axis No. to be disconnected to

the disconnection axis (station) No.

No

START

Disconnection complete (CCF)

ON?

Disconnection error (CCE)

ON?

Error processing

Yes

Confirm the disconnected axis from the controlling axis(station) information.

sscDisconnectSSCNET function

Note. When the consistency check selection at system startup of the control cycle (parameter No.0002) is valid, disconnection error (CCE) turns on.

7 - 46

7. AUXILIARY FUNCTION

7.11.5 Reconnection method

SSCNET communication reconnection is executed by turning on the reconnection command. The axis No. to be connected axis is not needed to be specified. The flowchart of the reconnection is shown below.

sscReconnectSSCNET function

No

Yes

Turn off the reconnection command (RCC).

Turn on the reconnection command (RCC).

No

START

Reconnection complete (RCF)

ON? Reconnection

error (RCE) ON?

Error processing

Yes

Confirm the reconnected axis with the controlling axis(station) information.

END

7 - 47

7. AUXILIARY FUNCTION

7.11.6 Restrictions

The restrictions for SSCNET reconnect/disconnect function are shown below. (1) Linear interpolation startup MC200 /interpolation operation startup MC300

When the axis allocated to the same linear interpolation group MC200 /interpolation group MC300 is not connected, a primary axis linear interpolation startup error MC200 /interpolation startup error MC300 (operation alarm 40, detail 01) occurs.

(2) Tandem drive

When the axis allocated to the same tandem drive group is not connected, servo cannot be turned on during in the synchronous mode. During operation in non-synchronous micro-adjustment mode, the servo operates normally.

(3) Disconnect during operation

When SSCNET disconnection is executed to the axis which is during operation, servo is not controllable (operation alarm B0, detail 02) occurs and the servo stops by the dynamic brake or decelerates to stop depending on the setting of the servo amplifier.

(4) Multi-axis amplifier

When using SSCNET disconnect function in multi-axis amplifier such as MR-J4W - B, make sure that all axes in the unit are simultaneously disconnected. When the disconnection command is sent to the second axis or later in the same unit, the disconnection error (CCE) turns on.

(5) Turning off the power supply after disconnection

Turn off the power supply of the servo amplifier after confirming the LED indicates "AA" and SSCNET disconnection completed. For the SSCNET /H head module, check that the REM.LED is OFF before turning OFF power supply of the SSCNET /H head module. For the sensing module, check that the sensing SSCNET /H head module RUN.LED is flickering before turning OFF power supply of sensing module.

(6) Operation at the system startup

When the consistency check selection at system startup of the control cycle (parameter No.0002) is set to invalid and all control axes are not connected when system is started, an axis that has not been mounted exists (system error E400) does not occur and the system is started with the only connected axis.

(7) Input device signal

When a limit switch is allocated to a remote I/O input device and that input device allocated to the module is disconnected, the limit is continuously detected. However, when maintain status is set for RI control at communication error for control option 2 (parameter No.0201), the status before disconnection is maintained.

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7. AUXILIARY FUNCTION

7.12 Sampling

7.12.1 Summary

The sampling function is a function that monitors the servo amplifier status and samples this data. After sending the sampling start signal (SMPS), the following data is sampled every sampling period. The data is sampled in the sampling data buffer area in the position board up to 8192 points MC200 /65536 points MC300 . For MR-MC2 , in sampling with the sampling points exceeding 8192, the user program always needs to read sampling data during sampling. Data can be sampled up to 65536 points. (For details, refer to Section 7.12.10.)

POINT The sampling function can be used in the test tool. When using the graph function of the test tool using a USB connection, the data

can be sampled up to 8192 points since enough data transfer speed cannot be ensured.

API LIBRARY

For a detailed procedure for sampling, refer to the sample program (Sampling) contained on the utility software.

The sampled data can be read to the sampling data read area by specifying the sampling read page number. The sampled data is stored in the position board internal memory and initialized by power off of the position board or the software reboot.

7 - 49

7. AUXILIARY FUNCTION

(1) Sampling specification list

Item Specification

MR-MC2 MR-MC3 Number of sampling points Up to 65536 points (with a bus connection)

(Ring buffer of 8192 points) Up to 8192 points (when there is a test tool USB connection) When 0.88ms, approx. 7.3s. When 0.44ms, approx. 3.6s. When 0.22ms, approx. 1.8s. Note. When using 8192 points and a 1 sampling

cycle.

Up to 65536 points (with a bus or USB connection) (Ring buffer of 65536 points) When 0.88ms, approx. 58.2s. When 0.44ms, approx. 29.1s. When 0.22ms, approx. 14.6s. Note. When using 65536 points and a 1 sampling

cycle.

Sampling cycle Control cycle (1 to 256) Note. When 0.88ms, up to approx. 1863s.

Number of sampling items

Bits Up to 16 items Up to 32 items Data Up to 32 items (32 items set to either 2 or 4 bytes each)

Note. There can be a combination of up to 3 bit or data points of servo information per axis. The electrical current feedback monitor and the effective load ratio monitor have no restriction on the number of points allowed.

Sampling item content

Bits Command bits (address 1000 to 100F) Status bits (address 1060 to 106F) Note. Set through the operation information monitor.

Data Servo information (monitor) Operation information (monitor) System information (monitor)

Sampling trigger

Number of trigger conditions

8 conditions

Trigger conditions

Leading edge of bit Trailing edge of bit Bit ON Bit OFF When data is "passing through trigger value in increase direction" When data is "passing through trigger value in decrease direction" When data is "same as trigger value or higher" When data is "same as trigger value or lower" No trigger Note. Refer to "Sampling item content" for details about bits/data.

Trigger mode

Trigger condition "or" Trigger condition "and" No trigger

Pre-trigger 0 to 90% (in units of 10%) Sampling data

Number of points per page

32 points 128 points

Maximum page No.

256 (=8192/32) 512 (=65536/128)

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7. AUXILIARY FUNCTION

7.12.2 Command/status bit

System command/status bits related to sampling function are shown below. (1) System command bit

Address Bit Symbol Signal name

Address Bit Symbol Signal name MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

03E1 000B01 0 SMPS Sampling start 03F2 000B12 0 SMPSW Sampling setting write command 1

Reserved

1 Reserved 2 2

3 3 4 4 SMPSR Sampling setting read command 5 5

Reserved 6 6 7 7

(a) Details concerning system command bits

Symbol Signal name Function details

Function Operation SMPS Sampling start Starts sampling. When the sampling start signal (SMPS) is turned on,

storage of sampling data is started.

SMPSW Sampling setting write command

Writes sampling setting. Writes sampling setting set to sampling setting write number. When the sampling setting write number is incorrect and the sampling setting to be written is outside the setting range, the sampling setting write will not be performed. (Remarks) The sampling setting write command is valid

only while system is running. SMPSR Sampling setting

read command Reads sampling setting. Reads sampling setting set to sampling setting read

number. When the sampling setting read number is incorrect, sampling setting read will not be performed. (Remarks) The sampling setting read command is valid

only while system is running.

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7. AUXILIARY FUNCTION

(2) System status bit

Address Bit Symbol Signal name

Address Bit Symbol Signal name MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

0451 000BE1 0 SMPW Waiting for sampling trigger 0462 000BF2 0 SWFIN Sampling setting write complete 1 SMPO Sampling is being performed 1 SWEN Sampling setting number error

2 SMPF Sampling is complete 2 SWED Sampling setting data out of bounds

3 SMPE Sampling error 3 Reserved 4 Reserved 4 SRFIN Sampling setting read complete 5 AHINF Alarm history information 5 SREN Sampling setting number error 6

Reserved 6

Reserved 7 7

(a) Details concerning system status bits

Symbol Signal name Function details

Function Operation SMPW Waiting for sampling

trigger Notifies concerning the status of waiting for sampling trigger.

Turning on of sampling start signal (SMPS), and waiting for the sample trigger.

The sampling start signal (SMPS) is turned off. The trigger for the start sampling trigger axis is met.

SMPO Sampling is being performed

Notifies that sampling is now being performed.

Turning on of sampling start signal (SMPS), and sampling is now being performed.

The sampling start signal (SMPS) is turned off. Sampling is completed.

SMPF Sampling is complete Notifies that sampling was completed normally.

Sampling is completed normally.

The sampling start signal (SMPS) is turned off.

SMPE Sampling error Notifies that sampling was not completed normally.

The sampling setting error occurs. The sampling item error occurs. The next page number of the sampling completion page

number is the same as the sampling read page number. (The data was not sampled in time.)

The sampling start signal (SMPS) is turned on when the read sampled data completion page number is -1.

The page number 0 is designated from the page number other than 0 when the sampling is being performed.

The start sampling signal (SMPS) is turned off.

7 - 52

7. AUXILIARY FUNCTION

Symbol Signal name Function details

Function Operation SWFIN Sampling setting write

complete Notifies that writing of the sampling setting was completed.

The sampling setting write number and the setting value in the range are set correctly and the sampling setting write command (SMPSW) is turned on.

The sampling setting write command signal (SMPSW) is turned off.

SWEN Sampling setting number error

Notifies that the sampling setting number is incorrect.

The sampling setting number is set incorrectly and the sampling setting write command (SMPSW) is turned on.

The sampling setting write command signal (SMPSW) is turned off.

SWED Sampling setting data out of bounds

Notifies that the sampling setting value is outside the setting range.

The sampling setting value which is outside the setting range is set and the sampling setting write command (SMPSW) is turned on.

The sampling setting write command signal (SMPSW) is turned off.

SRFIN Sampling setting read complete

Notifies that reading of the sampling setting was completed.

The sampling setting read number is set correctly and the sampling setting read command (SMPSR) is turned on.

The sampling setting read command signal (SMPSR) is turned off.

SREN Sampling setting number error

Notifies that the sampling setting number is incorrect.

The sampling setting read number is set incorrectly and the sampling setting read command (SMPSR) is turned on.

The sampling setting read command signal (SMPSR) is turned off.

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7. AUXILIARY FUNCTION

7.12.3 Command/status data

The system command/status data related to the sampling function are shown below. (1) Sampling setting write (command)

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDA0 0E4060 Sampling setting

write number 0000h to 00AFh

Set the sampling setting number to be written. Note. For 0000h, sampling setting number error does not occur. BDA1 0E4061

BDA2 0E4062 Reserved BDA3 0E4063 BDA4 0E4064 Sampling setting

write data 00000000h to FFFFFFFFh

Set the data of the sampling setting number to be written. BDA5 0E4065 BDA6 0E4066 BDA7 0E4067

(2) Sampling setting write (status)

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDA8 0E4068 Sampling setting

write number 0000h to FFFFh

Displays the sampling setting number which was written. BDA9 0E4069 BDAA 0E406A Reserved BDAB 0E406B BDAC 0E406C Sampling setting

write data 00000000h to FFFFFFFFh

Displays the data of the sampling setting number which was written. BDAD 0E406D

BDAE 0E406E BDAF 0E406F

(3) Sampling setting read (command)

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDB0 0E4070 Sampling setting

read number 0000h to 00AFh

Set the sampling setting number to be read. Note. For 0000h, sampling setting number error does not occur. BDB1 0E4071

BDB2 0E4072 Reserved BDB3 0E4073 BDB4 0E4074 BDB5 0E4075 BDB6 0E4076 BDB7 0E4077

(4) Sampling setting read (status)

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDB8 0E4078 Sampling setting

read number 0000h to FFFFh

Displays the sampling setting number which was read. BDB9 0E4079 BDBA 0E407A Reserved BDBB 0E407B BDBC 0E407C Sampling setting

read data 00000000h to FFFFFFFFh

Displays the data of the sampling setting number which was read. BDBD 0E407D

BDBE 0E407E BDBF 0E407F

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7. AUXILIARY FUNCTION

(5) Sampling error information

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDC0 0E4080 Sampling axis

error information 1 00000000h to FFFFFFFFh

Turns on the bit of the axis which cannot be controlled. Axis No. 1 (bit 0) to 32 (bit 31) BDC1 0E4081

BDC2 0E4082 BDC3 0E4083 BDC4 0E4084 Sampling axis

error information 2 (Note)

00000000h to FFFFFFFFh

Turns on the bit of the axis which cannot be controlled. Axis No. 33 (bit 0) to 64 (bit 31) BDC5 0E4085

BDC6 0E4086 BDC7 0E4087

0E4088 Reserved 0E4089 0E408A 0E408B 0E408C 0E408D 0E408E 0E408F

BDC8 0E4090 BDC9 0E4091 BDCA 0E4092 BDCB 0E4093 BDCC 0E4094 BDCD 0E4095 BDCE 0E4096 BDCF 0E4097 BDD0 0E4098 Sampling data

error information 00000000h to FFFFFFFFh

Turns on the bit of the sampling data which became sampling error.

Sampling data 1 (bit 0) to 32 (bit 31) BDD1 0E4099 BDD2 0E409A BDD3 0E409B BDD4 0E409C Reserved BDD5 0E409D BDD6 0E409E BDD7 0E409F BDD8 0E40A0 Sampling bit error

information 00000000h to 0000FFFFh

Turns on the bit of the sampling bit information which became sampling error.

Sampling data information 1 (bit 0) to 16 (bit 15) MC200 Sampling data information 1 (bit 0) to 32 (bit 31) MC300

BDD9 0E40A1 BDDA 0E40A2 BDDB 0E40A3 BDDC 0E40A4 Reserved BDDD 0E40A5 BDDE 0E40A6 BDDF 0E40A7

0E40A8 0E40A9 0E40AA 0E40AB 0E40AC 0E40AD 0E40AE 0E40AF

Note. When using MR-MC2 , BDC4 to BDC7 is "Reserved".

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7. AUXILIARY FUNCTION

(6) Sampled data read command

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDE0 0E40B0 Sampling read

page number 0 to 256 MC200

0 to 512 MC300

Set the page number which is read in the sampling data read area. 12 points of sampled data are read per page. Note. When start sampling, set 0.

BDE1

0E40B1

BDE2 0E40B2 Reserved BDE3 0E40B3 BDE4 0E40B4 BDE5 0E40B5 BDE6 0E40B6 BDE7 0E40B7

(7) Sampled data read status

Address Name Setting range Remarks

MR-MC2 MR-MC3 BDE8 0E40B8 Read sampled

data completion page number

-2 to 256 MC200

-2 to 512 MC300

The page number which is transferred to the sampling data read area is stored.

-2: Sampling read error -1: Sampling reading 0: When sampling read number is 0

1 to 256: Page number whose sampled data is read MC200 1 to 512: Page number whose sampled data is read MC300

BDE9 0E40B9

BDEA 0E40BA Valid read sampled points

0 to 32 MC200

0 to 128 MC300

The number of sampled data in the page where sampling read is completed is stored. The user program needs to read the sampling data read area and to refer to the data of this valid read sampled points. All sampled data after the valid sampled points is 0.

0 to 32 points: Data points sampled in a page MC200 0 to 128 points: Data points sampled in a page MC300

BDEB 0E40BB

BDEC 0E40BC Sampling completion page number

0 to 256 MC200

0 to 512 MC300

The page number where sampling is completed by the position board is stored. 0: Sampling trigger waiting or the page number 1

(only the first time) is being sampled 1 to 256: Sampling completion page number MC200 1 to 512: Sampling completion page number MC300

BDED 0E40BD

BDEE 0E40BE Reserved BDEF 0E40BF

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7.12.4 Sampling setting write/read

The conditions for sampling and contents of sampling can be set. Also, the current sampling setting can be read. The sampling setting write/read is valid after executing parameter initialization (system command code: 0003h). (1) When writing the sampling setting

sscSetSamplingParameter function

Valid data 2Valid data 1

Sampling setting write command (SMPSW) Sampling setting write number

Sampling setting write data

Sampling setting write data (answerback)

Sampling setting write complete (SWFIN) Sampling setting write number (answerback)

Valid data 2Valid data 1

Valid data 2Valid data 1

Valid data 2Valid data 1

POINT The sampling setting write data is written in 4 bytes.

(2) When reading the sampling setting

Sampling setting read command (SMPSR)

Sampling setting read number

Sampling setting read complete (SRFIN)

Sampling setting read number (answerback)

Sampling setting read data

Valid data 2Valid data 1

Valid data 2Valid data 1

Valid data 2Valid data 1

sscGetSamplingParameter function

POINT The sampling setting read data is read in 4 bytes.

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7.12.5 Details for sampling function settings

Settings related to sampling function are shown below. Each setting is imported when the sampling is started (SMPS: ON). The sampling setting cannot be changed while Waiting for sampling trigger (SMPW) is on and Sampling is being performed (SMPO) is on. (1) Sampling setting Setting No. Name Initial value Setting range Remarks

0001 Sampling option 00000000h 00000000h to 000029FFh

Pre-trigger Set the timing that the trigger condition is satisfied. 0 to 9: Setting 10%

0000 Sampling cycle Set the sampling cycle. 00h to FFh: Control cycle

(setting+1) Example. If the sampling cycle is

set to 3 with the control cycle set to 0.44ms, sampling is executed every 1.777ms.

Trigger mode Set the trigger mode. 0: Trigger turns on when the

sampling is started. 1: Trigger turns on when one of

each trigger condition is satisfied.

2: Trigger turns on when all of the trigger conditions are satisfied.

0002 Sampling points 8192 MC200

65536 MC300

0 to 65536 Set the points to be sampled.

0003 For manufacturer setting 00000000h 0004 00000000h 0005 00000000h 0006 00000000h 0007 00000000h 0008 00000000h 0009 00000000h 000A 00000000h 000B 00000000h 000C 00000000h 000D 00000000h 000E 00000000h 000F 00000000h

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7. AUXILIARY FUNCTION

Setting No. Name Initial value Setting range Remarks

0010 Sampling trigger 1 setting

00000000h 00000000h to 10041F01h

0 0 0 0000

Trigger 1 sampling items Selects the sampling items referred by trigger 1. 0: Sampling data 1: Sampling bit information

The following settings differ up to Trigger 1 sampling items. When Sampling data is selected

0 000 Trigger 1 sampling data number Set the sampling data number referred by trigger 1 in hexadecimal. Example. 00h to 1Fh: Sampling

data 1 to 32 Trigger 1 condition Set the trigger 1 condition. 0: Trigger 1 setting invalid 1: Fulfilled when passing through

trigger value 1 in increase direction 2: Fulfilled when passing through

trigger value 1 in decrease direction

3: Fulfilled with trigger value 1 or higher

4: Fulfilled with trigger value 1 or lower

Trigger 1 code Set the code of sampling data referred by trigger 1. 0: Without code 1: With code

When Sampling bit information is selected 0 1000

Trigger 1 sampling bit information number Set the number of the sampling bit information referred by trigger 1 in hexadecimal. Example. 00h to 0Fh: sampling data

1 to 16 Trigger 1 condition Set the trigger 1 condition. 0: Trigger 1 setting invalid 1: Fulfilled by leading edge of bit 2: Fulfilled by trailing edge of bit 3: Fulfilled while bit is on 4: Fulfilled while bit is off

0011 Sampling trigger 2 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

0012 Sampling trigger 3 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

0013 Sampling trigger 4 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

0014 Sampling trigger 5 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

0015 Sampling trigger 6 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

0016 Sampling trigger 7 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

0017 Sampling trigger 8 setting

00000000h 00000000h to 10041F01h

Same as the sampling trigger 1 setting.

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7. AUXILIARY FUNCTION

Setting No. Name Initial value Setting range Remarks

0018 00000000h

0019 00000000h

001A 00000000h

001B 00000000h

001C 00000000h

001D 00000000h

001E 00000000h

001F 00000000h

0020 Sampling trigger value 1 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 1. Note 1. Set the threshold in double word regardless of the size of

the data set in the sampling trigger 1 setting. 2. When the contents of trigger 1 are sampling bit

information, this setting is not used. 0021 Sampling trigger value 2 00000000h 00000000h to

FFFFFFFFh Set the threshold for trigger 2. The setting contents are the same as the sampling trigger value 1.

0022 Sampling trigger value 3 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 3. The setting contents are the same as the sampling trigger value 1.

0023 Sampling trigger value 4 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 4. The setting contents are the same as the sampling trigger value 1.

0024 Sampling trigger value 5 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 5. The setting contents are the same as the sampling trigger value 1.

0025 Sampling trigger value 6 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 6. The setting contents are the same as the sampling trigger value 1.

0026 Sampling trigger value 7 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 7. The setting contents are the same as the sampling trigger value 1.

0027 Sampling trigger value 8 00000000h 00000000h to FFFFFFFFh

Set the threshold for trigger 8 The setting contents are the same as the sampling trigger value 1.

0028 For manufacturer setting

00000000h

0029 00000000h

002A 00000000h

002B 00000000h

002C 00000000h

002D 00000000h

002E 00000000h

002F 00000000h

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7. AUXILIARY FUNCTION

Setting No. Name Initial value Setting range Remarks

0030 Sampling data 1 setting 00000000h 00000000h to 00FF14FFh

00

Monitor No. Specify the monitor number to be sampled. 0000h : Not selected 0100h to 01FFh: servo information (1) 0200h to 02FFh: servo information (2) 0300h to 03FFh: operation information 1300h to 13FFh: operation information

(double word) 0400h to 04FFh: system information 1400h to 14FFh: system information

(double word) Note. Axis No. is not needed to be

set in the system information. Axis No. Set the axis No. of sampling data 1. 00h to 1Fh: Axis No.-1 00h to 3Fh: Axis No.-1 Example. 00h: Axis No.1

0031 Sampling data 2 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0032 Sampling data 3 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0033 Sampling data 4 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0034 Sampling data 5 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0035 Sampling data 6 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0036 Sampling data 7 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0037 Sampling data 8 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0038 Sampling data 9 setting 00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0039 Sampling data 10 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

003A Sampling data 11 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

003B Sampling data 12 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

003C Sampling data 13 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

003D Sampling data 14 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

003E Sampling data 15 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

003F Sampling data 16 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

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7. AUXILIARY FUNCTION

Setting No. Name Initial value Setting range Remarks

0040 Sampling data 17 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0041 Sampling data 18 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0042 Sampling data 19 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0043 Sampling data 20 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0044 Sampling data 21 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0045 Sampling data 22 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0046 Sampling data 23 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0047 Sampling data 24 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0048 Sampling data 25 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0049 Sampling data 26 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

004A Sampling data 27 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

004B Sampling data 28 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

004C Sampling data 29 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

004D Sampling data 30 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

004E Sampling data 31 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

004F Sampling data 32 setting

00000000h 00000000h to 00FF14FFh

Same as the sampling data 1 setting.

0050 For manufacturer setting

00000000h : :

006F 00000000h

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7. AUXILIARY FUNCTION

Setting No. Name Initial value Setting range Remarks

0070 Sampling bit information 1 setting (Note 1)

00000000h 00000000h to 0FFF03FFh

0

Monitor No. Set the monitor number including the bit information to be sampled. 0000h : Not selected 0300h to 03FFh: operation

information

Bit No. Set the bit number of the sampling bit information 1. 0h to Fh: Bit No.0 to F

Axis No./Station No. Set the axis No. of sampling data 1. 00h to 1Fh: Axis No.-1 00h to 3Fh: Axis No.-1 Example. 00h: Axis No.1

0071 Sampling bit information

2 setting 00000000h 00000000h to

0FFF03FFh Same as the sampling bit information 1 setting.

0072 Sampling bit information 3 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0073 Sampling bit information 4 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0074 Sampling bit information 5 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0075 Sampling bit information 6 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0076 Sampling bit information 7 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0077 Sampling bit information 8 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0078 Sampling bit information 9 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0079 Sampling bit information 10 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

007A Sampling bit information 11 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

007B Sampling bit information 12 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

007C Sampling bit information 13 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

007D Sampling bit information 14 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

007E Sampling bit information 15 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

007F Sampling bit information 16 setting

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

Note 1. For the bits which are able to be sampled and their settings (monitor number and bit number), refer to the Section 7.12.7.

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7. AUXILIARY FUNCTION

Setting No. Name Initial value Setting range Remarks

0080 Sampling bit information 17 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0081 Sampling bit information 18 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0082 Sampling bit information 19 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0083 Sampling bit information 20 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0084 Sampling bit information 21 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0085 Sampling bit information 22 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0086 Sampling bit information 23 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0087 Sampling bit information 24 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0088 Sampling bit information 25 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0089 Sampling bit information 26 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

008A Sampling bit information 27 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

008B Sampling bit information 28 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

008C Sampling bit information 29 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

008D Sampling bit information 30 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

008E Sampling bit information 31 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

008F Sampling bit information 32 setting (Note 2)

00000000h 00000000h to 0FFF03FFh

Same as the sampling bit information 1 setting.

0090 For manufacturer setting

00000000h : :

00AF 00000000h Note 2. "For manufacturer setting" when using MR-MC2 .

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7. AUXILIARY FUNCTION

7.12.6 Number of sampled points

By setting the number of sampled points (sampling setting No.0002), points to be sampled can be changed. Number of data which is sampled before the trigger conditions are met (set with pre-trigger) is specified by percentage to the number of sampled points. However, for MR-MC2 , when the number of sampled points exceeds 8192, the percentage is to 8192. For when the number of sampled points is 8192 or less, and 8193 or more, the characteristics are shown below. (1) For MR-MC2 when the number of sampled points is 8192 or less/for MR-MC3

When sampling of the points set in the sampling points (sampling setting No.0002) is completed, sampling itself is completed automatically. Since the host controller is required to read the sampling data buffer area after the sampling is completed, the load on the host controller is light, however, on the other hand, sampling for a long time cannot be executed.

(2) For MR-MC2 when the number of sampled points is 8193 or more

Points which are set to the sampling points (sampling setting No.0002) are sampled by the position board. However, the host controller is required to read sampled data during the sampling, the load on the host controller is high. The sampling data buffer area of the position board internal memory is regarded as the ring buffer of 256 pages (8192 points), and the host controller and the position board read the sampling data read area with executing exclusive control based on the page number.

POINT The larger the pre-trigger setting is, the higher the load on the host controller is

since it is required to read the sampling data in a short time after the trigger conditions are met. As an example, when pre-trigger is set to 90%, after the trigger conditions are met, the host controller is required to complete reading the data sampled by pre-trigger (at least 1 page) before the position board completes the sampling of 10% left.

7.12.7 Sampling items

Sampling items are sampling data and sampling bit information. By setting axis No./station No. and monitor number to be sampled in sampling data, arbitrary monitor data can be sampled. Up to 32 items of monitor data can be specified. Axis data command/status bit (address 1000h to 100Fh, 1060h to 106Fh) can be sampled as sampling bit information. Up to 16 items MC200 /32 items MC300 of bit information can be specified. Examples of the sampling items are shown below. (1) For operation information

Current command position (monitor No.0300, 0301), current feedback position (monitor No.0302, 0303), moving speed (monitor No.0304, 0305) etc. For details, refer to Section 12.4.

(2) For servo information

Position feedback (monitor No.0200, 0201), position droop (monitor No.0204, 0205) etc. For details, refer to Section 12.2.

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7. AUXILIARY FUNCTION

(3) For axis bit information

During operation signal (OP), completion of operation signal (OPF), servo alarm signal (SALM) etc. For details, refer to the following tables. (a) Axis data command bit

Monitor No.

Content

0380

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 SON Servo on 8 ST Start operation 1

Reserved 9 DIR Movement direction

2 10 STP Stop operation 3 11 RSTP Rapid stop 4 TL Torque limit 12 Reserved 5 SRST Servo alarm reset 13 ORST Operation alarm reset 6

Reserved 14

Reserved

7 15

0381

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 AUT Automatic operation mode 8

Reserved

1 ZRN Home position return mode 9 2 JOG JOG operation mode 10 3 S Incremental feed mode 11 4 Reserved 12

5 LIP Linear interpolation mode MC200 Interpolation operation mode MC300

13

6 DST Home position reset mode 14 7 Reserved 15

0382

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 ITL Interlock 8 SCHG Change speed 1 RMONR High speed monitor latch command 9 TACHG Change acceleration time constant 2

Reserved 10 TDCHG Change deceleration time constant

3 11 PCHG Position change 4 LSPC + side limit switch input 12

Reserved

5 LSNC - side limit switch input 13 6 DOGC Proximity dog input 14 7 Reserved 15

0383 Bit No. Symbol Signal name Bit No. Symbol Signal name 0 FST Fast start operation 8 PPISTP Pass position interrupt cancel 1

Reserved

9

Reserved

2 10 3 11 4 12 5 13 6 14 7 15

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7. AUXILIARY FUNCTION

Monitor

No. Content

0384

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 GAIN Gain switching command 8

Reserved

1 FCLS Fully closed loop control change command

9

2 Reserved 10 3 CPC PID control command 11 4

Reserved

12 5 13 6 14 7 15

0385

Bit No. Symbol Signal name Bit No. Symbol Signal name 0

Reserved

8 Reserved 1 9 MKC1 Mark detection clear command 1 2 10 MKD1 Mark detection disable command 1 3

11

MKSEN1 Mark detection setting enable command 1

4 ZSC Home position set command 12 Reserved 5

Reserved

13 MKC2 Mark detection clear command 2 6 14 MKD2 Mark detection disable command 2

7 15 MKSEN2 Mark detection setting enable command 2

0386

Bit No. Symbol Signal name Bit No. Symbol Signal name 0

Reserved

8

Reserved

1 9 2 10 3 11 4 CTLMC Control mode switch command 12 5

Reserved 13

6 14 7 15

0387 Bit No. Symbol Signal name Bit No. Symbol Signal name 0

Reserved

8

Reserved

1 9 2 10 3 11 4 12 5 13 6 14 7 15

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7. AUXILIARY FUNCTION

(b) Axis data status bit

Monitor No.

Content

03A0

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 RDY Servo ready 8 OP During operation 1 INP In-position 9 CPO Rough match 2 ZSP Zero speed 10 PF Positioning complete 3 ZPAS Passed Z-phase 11 ZP Home position return complete 4 TLC Torque limit effective 12 SMZ During smoothing of stopping 5 SALM Servo alarm 13 OALM Operation alarm 6 SWRN Servo warning 14 OPF Completion of operation 7 ABSE Absolute position erased 15 PSW Position switch

03A1

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 AUTO In automatic operation mode 8

Reserved

1 ZRNO In home position return mode 9 2 JO In JOG operation mode 10 3 SO In incremental feed mode 11 4 Reserved 12

5 LIPO In linear interpolation mode MC200 In interpolation operation mode MC300

13

6 DSTO In home position reset mode 14 7 Reserved 15

03A2

Bit No. Symbol Signal name Bit No. Symbol Signal name

0 ISTP Interlock stop 8 SCF Completion of preparation for changing speed

1 RMRCH High speed monitor is latched 9 TACF

Completion of preparation for changing acceleration time constant

2 POV Stop position over-bound 10 TDCF

Completion of preparation for changing deceleration time constant

3 STO Start up acceptance complete 11 PCF

Completion of preparation for changing position

4 Reserved

12 SCE Speed change error

5 13 TACE Acceleration time constant change error

6 ZREQ Home position return request 14 TDCE

Deceleration time constant change error

7 Reserved 15 PCE Position change error

03A3 Bit No. Symbol Signal name Bit No. Symbol Signal name 0

Reserved

8 PPIOP Pass position interrupt 1 9 PPIFIN Pass position interrupt complete 2 10 PPIERR Pass position interrupt incomplete 3 11

Reserved

4 12 5 13 6 14 7 15 AUTLO In point table loop

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7. AUXILIARY FUNCTION

Monitor

No. Content

03A4

Bit No. Symbol Signal name Bit No. Symbol Signal name 0 GAINO During gain switching 8 IWT Interference check standby 1 FCLSO Fully closed loop control changing 9 SINP Servo amplifier in-position 2 TLSO Selecting torque limit 10

Reserved

3 SPC During PID control 11 4

Reserved 12

5 13 6 14

7 PRSMO During continuous operation to torque control

15

03A5

Bit No. Symbol Signal name Bit No. Symbol Signal name

0

Reserved

8 MKIF1 Mark detection compatible information 1

1 9 MKCF1 Mark detection clear complete 1 2 10 MKDO1 Mark detection disabled 1 3

11

MKSEF1 Mark detection setting enable complete 1

4 ZSF Home position set complete 12 MKIF2

Mark detection compatible information 2

5 ZSE Home position set error 13 MKCF2 Mark detection clear complete 2 6

Reserved 14 MKDO2 Mark detection disabled 2

7 15 MKSEF2

Mark detection setting enable complete 2

03A6

Bit No. Symbol Signal name Bit No. Symbol Signal name 0

Reserved

8

Reserved

1 9 2 10 3 11 4 CTLMCF Control mode switch complete 12 5 CTLMCE Control mode switch error 13 6

Reserved 14

7 15

03A7 Bit No. Symbol Signal name Bit No. Symbol Signal name 0

Reserved

8

Reserved

1 9 2 10 3 11 4 12 5 13 6 14 7 15

7 - 69

7. AUXILIARY FUNCTION

POINT

Up to 3 items (total of sampling data and sampling bit information) can be specified for the servo information. If more than 4 items are set, sampling error (SMPE: ON) occurs when sampling is started and the bit of the sampling error information corresponding to the fourth item turns on. However, there is no restriction for the number of the items in the following servo information. Position feedback (lower) (monitor No.0200) Position feedback (upper) (monitor No.0201) Position droop (lower) (monitor No.0204) Position droop (upper) (monitor No.0205) Current feedback (monitor No.020B) Servo parameter error No. (monitor No.0510 to 0537) Servo parameter change No. (monitor No.0590 to 05B7)

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7. AUXILIARY FUNCTION

7.12.8 Sampling trigger

As a trigger for start of sampling, up to 8 conditions can be set. The case when one of the trigger conditions is met or when all of the trigger conditions are met can be set as a trigger. The data or the bit information trigger refers to are selected from set sampling items. There are 4 types of trigger conditions for each of the contents the trigger refers to. (Refer to the following.) (1) When the trigger content is data

(a) Fulfilled when passing through trigger value in increase direction When the data increases from lower than the trigger value to the trigger value or higher, the trigger condition is met.

Data Sampling starts

Trigger value

Example 1

Trigger condition is met

Time

Data Sampling starts

Trigger value

Example 2

Trigger condition is met

Time

(b) Fulfilled when passing through trigger value in decrease direction When the data decreases from higher than the trigger value to the trigger value or lower, the trigger condition is met.

Data Sampling starts

Trigger value

Example 2

Trigger condition is met

Time

Data Sampling starts

Trigger value

Example 1

Trigger condition is met

Time

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7. AUXILIARY FUNCTION

(c) Fulfilled when the data is the same as trigger value or higher

When the data is the same as the trigger value or higher, the trigger condition is met.

Data Sampling starts

Trigger value

Example 1

Trigger condition is met

Time

Data Sampling starts

Trigger value

Example 2

Trigger condition is met

Time

(d) Fulfilled when the data is the same as trigger value or lower

When the data is the same as the trigger value or lower, the trigger condition is met.

Data Sampling starts

Trigger value

Example 2

Trigger condition is met Time

Data Sampling starts

Trigger value

Example 1

Trigger condition is met Time

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7. AUXILIARY FUNCTION

(2) When the trigger content is bit information

(a) Fulfilled by leading edge of bit When the bit turns on from off, the trigger conditions are met.

Example 1 Example 2

Sampling starts Trigger condition is met

Time

Bit Bit

ON

OFF

Sampling starts

ON

OFF

Trigger condition is met

Time

(b) Fulfilled by trailing edge of bit

When the bit turns off from on, the trigger conditions are met.

Trigger condition is met

Time

Bit Sampling starts

ON

OFF

Example 1 Example 2

Time

Bit

ON

OFF

Sampling starts Trigger condition is met

(c) Fulfilled while bit is on

While the bit is on, the trigger condition is met. Example 1 Example 2

Sampling starts

Trigger condition is met

Time

Bit Bit

ON

OFF

Sampling starts

ON

OFF

Trigger condition is met

Time

(d) Fulfilled while bit is off

While the bit is off, the trigger condition is met.

Trigger condition is met

Time

Bit Sampling starts

ON

OFF

Example 1 Example 2

Sampling starts

Time

Bit

ON

OFF

Trigger condition is met

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7. AUXILIARY FUNCTION

7.12.9 Sampling data read

Sampled data of 8192 points is stored in the sampling data buffer area of the position board internal memory. Sampled data is transferred to the sampling data read area divided in units of a page (32 points/page). For the sampling data read during the sampling, refer to the Section 7.12.10. (1) Sampling data read area

(a) Using MR-MC2

Transferred on a per page basis

Sampling data buffer area Page

number

BE00h BE84h BF08h

CD78h CDFCh

Sampling data read area

+0000h +0004h Sampling data 2 +0008h Sampling data 3 +000Ch Sampling data 4 +0010H Sampling data 5 +0014h Sampling data 6 +0018h Sampling data 7 +001Ch Sampling data 8 +0020h Sampling data 9 +0024h Sampling data 10

1

2

256 +0028h Sampling data 11 +002Ch Sampling data 12 +0030h Sampling data 13 +0034h Sampling data 14 +0038h Sampling data 15 +003Ch Sampling data 16 +0040h Sampling data 17 +0044h Sampling data 18 +0048h Sampling data 19 +004Ch Sampling data 20 +0050H Sampling data 21 +0054h Sampling data 22 +0058h Sampling data 23 +005Ch Sampling data 24 +0060h Sampling data 25 +0064h Sampling data 26 +0068h Sampling data 27 +006Ch Sampling data 28 +0070h Sampling data 29 +0074h Sampling data 30 +0078h Sampling data 31 +007Ch Sampling data 32 +0080h Sampling bit information 1 to 16 +0082h

n: page number

1st point to

32nd point

to

:

to

Page details

33rd point

64th point

8161st point

8192nd point

:

1st point + (n - 1) 32 2nd point + (n - 1) 32 3rd point + (n - 1) 32

31st point + (n - 1) 32 32st point + (n - 1) 32

Sampling data 1

Reserved (2 bytes)

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7. AUXILIARY FUNCTION

(b) Using MR-MC3

Transferred on a per page basis

Sampling data buffer area Page

number

0E4100h 0E4184h 0E4208h

0E81F8h 0E827Ch

Sampling data read area

+0000h +0004h Sampling data 2 +0008h Sampling data 3 +000Ch Sampling data 4 +0010H Sampling data 5 +0014h Sampling data 6 +0018h Sampling data 7 +001Ch Sampling data 8 +0020h Sampling data 9 +0024h Sampling data 10

1

2

512 +0028h Sampling data 11 +002Ch Sampling data 12 +0030h Sampling data 13 +0034h Sampling data 14 +0038h Sampling data 15 +003Ch Sampling data 16 +0040h Sampling data 17 +0044h Sampling data 18 +0048h Sampling data 19 +004Ch Sampling data 20 +0050H Sampling data 21 +0054h Sampling data 22 +0058h Sampling data 23 +005Ch Sampling data 24 +0060h Sampling data 25 +0064h Sampling data 26 +0068h Sampling data 27 +006Ch Sampling data 28 +0070h Sampling data 29 +0074h Sampling data 30 +0078h Sampling data 31 +007Ch Sampling data 32 +0080h Sampling bit information 1 to 16

Sampling bit information 17 to 32+0082h

n: page number

Page details

128th point 129th point

1st point to

to

:

to

256th point

65409th point

65536th point

:

1st point + (n - 1) 128 2nd point + (n - 1) 128 3rd point + (n - 1) 128

31st point + (n - 1) 128 32nd point + (n - 1) 128

Sampling data 1

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7. AUXILIARY FUNCTION

(2) A timing chart of reading of sampled data

To read the sampled data, set the page number to be transferred to the sample read page number. When detecting the change of the sampling read page number, the position board transfers the sampled data corresponding to the page number to the sampling data read area and stores the points of data which are sampled in the page in the valid read sampled points. (a) Using MR-MC2

sscGetSamplingData function

Read sampled data page number

Valid read sampled data points

Read sampled data completion page number

Read processing of sample data from read area (user program)

Reading 1st page Reading 2nd page Reading 256th page

0

0 1 2 256

-1 -1 -11 2 256

0 32 3232

(b) Using MR-MC3 sscGetSamplingData function

Read sampled data page number

Valid read sampled data points

Read sampled data completion page number

Read processing of sample data from read area (user program)

Reading 1st page Reading 2nd page Reading 512th page

0

0 1 2 512

-1 -1 -11 2 512

0 128 128128

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7. AUXILIARY FUNCTION

POINT

The read sampled data completion page number is -1 (during sampling data transferring) while the data is being transferred to the sampling data read area.

When the sample read is executed in the following cases, read sampled data completion page number is -2 (sampling read error) and sampled data will not be read. When the sample read page number is incorrect When the next page number of the sampling completion page number is

specified during sampling When the page number is changed from other than 0 to 0 during sampling,

sampling is finished (sampling error (SMPE) turns on). The read sampled data completion page number becomes 0 and sampling data read area is cleared to 0.

The change of sample read number is invalid while the data is being transferred to the sampling data read area (transferring the page number before changed is continued). After completion of the sample read, the sampled data of changed page number is started to be transferred.

When 0 is set to the sampling read page number, sampling data read area is cleared to 0.

The position board does not start transferring sampled data until the sampling read page number is changed. When the same page number is needed to be set, such as to update the contents of the sampling data read area, set the sampling read page number to 0. After confirming the page number is 0, specify the page number to be transferred.

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7. AUXILIARY FUNCTION

7.12.10 Timing chart for sampling function

A timing chart for the sampling function is shown below. (1) For MR-MC2 when the number of sampled points is 8192 or less/for MR-MC3

(a) Starting sampling To start the sampling, write the sampling setting previously and turn on the start sampling command (SMPS). When the start sampling command (SMPS) is accepted, the waiting for sampling trigger (SMPW) turns on. Then, after trigger conditions are met, the sampling is being performed (SMPO) turns on.

Start sampling command (SMPS)

Waiting for sampling trigger (SMPW)

Trigger conditions met

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number 0

Sampling read page number

OFF

ON OFF

ON OFF

ON OFF

ON

OFF ON

0

1, 2, ...

sscStartSampling function

sscGetSamplingStatus function

POINT

Turn on the start sampling (SMPS) after setting 0 to the sampling read page number.

In the following cases, sampling error occurs (SMPE: ON). When the setting for the sampling option is outside of the setting range When the setting for the sampling data is outside of the setting range When the setting value for the sampling bit information is outside of the setting

range When four or more monitor numbers for servo information are designated for

the same axis When 0 is not set to the sampling read page number

When a monitor number is designated for an axis for which communication with the servo amplifier has not been implemented, such as it is not the control axis or an amplifier-less axis, the data to be sampled is always 0 (for bit, off). (Sampling error (SMPE) and sampling error information do not turn on.)

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7. AUXILIARY FUNCTION

(b) Sampling completion

When the sampling of specified sampling points is completed, the sampling is completed (SMPF) turns on. 1) Using MR-MC2

Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number 254 255 256

Sampling read page number

ON OFF

ON OFF

OFF ON

0

sscGetSamplingStatus function

POINT

In the timing chart above, since 8192 is the multiplication of 32, the valid sampled data (valid sampled read points) in the last page (page 256) are 1 to 32 points.

2) Using MR-MC3 Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number 510 511 512

Sampling read page number

ON OFF

ON OFF

OFF ON

0

sscGetSamplingStatus function

POINT

In the timing chart above, since 65536 is the multiplication of 128, the valid sampled data (valid sampled read points) in the last page (page 512) are 1 to 128 points.

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7. AUXILIARY FUNCTION

(c) Sampling stopped prior to full completion

When the start sampling command (SMPS) is turned off during the sampling (SMPO: ON), the sampling is being performed (SMPO) turns off and the sampling finishes.

sscStopSampling function

sscGetSamplingStatus function

Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number 4

ON

ON OFF

ON OFF

OFF

Sampling read page number

3 5

0

POINT

The sampling is completed (SMPF) is not turned on. In the timing chart above, the sampling stopped in the 5 page. For the valid

sampled data in the page, confirm the valid sampled read points at the sampling read.

When sample data that is read is 0 for points outside of sample valid points.

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7. AUXILIARY FUNCTION

(d) When reading sampled data

After confirming the sampling is being performed (SMPO) is turned off, read the sampled data and valid read sampled points from the page 1 to the page of the sampling completion page number. Sampled data points in the page where the sampling read is completed is stored in the valid read sampled points.

POINT

In the timing chart below, the data is stored in the page 1 to 64, and the sampled data in the page 64 is valid from 1 to 5 points.

When sample data that is read is 0 for points outside of sample valid points. In the following cases, the sampling read error (Read sampled data completion

page number is -2) occurs. When the setting for the sampling read page number is outside of the setting

range When the next page number of the sampling completion page number is

specified during the sampling

1) Using MR-MC2

Sampling completion page number

Sampling read page number

Read sampled data completion page number

Valid read sampled points

Read processing of sample data from read area (user program) Reading 1st page Reading 2nd page Reading 64th page

64

1 2 64

-1 -1

32 32 5

1 2 64

0

0 -1

sscGetSamplingData function

2) Using MR-MC3

Sampling completion page number

Sampling read page number

Read sampled data completion page number

Valid read sampled points

Read processing of sample data from read area (user program) Reading 1st page Reading 2nd page Reading 64th page

64

1 2 64

-1 -1

128 128 5

1 2 64

0

0 -1

sscGetSamplingData function

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7. AUXILIARY FUNCTION

(2) For MR-MC2 when the number of sampled points is 8193 or more

(a) When starting the sampling To start the sampling, write the sampling setting previously and turn on the start sampling command (SMPS). When the start sampling command (SMPS) is accepted, the waiting for sampling trigger (SMPW) turns on. Then, after trigger conditions are met, the sampling is being performed (SMPO) turns on.

Start sampling command (SMPS)

ON OFF

Waiting for sampling trigger (SMPW)

Trigger conditions met

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number

Sampling read page number

Read sampled data completion page number

ON OFF

ON OFF

ON OFF

ON OFF

Read processing of sample data from read area (user program) Reading 1 st page

-1

0 1

10

2

1

sscStartSampling function

sscGetSamplingStatus function

sscGetSamplingData function

POINT

Turn on the start sampling (SMPS) after setting 0 to the sampling read page number.

In the following cases, sampling error occurs (SMPE: ON). When the setting for the sampling option is outside of the setting range When the setting for the sampling data is outside of the setting range When the setting value for the sampling bit information is outside of the setting

range When four or more monitor numbers for servo information are designated for

the same axis When the sampling start signal (SMPS) is turned on when the read sampled

data completion page number is -1 When a monitor number is designated for an amplifier-less axis, the data to be

sampled is always 0 (for bit, off). (Sampling error (SMPE) and sampling error information do not turn on.)

When a monitor number related to the servo information is designated for an axis for which communication with the servo amplifier has not been implemented, such as it is not the control axis, the corresponding sampling error information turns on (excluding the amplifier-less axis). (The sampling error (SMPE) is not turned on.)

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7. AUXILIARY FUNCTION

(b) Sampling is being performed

The user program reads the sampled data sequentially according to the sampling completion page number. The user program can read the page from the page of the sampling read page number to the page of the sampling completion page number in numerical order. The sampling data buffer area is a ring buffer of 256 pages. For example, when the sampling read page number is the page 254 and the sampling completion page number is the page 2, the pages 254, 255, 256, 1 and 2 can be read. When the sampling read page number differs from the sampling completion page number, the user program writes the next page number of the sampling read page number and executes the process of reading page.

Page number

1 3 4 5

Sampling completion page number

Sampling data stored area (position board internal memory)

Can be read

Cannot be read

253252

Sampling read page number

Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number

Sampling read page number

Read sampled data completion page number

Valid read sampled points

Read processing of sample data from read area (host computer)

OFF

OFF

ON

OFF

ON

ON

Reading 254th page Reading 255th page Reading 1st page

2 254 255 256

254 255 256

254 255 256

-1 -1 -1 256

32

253 1

253 1

253 254 255 1-1

32 32 32 32

Reading 256th page

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7. AUXILIARY FUNCTION

POINT

In the timing chart above, the sampling read page number differs from the sampling completion page number by 1 page, unless the next page number of the sampling completion page number becomes the sampling read page number, reading sampled data can be delayed.

In the following cases, the sampling read error (Read sampled data completion page number is -2) occurs.

When the setting for the sampling read page number is outside of the setting range.

When the next page number of the sampling completion page number is specified during sampling.

In the following cases during the sampling, sampling error (SMPE: ON) occurs. When the next page number of the sampling completion page number is the

same as the sampling read page number. When the sampling completion page number switches to the page 256, with

the sampling read page number remaining 0. When the sampling read error (Read sampled data completion page number

is -2) occurs. When the page number is changed from other than 0 to 0 during the sampling.

The read sampled data completion page number becomes 0 and sampling data read area is cleared to 0.

(c) When the sampling is completed When the sampling of specified points is completed, the sampling is complete (SMPF) turns on. After confirming the sampling is complete (SMPF) turns on, read until the sampling completion page number. Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling completion page number

Sampling read page number

Read sampled data completion page number

Valid read sampled points

Read processing of sample data from read area (user program)

ON OFF

ON OFF

ON OFF

Reading 63rd page

62 63

62 63

62 -1

32 12

63

7 - 84

7. AUXILIARY FUNCTION

POINT

In the timing chart above, since the valid read sampled points of the last page of the sampling (63rd page) are 12, the valid sampled data of the last page is 1 to 12 points.

When sample data that is read is 0 for points outside of sample valid points.

(d) Sampling stopped prior to full completion When the start sampling command (SMPS) is turned on during the sampling (SMPO: ON), the sampling is being performed (SMPO) turns off and the sampling finishes. After confirming the sampling is being performed (SMPO) turns off, read until the sampling completion page number. Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Valid read sampled points

Sampling completion page number

Sampling read page number

Read sampled data completion page number

Read processing of sample data from read area (user program)

ON OFF

ON OFF

OFF ON

Reading 63rd page

8

62 63

62 63

62 -1 63

POINT

In the timing chart above, since the valid read sampled points of the last page of the sampling (63rd page) are 8, the valid sampled data of the last page is 1 to 8 points.

When sample data that is read is 0 for points outside of sample valid points. The sampling is completed (SMPF) is not turned on.

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7. AUXILIARY FUNCTION

(e) When the reading of sampled data is not finished in time

When the next page number of the sampling completion page number matches the sampling read page number during the sampling (SMPO: ON), the position board judges that the reading of sampled data is not finished in time and the sampling is finished (the sampling error (SMPE) turns on). After confirming the sampling is being performed (SMPO) turns off, read the unread pages to the page of the read sampled data completion page number and valid read sampled points. The valid data points sampled in the page of the sampling completion page number are stored in the valid sampled read points. Start sampling command (SMPS)

Sampling is being performed (SMPO)

Sampling is complete (SMPF)

Sampling error (SMPE)

Sampling completion page number

Sampling read page number

Read sampled data completion page number

Read processing of sample data from read area (user program)

Reading 64th page Reading 65th page

ON OFF

ON OFF

ON OFF

ON OFF

62 63

64 65

64 -1 65

Sampling is stopped because user program read 64th page.

User program read the rest of 65th to 256th page, 1st to 63rd page.

POINT

In the timing chart above, since the sampling is stopped when the sampling of the 63rd page is completed, the valid sampled data of the 63rd page (valid read sampled points) is 32 points.

When sample data that is read is 0 for points outside of sample valid points.

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7. AUXILIARY FUNCTION

7.13 Log

7.13.1 Summary

The log function is a function that stores the status when an event occurs (start operation, completion, alarm occurs etc.) on the position board. The log data is stored in the log data buffer area (internal memory of the position board). When a reading of log data command is generated at a host controller, the log data stored in the log data buffer area is transferred to the dual port memory. The log data is a ring buffer where the oldest data is deleted sequentially. The log data is stored in the internal memory of the position board, and the log data is initialized when the power for the position board is turned off, or by a software reboot.

Using MR-MC3

0FB1FF

0FB100

Using MR-MC2

DF00

DFFF

Log data table

(256 bytes) (for 16 events)

Log data Buffer area

(65536 bytes) (for 4096 events)

Note. Log data read to dual port memory from internal memory of position board on per page (for 16 events) basis.

Transferred on per page basis

Log data buffer areaDual port memory

POINT

Reading of log data can be performed in the test tool. When using MR-MC2 , log needs to be started by user program etc. in order

to use the log function. When using MR-MC3 , log is started automatically at system startup.

API LIBRARY

Use the sscStartLog function to start log. Use the sscStopLog function to stop log. Use the sscCheckLogStatus function to get log operation status. Use the sscCheckLogEventNum function to get the number of valid log data

events. Use the sscReadLogData function to get the log data.

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7. AUXILIARY FUNCTION

7.13.2 Log data details

The log data for 1 event is 16 bytes. The details of the data are shown in the following.

Offset Content 0000h Axis No. 0002h Event code 0004h Time stamp 0006h 0008h Information for each event 000Ah

000Ch 000Eh

(1) Axis No.

Axis (station) No. [0 : For events that are common to axes] [1 to 32 : For events for separate axes] MC200 [1 to 64 : For events for separate axes] MC300 [1 to 4 : For events for separate stations] MC200 [1 to 16 : For events for separate stations] MC300

(2) Event code

Refer to Section 7.13.3. (3) Time stamp

Sets the value of the 32 bit free run counter added to each control cycle. This free run counter value is reset at system start up. It is 0 cleared when a software reboot is performed or when the position board power is turned off and on.

(4) Information for each event

Refer to Section 7.13.4.

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7. AUXILIARY FUNCTION

7.13.3 Event code list

Event code Factor Each axis(station)/common 0001h Start of automatic operation Each axis 0002h Start of return to home position Each axis 0003h Start of JOG operation Each axis 0004h Start of incremental movement Each axis

0005h Start of linear interpolation operation MC200 Start of interpolation operation MC300

Each axis

0006h Home position reset startup Each axis 0011h Completion of automatic operation Each axis 0012h Home position return complete Each axis 0013h Completion of JOG operation Each axis 0014h Completion of incremental movement Each axis

0015h Completion of linear interpolation operation MC200 Completion of interpolation operation MC300

Each axis

0016h Home position reset completion Each axis 0020h Change speed Each axis 0021h Change acceleration time constant Each axis 0022h Change deceleration time constant Each axis 0023h Position change Each axis 0100h Operation alarm occurs Each axis 0101h A servo alarm occurs Each axis 0102h Start of operation while alarm is set Each axis 0103h System alarm occurs Common 0201h Parameter initialization Common 0202h Writing to parameters Each axis, Common 0203h Reading parameters Each axis, Common 0210h Backup parameters reading Common 0211h Flash ROM parameter backup Common 0212h Flash ROM parameter initialization Common 0300h Start of system startup Common 0310h Completion of system startup Common 0311h System error occurs Common 0402h Interlock occurs Each axis 0403h Interlock cancelled Each axis 0404h Stop command (STP) Each axis 0408h Rapid stop command (RSTP) Each axis 0500h Operation alarm reset Each axis 0501h Servo alarm reset Each axis 0503h System alarm reset Common 0601h Waiting required for interference Each axis 0602h Cancellation of waiting for interference Each axis 0603h Rough match output Each axis 0604h Pass position interrupt start Each axis 0605h Pass position interrupt complete Each axis 0606h Pass position interrupt incomplete Each axis 0607h Pass position interrupt cancel Each axis 0608h Pass position interrupt condition satisfied Each axis 0609h Point table loop start Each axis 0800h Other axes start complete Common 0801h Other axes start incomplete Common

7 - 89

7. AUXILIARY FUNCTION

Event code Factor Each axis(station)/common

0900h SSCNET disconnection command Common 0901h SSCNET disconnection complete MC200 Common 0902h SSCNET disconnection error Common 0903h SSCNET reconnection command Common 0904h SSCNET reconnection complete MC200 Common 0905h SSCNET reconnection error Common 0906h SSCNET disconnection complete (axis) MC300 Common 0908h SSCNET disconnection complete (station) MC300 Common 0909h SSCNET reconnection complete (axis) MC300 Common 090Bh SSCNET reconnection error (station) MC300 Common 0A00h Control mode switch complete Each axis 0A01h Control mode switch error Each axis 0B00h Mark detection signal detection Each axis 0B01h Mark detection clear Each axis 0B02h Mark detection disable start Each axis 0B03h Mark detection disable cancel Each axis 0B04h Mark detection setting enable Each axis 0C00h Transient transmit start Each axis 0C01h Transient transmit error occurrence Each axis 2100h RIO control alarm occurrence Each station 2101h RIO module alarm occurrence Each station 2202h Writing to parameters (remote I/O) Each station 2500h RIO control alarm reset Each station 2501h RIO module alarm reset Each station 2C00h Transient transmit start (remote I/O) Each station 2C01h Transient transmit error occurrence (remote I/O) Each station

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7. AUXILIARY FUNCTION

7.13.4 Information for each event

Log data set per event is as follows. Also, details concerning the operation mode noted in the information per event is as follows.

0: Automatic operation 1: Home position return 2: JOG operation 3: Incremental feed 4: Mode not selected 5: Mode error 6: Home position reset 8: Linear interpolation operation MC200 /interpolation operation MC300

(1) Start of automatic operation (2) Start of home position return

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0001h) 0002h Event code (0002h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Start point No. 0008h Home position return speed 000Ah End point No. 000Ah 000Ch Operation startup coordinate 000Ch Creep speed 000Eh 000Eh Return to home position mode (Note)

Note. Follow the home position return method designated in parameter No.0240.

(3) Start of JOG operation (4) Start of incremental feed

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0003h) 0002h Event code (0004h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Manual feed speed (Note) 0008h Manual feed speed (Note) 000Ah 000Ah 000Ch 0 (fixed value) 000Ch Incremental feed movement amount 000Eh 0 (fixed value) 000Eh

Note. Taken as a negative number when the movement direction is -.

Note. Taken as a negative number when the movement direction is -.

(5) Start of linear interpolation

operation MC200 /Start of interpolation operation MC300

(6) Home position reset startup

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0005h) 0002h Event code (0006h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Start point No. 0008h 0 (fixed value) 000Ah End point No. 000Ah 0 (fixed value) 000Ch Operation startup coordinate 000Ch 0 (fixed value) 000Eh 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(7) Completion of automatic operation (8) Home position return complete

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0011h) 0002h Event code (0012h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Coordinate operation completed 0008h Completion status (0: normal -1: error) 000Ah 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(9) Completion of JOG operation (10) Completion of incremental feed

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0013h) 0002h Event code (0014h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Coordinate operation completed 0008h Coordinate operation completed 000Ah 000Ah 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(11) Completion of linear interpolation

operation MC200 /Completion of interpolation operation MC300

(12) Home position reset complete

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0015h) 0002h Event code (0016h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Coordinate operation completed 0008h Completion status (0: normal -1: error) 000Ah 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(13) Change speed (14) Change acceleration time constant

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0020h) 0002h Event code (0021h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Speed after change 0008h Acceleration time constant after change 000Ah 000Ah

000Ch Status

0: Completion of preparation for change 1: Change error

000Ch

Status 0: Completion of preparation for change 1: Change error

000Eh 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(15) Change deceleration time constant (16) Position change

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0022h) 0002h Event code (0023h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Deceleration time constant after change 0008h Position after change 000Ah 000Ah

000Ch Status

0: Completion of preparation for change 1: Change error

000Ch

Status 0: Completion of preparation for change 1: Change error

000Eh 0 (fixed value) 000Eh 0 (fixed value)

(17) Operation alarm occurs (18) A servo alarm occurs Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0100h) 0002h Event code (0101h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Alarm number 0008h Alarm number 000Ah Details number 000Ah Details number 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(19) Start of operation while alarm is set (20) System alarm occurs

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0102h) 0002h Event code (0103h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Alarm number 0008h Alarm number 000Ah Details number 000Ah Details number 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(21) Parameter initialization (22) Writing to parameters

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0201h) 0002h Event code (0202h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h System command code 0008h Parameter number 000Ah 0 (fixed value) 000Ah Parameter setting prior to change 000Ch 0 (fixed value) 000Ch Parameter setting after change 000Eh 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(23) Reading parameters (24) Backup parameters reading

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0203h) 0002h Event code (0210h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Parameter number 0008h 0 (fixed value) 000Ah Parameter data 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(25) Flash ROM parameter backup (26) Flash ROM parameter initialization

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0211h) 0002h Event code (0212h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h 0 (fixed value) 0008h 0 (fixed value) 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(27) Start of system startup (28) Completion of system startup

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0300h) 0002h Event code (0310h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h System command code 0008h 0 (fixed value) 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(29) System error occurs (30) Interlock occurs

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0311h) 0002h Event code (0402h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h System status code 0008h Operation mode 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(31) Interlock cancelled (32) Stop command (STP)

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0403h) 0002h Event code (0404h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Operation mode 0008h Operation mode 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(33) Rapid stop command (RSTP) (34) Operation alarm reset

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0408h) 0002h Event code (0500h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Operation mode 0008h Alarm number when reset is performed 000Ah 0 (fixed value) 000Ah Details number when reset is performed 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(35) Servo alarm reset (36) System alarm reset

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0501h) 0002h Event code (0503h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Alarm number when reset is performed 0008h Alarm number when reset is performed 000Ah Details number when reset is performed 000Ah Details number when reset is performed 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(37) Waiting required for interference (38) Cancellation of waiting for interference

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0601h) 0002h Event code (0602h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Operation mode 0008h Operation mode 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(39) Rough match output (40) Pass position interrupt start

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0603h) 0002h Event code (0604h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Operation mode 0008h Pass position condition number 000Ah 0 (fixed value) 000Ah Pass position option 000Ch 0 (fixed value) 000Ch Start coordinate 000Eh 0 (fixed value) 000Eh

(41) Pass position interrupt complete (42) Pass position interrupt incomplete

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0605h) 0002h Event code (0606h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Pass position condition number 0008h Pass position condition number 000Ah Pass position option 000Ah Pass position option 000Ch Completion coordinate 000Ch Completion coordinate 000Eh 000Eh

(43) Pass position interrupt cancel (44) Pass position interrupt condition satisfied

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0607h) 0002h Event code (0608h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Pass position condition number 0008h Pass position condition number 000Ah Pass position option 000Ah Pass position option 000Ch Cancel coordinate 000Ch Condition satisfied coordinate 000Eh 000Eh

(45) Point table loop start

Offset Content 0000h Axis No. 0002h Event code (0609h) 0004h Time stamp 0006h 0008h 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(46) Other axes start complete (47) Other axes start incomplete

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0800h) 0002h Event code (0801h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Other axes start data No. 0008h Other axes start data No. 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(48) SSCNET disconnection command (49) SSCNET disconnection complete MC200

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0900h) 0002h Event code (0901h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Disconnection axis No. 0008h Controlling axis information (lower) 000Ah 0 (fixed value) 000Ah

000Ch 0 (fixed value)

000Ch Controlling axis information (upper) (0(fixed value))

000Eh 0 (fixed value) 000Eh Controlling station information

(50) SSCNET disconnection error (51) SSCNET reconnection command Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0902h) 0002h Event code (0903h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Error code of reconnection/disconnection 0008h 0 (fixed value) 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(52) SSCNET reconnection complete MC200 (53) SSCNET reconnection error

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0904h) 0002h Event code (0905h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Controlling axis information (lower) 0008h Error code of reconnection/disconnection 000Ah 000Ah 0 (fixed value)

000Ch Controlling axis information (upper) (0(fixed value))

000Ch 0 (fixed value)

000Eh Controlling station information 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(54) SSCNET disconnection complete

(axis) MC300 (55) SSCNET disconnection complete

(station) MC300 Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0906h) 0002h Event code (0908h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Controlling axis information 1 0008h Controlling station information 000Ah 000Ah 000Ch Controlling axis information 2 000Ch 0 (fixed value) 000Eh 000Eh 0 (fixed value)

(56) SSCNET reconnection complete

(axis) MC300 (57) SSCNET reconnection error

(station) MC300 Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0909h) 0002h Event code (090Bh) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Controlling axis information 1 0008h Controlling station information 000Ah 000Ah 000Ch Controlling axis information 2 000Ch 0 (fixed value) 000Eh 000Eh 0 (fixed value)

(58) Control mode switch complete (59) Control mode switch error

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0A00h) 0002h Event code (0A01h) 0004h Time stamp 0004h Time stamp 0006h 0006h

0008h

Control mode before switch 0: Position control mode 1: Speed control mode 2: Torque control mode

0008h

Control mode before switch 0: Position control mode 1: Speed control mode 2: Torque control mode

000Ah

Control mode after switch 0: Position control mode 1: Speed control mode 2: Torque control mode

000Ah

Control mode after switch 0: Position control mode 1: Speed control mode 2: Torque control mode

000Ch

0 (fixed value)

000Ch

Switch error cause 0: Zero speed (ZSP) OFF 1: Control mode error 2: Incompatible axis 3: Switch not possible

000Eh 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(60) Mark detection signal detection (61) Mark detection clear

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0B00h) 0002h Event code (0B01h) 0004h Time stamp 0004h Time stamp 0006h 0006h

0008h Mark detection number 0: Mark detection setting 1 1: Mark detection setting 2

0008h

Mark detection setting number

000Ah Mark detection edge data 1: OFF edge 2: ON edge

000Ah

0 (fixed value)

000Ch Data latch 0: No latch 1: Latch

000Ch

0 (fixed value)

000Eh 0 (fixed value) 000Eh 0 (fixed value)

(62) Mark detection disable start (63) Mark detection disable cancel Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0B02h) 0002h Event code (0B03h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Mark detection setting number 0008h Mark detection setting number 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(64) Mark detection setting enable (65) Transient transmit start

Offset Content Offset Content 0000h Axis No. 0000h Axis No. 0002h Event code (0B04h) 0002h Event code (0C00h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Mark detection setting number 0008h Transient command 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(66) Transient transmit error occurrence (67) RIO control alarm occurrence

Offset Content Offset Content 0000h Axis No. 0000h Station No. 0002h Event code (0C01h) 0002h Event code (2100h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Transient command 0008h Alarm number 000Ah 0 (fixed value) 000Ah Details number 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

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7. AUXILIARY FUNCTION

(68) RIO module alarm occurrence (69) Writing to parameters (remote I/O)

Offset Content Offset Content 0000h Station No. 0000h Station No. 0002h Event code (2101h) 0002h Event code (2202h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Alarm number 0008h Parameter number 000Ah Details number 000Ah Parameter setting prior to change 000Ch 0 (fixed value) 000Ch Parameter setting after change 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(70) RIO control alarm reset (71) RIO module alarm reset

Offset Content Offset Content 0000h Station No. 0000h Station No. 0002h Event code (2500h) 0002h Event code (2501h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Alarm number 0008h Alarm number 000Ah Details number 000Ah Details number 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

(72) Transient transmit start (remote I/O) (73) Transient transmit error occurrence

(remote I/O) Offset Content Offset Content 0000h Station No. 0000h Station No. 0002h Event code (2C00h) 0002h Event code (2C01h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Transient command 0008h Transient command 000Ah 0 (fixed value) 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) 000Eh 0 (fixed value)

POINT For change of parameters (event code 0202h), the parameter value prior to

change and parameter value after change are compared and only if the setting is different is the parameter change recorded in the log data.

For occurrence of system errors (event code 0311h), occurrence of system errors related to communication (E400h to) are recorded in the log data. However system errors that show issues with the position board (E001h to E302h) are not recorded in the log data, as the position board is in an error state.

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7. AUXILIARY FUNCTION

7.13.5 Interface

(1) Command/status bit System command/status bits related to log function are shown below. (a) System command bits

Address Bit Symbol Signal name

MR-MC2 MR-MC3

03EA 000B0A 0 LOGC Log command 1 LOGR Reading of log data command 2 Reserved 3 LOGI Log data initialization command 4

5

Reserved 6 7

1) Details concerning system command bits

Symbol Signal name Function details

Function Operation LOGC Log command Starts/stops recording of log data. When the log command signal (LOGC) is turned on,

recording of log data is started, and log operation being performed signal (LOGO) is turned on. The log operation being performed signal (LOGO) is turned off when the log command signal (LOGC) is turned off.

LOGR Reading of log data command

Reads the log data stored in the log data buffer area to the log data table on the dual port memory.

When the reading of log data command signal (LOGR) is turned on, the log data for the page number set as the read log data page number is read into the log data table. When reading of log data is complete, the reading of log data complete signal (LOGRF) is turned on or a reading of log data error signal (SMPRE) is turned on.

LOGI Log data initialization command

Initialization of the log data stored in the log data buffer area.

When the log data initialization command signal (LOGI) is turned on, the log data is initialized and the number of valid log data events and time stamp are 0 cleared.

(b) System status bits

Address Bit Symbol Signal name

MR-MC2 MR-MC3

045A 000BEA 0 LOGO Log operation being performed 1 LOGRF Reading of log data complete 2 LOGRE Reading of log data error 3 LOGIF Log data initialization is complete 4 LOGIE Log data initialization error 5 OCMCO Operation cycle monitor clear 6 OCME Operation cycle alarm 7 OCMW Operation cycle warning

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7. AUXILIARY FUNCTION

1) Details concerning system status bits

Symbol Signal name Function details

Function Operation LOGO Log operation being

performed Notifies that log is now being taken.

The log command signal (LOGC) was turned on.

The log command signal (LOGC) was turned off. LOGRF Reading of log data

complete Notifies that reading of log data was completed normally.

Reading of log data is completed normally.

Entered reading of data because the log command signal (LOGC) was turned on. Reading of log data command signal (LOGR) was turned off.

LOGRE Reading of log data error

Notifies that reading of log data was not completed normally.

Reading of log data command signal (LOGR) was turned on while log (LOGO: ON) was being taken. Reading of log data command signal (LOGR) was turned on with a reading of log data page number set outside page number limits.

Reading of log data command signal (LOGR) was turned off.

LOGIF Log data initialization is complete

Notifies that log data initialization was completed normally.

Log data initialization command signal (LOGI) was turned on while log operation being performed signal (LOGO) was turned on.

The log data initialization command signal (LOGI) was turned off.

LOGIE Log data initialization error

Notifies that log data initialization was not completed normally.

Log data initialization command signal (LOGI) was turned on while log operation being performed signal (LOGO) was turned on.

The log data initialization command signal (LOGI) was turned off.

(2) System command/status table

(a) System Commands Address

Name Setting range

Remarks MR-MC2 MR-MC3

0428 000B58 Reading of log data page number

1 to 256 Sets the page number for the log data area for logged data to be read to. Data for 16 events of log data are read for each page. Example. When the number of valid events is 345 events

345/16 = 21 9 In other words, pages 1 to 22 are read.

0429 000B59

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7. AUXILIARY FUNCTION

(b) System status

Address Name

Setting range

Remarks MR-MC2 MR-MC3

0498 000C38 Reading of log data Page number

1 to 256 Stores the page number that was read. The details for the settings for the page number of the log data that was read using a system command are stored.

0499 000C39

049A 000C3A Number of valid log data events

0 to 4096 Stores the number of number of valid events stored in current log data. When the number of valid events reaches 4096 events the number of valid events becomes 4096.

049B 000C3B

7.13.6 Timing chart for reading of log data

A method for reading log data stored in the log data buffer area is shown below.

ON OFF

sscReadLogData function

Page 1 Page 2 Page 3

ON OFF

Reading of log data command (LOGR)

Log data read page number

Reading of log data complete (LOGRF)

POINT

For reading of log data, turn off the log command signal (LOGC). If log data is read while the log operation being performed signal (LOGO) is turned on, the reading of log data error (LOGRE) is turned on.

Log data is stored using a ring buffer format in the log data buffer area of the position board; however, when transferred to the dual port memory, the data is transferred from the oldest (oldest is transferred first) in order.

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7. AUXILIARY FUNCTION

7.13.7 Log acquiring selection

By setting the log acquiring selection (parameter No.0040 to 0042), the axis No. and system for which the log to be acquired can be set. When the number of log events to be memorized is not enough, set the events (axis and system) for which log is to be acquired, using this function. (1) System parameter

Parameter No. Symbol Name Initial value Unit Setting range

Function

0040 LGS1 Log acquiring selection 1 (Note 1)

0000h

0000h to 0001h

Set whether to acquire the log of the system when the log function is used. System (bit 0)

0: Not acquire 1: Acquire 0041 LGS2 Log acquiring

selection 2 (Note 1)

0000h

0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 1 (bit 0) to axis 16 (bit 15)

0: Not acquire 1: Acquire 0042 LGS3 Log acquiring

selection 3 (Note 1)

0000h

0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 17 (bit 0) to axis 32 (bit 15)

0: Not acquire 1: Acquire 0043 LGS4 Log acquiring

selection 4 (Note 1) (Note 3)

0000h

0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 33 (bit 0) to axis 48 (bit 15)

0: Not acquire 1: Acquire 0044 LGS5 Log acquiring

selection 5 (Note 1)

0000h

0000h to 00FFh

Set the station No. for which the log is to be acquired. Station 1 (bit 0) to station 4 (bit 3) MC200 Station 1 (bit 0) to station 16 (bit 15) MC300

0: Not acquire 1: Acquire 004B LGS6 Log acquiring

selection 6 (Note 1) (Note 3)

0000h

0000h to 00FFh

Set the axis No. for which the log is to be acquired. Axis 49 (bit 0) to axis 64 (bit 15)

0: Not acquire 1: Acquire

Note 1. When all the system parameters of the log acquiring selection (parameters No. 0040 to 0044, and 004B) are set to 0000h (initial value), log for all axes, stations, and systems will be acquired.

2. Since the parameter for the log acquiring selection is not determined before the system startup, log for all axes, stations, and systems will be acquired.

3. When using MR-MC2 , "for manufacturer setting".

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7. AUXILIARY FUNCTION

7.14 Operation cycle monitor function

7.14.1 Summary

The operation cycle monitor function is a function that monitors the operation cycle current time, operation cycle maximum time, and operation cycle over time. The operation cycle monitor function becomes valid after the system starts. The operation cycle is the position board processing (SSCNET communication process motion operation process) time.

SSCNET communication process

Motion operation process

ON OFF

Control cycle

ON OFF

Operation cycle

When the operation cycle exceeds the warning level (95% of the control cycle, 0.84ms when control cycle 0.88ms is selected), the operation cycle warning signal (OCMW) turns on. Also, when the operation cycle exceeds the alarm level (100% or more of the control cycle, 0.88ms or more when control cycle 0.88ms is selected), the count of the operation cycle over time increases and the operation cycle alarm signal (OCME) turns on. 7.14.2 Interface

Interfaces related to the operation cycle monitor function are shown below. (1) System command bit (2) System status bit

Address Bit Symbol Signal name

Address Bit Symbol Signal name MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

03EA 000B0A 0 LOGC Log command 045A 000BEA 0 LOGO Log operation being performed 1 LOGR Reading of log data command 1 LOGRF Reading of log data complete 2 Reserved 2 LOGRE Reading of log data error 3 LOGI Log data initialization command 3 LOGIF Log data initialization is complete 4 Reserved 4 LOGIE Log data initialization error 5 OCMC Operation cycle monitor clear 5 OCMCO Operation cycle monitor clear 6

Reserved 6 OCME Operation cycle alarm

7 7 OCMW Operation cycle warning

(3) Operation cycle monitor data

Address Size Name Unit Description

MR-MC2 MR-MC3 0014 000014 2 byte Operation cycle current time s Current processing time is stored 0016 000016 2 byte Operation cycle maximum time s Maximum processing time is stored 0018 000018 2 byte Operation cycle over time Number of

times The cumulative value of the number of times which exceeds the control cycle is stored

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7. AUXILIARY FUNCTION

7.14.3 Operation timing

(1) Operation cycle alarm, operation cycle warning occurrence timing A timing chart for when the operation cycle exceeds the warning level (95% of the control cycle) and alarm level (100% of the control cycle) is shown below.

(The following figure shows: a < Operation cycle 95% < b < Operation cycle 100% < c)

Operation cycle maximum time

a c

Operation cycle warning (OCMW)

b

Operation cycle alarm (OCME)

ON

OFF ON

OFF

(2) Operation cycle monitor clear timing When the operation cycle monitor clear signal (OCMC) is turned on, the during operation cycle monitor clear (OCMCO) is turned on. Then, the operation cycle alarm signal (OCME) and operation cycle warning signal (OCMW) are turned off, and each data item in the operation cycle monitor data is cleared to 0.

sscClearOperationCycleMonitor function

Operation cycle monitor clear (OCMC)

During operation cycle monitor clear (OCMCO)

Operation cycle monitor data (operation cycle current time) 0

Operation cycle alarm (OCME)

Operation cycle warning (OCMW)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

POINT When the operation cycle alarm signal (OCME) and operation cycle warning

(OCMW) are turned on, the load of the motion operation is high. Review the following contents. Extend the control cycle in the setting.

(Example. When the control cycle is 0.44 ms, change it to 0.88 ms.) Set less control axes. Reexamine the operation pattern so that each axis does not start operation

simultaneously. For software version A4 or later, when operation cycle alarm (OCME) turns ON

operation cycle alarm (system alarm 35, detail No.01) occurs. Operation continues even when operation cycle alarm (system alarm 35, detail No.01) has occurred. When clearing operation cycle alarm (system alarm 35, detail No.01) turn ON system alarm reset signal (CRST).

API LIBRARY

Use the sscGetOperationCycleMonitor function to get the operation cycle current time/operation cycle maximum time/operation cycle over time.

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7. AUXILIARY FUNCTION

7.15 External forced stop disabled

7.15.1 Summary

The external forced stop disabled function disables the external forced stop by input signal (EMI) from the I/O connector. Note. Software forced stop by system command bit and forced stops due to system errors such as SSCNET communication errors (system

status code E h) are not disabled. 7.15.2 Interface

The interface added for the external forced stop disabled function is as follows. (1) System status bit

Address Bit Symbol Signal name

MR-MC2 MR-MC3

0452 000BE2 0 EMIO During forced stop 1 Reserved 2 TSTO In test mode 3

Reserved 4 5 6 EMID External forced stop disabled 7 Reserved

(2) System parameter

Parameter No. Symbol Name Initial value Unit Setting range

Function

000E *EMID External forced stop disabled

0000h

0000h to FFFFh

Disable the forced stop by EMI signal. 5AE1h : Forced stop disabled Other than 5AE1h : Forced stop enabled

7.15.3 Setting method

To disable the external forced stop, set 5AE1h to external forced stop disabled (parameter No.000E), and start the system. When the external forced stop is disabled, external forced stop disabled signal (EMID) turns ON. Note 1. External forced stop disabled (parameter No.000E) settings are imported at the system startup. Changes while the system is

running are invalid. 2. External forced stop disabled signal (EMID) turns ON at system startup.

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7. AUXILIARY FUNCTION

7.16 Amplifier-less axis function

7.16.1 Summary

The amplifier-less axis function is a function that enables to operate the position board without connecting a servo amplifier. This function enables to debug the user program at the start-up of the device and to simulate the positioning operation. 7.16.2 Interface

To use the amplifier-less axis function, set Valid in the amplifier-less axis function (parameter No.0200).

Parameter No. Symbol Name Initial value Unit Setting range

Function

0200 *OPC1 Control option 1 0000h

0000h to 2111h

0 0 0

Amplifier-less axis function Set 1 when not communicating with servo amplifier. When 1 is set with the control axis, the position board can be operated (simulated) without a servo amplifier. 0: Invalid 1: Valid

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7. AUXILIARY FUNCTION

7.16.3 Control details

The operation details related to the amplifier-less axis function are shown below.

Item Operation Servo amplifier The specification of a supposedly connected servo amplifier is shown below.

SSCNET communication method

Number of encoder pulses per revolution [pulse]

Maximum motor speed [r/min]

SSCNET /H 4194304 6000 Note. The servo amplifier operates as a servo amplifier compatible with a rotary servo motor.

(It does not operate as a servo amplifier compatible with the fully closed, linear, and direct drive.)

Home position return Home position return using an incremental encoder or incremental linear scale including a scale home position signal detection method and a scale home position signal detection method 2 (home position return which searches a home position signal again) cannot be used.

In-position signal (INP) This signal turns on when the current command position and the current feedback position are the same.

Servo alarm No servo alarm occurs. Servo information Servo information (monitor No.0100 to 02FF) cannot be referred unless the servo amplifier is

connected. Servo amplifier is not connected (MESV) turns on. High speed monitor The current command position of the previous control cycle is displayed in the current feedback

position. Electrical current feedback and always 0 is displayed. Torque limit By turning on/off the torque limit signal (TL), on/off of the selecting torque limit signal (TLSO) can

be confirmed. However, the torque limit effective signal (TLC) does not turn on and the operation of the amplifier-less axis is not affected.

Gain switching By turning on/off the gain switching command signal (GAIN), on/off of the gain switching signal (GAINO) can be confirmed. However, the operation of the amplifier-less axis is not affected.

Fully closed loop control change By turning on/off the fully closed loop control change signal (CLD), on/off of the fully closed loop control changing signal (CLDO) can be confirmed. However, the operation of the amplifier-less axis is not affected.

PI-PID switching By turning on/off the PID control command signal (CPC), on/off of the during PID control signal (SPC) can be confirmed. However, the operation of the amplifier-less axis is not affected.

Forced stop When forced stop occurs, amplifier-less axis continues the positioning operation without controller forced stop warning (servo warning E7).

External signal To simulate an operation using a limit switch signal or dog signal (such as home position return), set dual port memory to the sensor input system (parameter No.0219) and control the sensor signal command (LSPC, LSNC, DOGC) with the user program.

Absolute position detection system

The absolute position detection system cannot be used. The incremental system is always used.

Reconnect/disconnect function The amplifier-less axis cannot be disconnected or reconnected. Continuous operation to torque control

After reaching the continuous operation to torque control speed limit value, it is regarded that the torque settle width has been reached, and operation is completed after the continuous operation to torque control time has passed. For electrical current feedback, torque 0% occurs before reaching the speed limit value, and target torque occurs after reaching the speed limit value.

Operation with MR Configurator2 Servo amplifier cannot be operated or monitored with MR Configurator.

POINT The operation of the current feedback position and the timing of the in-position

signal (INP) are different from the case where the servo amplifier is connected. Confirm the operation finally with a real machine.

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7.17 Alarm history function

7.17.1 Summary

The alarm history function is a function that records the history of system errors and alarms (system, operation, and servo alarms) when they occur. The alarm history data is stored in the alarm history area of the flash ROM. Alarm history can also be checked after the power is turned off.

POINT History data is also stored at system startup command (when 000Ah, or 000Ch

is input to the system command code) and at completion of system startup (when system status code has become 000Ah).

Alarm history data is stored to the flash ROM once every 10s. (max. 100 alarms each storing)

When more than 100 alarms occur over 10s, the data passed 100 alarms is discarded.

If power is turned off or a reboot is performed before alarm history write, the history data is not saved.

Reading of alarm history data can be performed in the test tool.

API LIBRARY For a detailed procedure for getting alarm history data, refer to the sample

program (AlarmHistory) contained on the utility software.

Using MR-MC3

0E3FFF

0E3F00

Using MR-MC2

BC30

BD2F

Note 1. Log data is read to the dual port memory from internal memory of the position board in units of pages (4 data).

2. There is a storage area for 2047 history data. However, when power supply is turned ON, or a software reboot is performed after storing 1536 data or more, the oldest 1024 items of history data are deleted.

Transferred on per page basis

Flash ROM alarm history areaDual port memory

Alarm history data table 256 byte

(For 4 history data)

Alarm history area 131072 byte

(For 2047 history data)

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7.17.2 Alarm history data details

There are three types of history data, system startup command data and completion of system startup data, and alarm history data. One history data is 64 bytes. The details of the data are shown in the following. (1) System startup command data

Offset Content Offset Content 0000h

System startup time

0020h

Reserved

0001h 0021h 0002h 0022h 0003h 0023h 0004h 0024h 0005h 0025h 0006h 0026h 0007h 0027h 0008h

Free run counter

0028h 0009h 0029h 000Ah 002Ah 000Bh 002Bh 000Ch Control cycle 002Ch 000Dh Event code 002Dh 000Eh

Reserved 002Eh

000Fh 002Fh 0010h Communication mode 0030h 0011h Control mode 0031h 0012h

Reserved

0032h 0013h 0033h 0014h 0034h 0015h 0035h 0016h 0036h 0017h 0037h 0018h 0038h 0019h 0039h 001Ah 003Ah 001Bh 003Bh 001Ch 003Ch 001Dh 003Dh 001Eh 003Eh 001Fh 003Fh Checksum

(a) System startup time

When the API library is used, the number of seconds passed since 0000hrs, January 1, 1970 at the input time for system startup command is stored. When the API library is not used, "0" is stored.

(b) Free-run counter

Stores the value of the free-run counter at the system startup command.

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(c) Control cycle

Stores the control cycle. 00h: 0.88ms 01h: 0.44ms 02h: 0.22ms

(d) Event code

Stores the type of history content. 00h: System startup command 02h: Completion of system startup 10h: System error 11h: System alarm 12h: Servo alarm 13h: Operation alarm 92h: RIO module alarm 93h: RIO control alarm

(e) Communication mode

Stores the communication mode. 00h: SSCNET /H mode

(f) Control mode

Stores the control mode. 00h: Standard mode 01h: Interface mode

(g) Checksum

Stores the inverted sum of the 1 byte data from the whole area for history data as the checksum data.

POINT If control mode, communication mode, and control cycle for history data are set

outside the range in system parameters, the following history is stored. Control cycle : 00h (0.88ms) Communication mode : 00h (SSCNET /H mode) Control mode : 00h (Standard mode)

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(2) Completion of system startup data

Offset Content Offset Content 0000h

System startup time

0020h

Reserved

0001h 0021h 0002h 0022h 0003h 0023h 0004h 0024h 0005h 0025h 0006h 0026h 0007h 0027h 0008h

Free run counter

0028h 0009h 0029h 000Ah 002Ah 000Bh 002Bh 000Ch Control cycle 002Ch 000Dh Event code 002Dh 000Eh

Reserved

002Eh 000Fh 002Fh 0010h 0030h 0011h 0031h 0012h 0032h 0013h 0033h 0014h 0034h 0015h 0035h 0016h 0036h 0017h 0037h 0018h 0038h 0019h 0039h 001Ah 003Ah 001Bh 003Bh 001Ch 003Ch 001Dh 003Dh 001Eh 003Eh 001Fh 003Fh Checksum

(a) Free-run counter

Stores the value of the free-run counter at the completion of system startup.

Note. Refer to "(1) System startup command data" of this section for details of other data.

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(3) Alarm history data

Offset Content Offset Content 0000h

System startup time

0020h

Current feedback position 0001h 0021h 0002h 0022h 0003h 0023h 0004h 0024h

Reserved

0005h 0025h 0006h 0026h 0007h 0027h 0008h

Free run counter

0028h 0009h 0029h 000Ah 002Ah 000Bh 002Bh 000Ch Control cycle 002Ch 000Dh Event code 002Dh 000Eh

Reserved

002Eh 000Fh 002Fh 0010h 0030h 0011h 0031h 0012h 0032h 0013h 0033h 0014h

Error axis (station) No. 0034h

0015h 0035h 0016h

Alarm number 0036h

0017h 0037h 0018h Operation mode 0038h 0019h

Reserved 0039h

001Ah 003Ah 001Bh 003Bh 001Ch

Current command position

003Ch 001Dh 003Dh 001Eh 003Eh 001Fh 003Fh Checksum

(a) Free-run counter

Stores the value of the free-run counter at the alarm occurrence.

(b) Error axis (station) No. Stores the error axis (station) No. when the event code is an alarm/error.

0000h : System 0001h to 0020h: Axis No. MC200 0001h to 003Fh: Axis No. MC300 0001h to 0004h: Station No. MC200 0001h to 000Fh: Station No. MC300

(c) Alarm number

Stores the alarm number (lower), and details number (upper) when the event code is an alarm/error.

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(d) Operation mode

Stores the operation mode. 00h: Automatic operation 01h: Home position return 02h: JOG operation 03h: Incremental feed 04h: Mode not selected 05h: Mode error 06h: Home position reset 08h: Linear interpolation operation MC200 /interpolation operation MC300

Stores "04h: Mode not selected" when the event code is not a servo alarm or operation alarm.

(e) Current command position Stores the signed current command position [command units] when the event code is a servo alarm or operation alarm. Stores 0 when the event code is not a servo alarm or operation alarm.

(f) Current feedback position

Stores the signed current feedback position [command units] when the event code is a servo alarm or operation alarm. Stores 0 when the event code is not a servo alarm or operation alarm.

Note. Refer to "(1) System startup command data" of this section for details of other data.

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7.17.3 Interface

(1) System Command/Status Bit System command/status bits related to alarm history function are shown below. (a) System command bit

Address Bit Symbol Signal name

Address Bit Symbol Signal name MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

03E1 000B01 0 SMPS Sampling start 03F7 000B17 0 ALHR Alarm history read command 1

Reserved

1 Reserved

2 2 ALHI Alarm history initialization command

3 3

Reserved 4 4 5 5 6 6 7 7

1) Details concerning system command bits

Symbol Signal name Function details

Function Operation ALHR Alarm history read

command Reads the alarm history stored in the alarm history buffer area (flash ROM) to the alarm history table on the dual port memory.

When the alarm history read command signal (ALHR) is turned on, the alarm history for the page number set as the alarm history read page number is read to the alarm history table. When reading of alarm history is complete, the alarm history read complete signal (ALHRF) is turned on or alarm history read error signal (ALHRE) is turned on.

ALHI Alarm history initialization command

Initialization of the alarm history stored in the alarm history buffer area(flash ROM).

When the alarm history initialization command signal (ALHI) is turned on, the alarm history is initialized and the number of valid alarm history events are 0 cleared.

(b) System status bit

Address Bit Symbol Signal name

Address Bit Symbol Signal name MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

0451 000BE1 0 SMPW Waiting for sampling trigger 0467 000BF7 0 ALHRF Alarm history read complete 1 SMPO Sampling is being performed 1 ALHRE Alarm history read error

2 SMPF Sampling is complete 2 ALHIF Alarm history initialization complete

3 SMPE Sampling Error 3 ALHIE Alarm history initialization error 4 Reserved 4

Reserved 5 AHINF Alarm history information 5 6

Reserved 6

7 7

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1) Details concerning system status bits

Symbol Signal name Function details

Function Operation AHINF Alarm history

information Shows that position board is alarm history compatible.

An alarm history compatible position board is connected.

A position board that is not alarm history compatible is connected.

ALHRF Alarm history read complete

Notifies that reading of alarm history was completed normally.

Reading of alarm history is completed normally.

Alarm history read command signal (ALHR) was turned off.

ALHRE Alarm history read error Notifies that reading of alarm history was not completed normally.

Alarm history read command signal (ALHR) was turned on with an alarm history read page number set outside page number limits.

Alarm history read command signal (ALHR) was turned off.

ALHIF Alarm history initialization complete

Notifies that alarm history initialization was completed normally.

Initialization of alarm history is completed normally.

Initialization of data entered through turning the alarm history initialization command signal (ALHI) on. The alarm history initialization command signal (ALHI) was turned off.

ALHIE Alarm history initialization error

Notifies that alarm history initialization was not completed normally.

Alarm history initialization command signal (ALHI) was turned on with a value other than E15Ah set to the alarm history initialization ID.

The alarm history initialization command signal (ALHI) was turned off.

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(2) System command/status table

(a) System Commands Address

Name Setting range

Remarks MR-MC2 MR-MC3

0444 000B74 Alarm history read page number

1 to 512 Sets the page number for the alarm history area for alarm history to be read to. Data for 4 events of alarm history are read for each page. Example. When the number of valid events is 1250 events

1250/4 = 312 2 In other words, pages 1 to 313 are read.

0445 000B75

0446 000B76 Alarm history initialization ID

E15Ah When initializing the alarm history, set "E15Ah" Refer to Section 7.17.5 for details. 0447 000B77

0448 000B78 System startup time 00000000 00000000h

to FFFFFFFF

FFFFFFFFh

When the API library sscSystemStart function is used, the host controller stores the time of system startup. When the API library is not used, perform system startup after storing the number of seconds since 0000hrs, January 1, 1970. Refer to Section 4.6 for details.

0449 000B79 044A 000B7A 044B 000B7B 044C 000B7C 044D 000B7D 044E 000B7E 044F 000B7F

(b) System status

Address Name

Setting range

Remarks MR-MC2 MR-MC3

04B4 000C54 Alarm history read page number

1 to 512 Stores the page number that was read. The details of the settings for the alarm history read page number of the system command are stored.

04B5 000C55

04B6 000C56 Number of valid alarm history events

0 to 2047 Stores the number of valid events stored in current alarm history. When the number of valid events reaches 2047 events the number of valid events becomes 2047.

04B7 000C57

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7.17.4 Timing chart for alarm history read

A method for reading alarm history stored in the alarm history area is shown below.

ON OFF

Page 1 Page 2 Page 3

sscGetAlarmHistoryData function

Alarm history read command (ALHR)

Alarm history read complete (ALHRF)

Alarm history read page numberHost

controller

Position board

ON OFF

POINT The alarm history is stored in the alarm history area of the position board flash

ROM in ring buffer format. The data is read from the oldest data first when transmitting to the dual port memory.

API LIBRARY

Use the sscGetAlarmHistoryData function to read the alarm history. Calculate the largest page number (divide the number of valid events by 4 and round up to nearest whole number) to be read by using the number of valid events got with the sscCheckAlarmHistoryEventNum function. Use this function to get alarm history data from page 1 to the largest page number to be read.

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7.17.5 Alarm history initialization procedure

The procedure for initialization of parameters are as follows.

Yes

sscClearAlarmHistoryData function

End

No

Note. Set E15A to the alarm history initialization ID.

Turn off alarm history initialization command (ALHR)

Alarm history initialization ID setting

Turn on alarm history initialization command (ALHI)

Start

Alarm history initialization

complete?

POINT

Do not turn off the power supply to the position board during initialization of alarm history.

Alarm history data cannot be read during initialization of alarm history.

API LIBRARY Use the sscClearAlarmHistoryData function to initialize alarm history.

7.17.6 List of system errors that do not apply to alarm history storage

System errors that do not apply to alarm history storage are shown below. Error code Content

E001 ROM error E002 RAM error 1 E003 Dual port memory error E004 RAM error 2 E006 SSCNET communication IC error 1 E007 SSCNET communication IC error 2 E008 Board error E1 CPU error EF01 System command code error

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7.18 Transient transmit

7.18.1 Summary

Using the transient transmit function allows the buffer memory of a servo amplifier or intelligent function module connected to a remote I/O module to be accessed directly from the position board. Compared to the monitor function, the transient transmit data receives data at a slower speed, however it is used to get data that isn't required to be read at a fixed cycle. Additionally, commands can be sent depending on the data type.

API LIBRARY Use the sscSendReceiveTransientData function to send and receive data by

transient transmit. 7.18.2 Interface

The command/status data related to the transient transmit function are shown below. (1) Transient transmit command table

Address (Note 1) (Note 2) Name

Setting range

Remarks MR-MC2 MR-MC3

D400 0F8B00 Command transmission request (2 bytes)

0000h to 0001h

Requests transmission of transient command. 1: Transient request Other than the above: No request

Note 1. If the value is changed while processing, the process is not interrupted.

Note 2. For "1: Transient request", all data is cleared to 0 upon the completion of all processes.

D401 0F8B01

D402 0F8B02 Transient command (2 bytes)

0000h to FFFFh

Sets the transient command to be sent. Note. Without checking the value, the set value is sent to the

servo amplifier as a command. Do not set values other than those that are set for transient commands as the servo amplifier operation for other values is not guaranteed.

D403 0F8B03

D404 0F8B04 Request data 1 (2 bytes)

0000h to FFFFh

Sets the request data. Note 1. Without checking the value, the set value is sent to

the servo amplifier as a command. Note 2. Set "0" when request data is not defined by

command.

D405 0F8B05 D406 0F8B06 Request data 2

(2 bytes) 0000h to FFFFh D407 0F8B07

D408 0F8B08 Request data 3 (2 bytes)

0000h to FFFFh D409 0F8B09

D40A 0F8B0A Request data 4 (2 bytes)

0000h to FFFFh D40B 0F8B0B

D40C 0F8B0C

Reserved

D40D 0F8B0D D40E 0F8B0E D40F 0F8B0F

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis. 2. The start address for the first station is as follows. For the second station and after, increase by 20h for each station.

Using MR-MC2 : DA00h Using MR-MC3 : 0F9B00h

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(2) Transient transmit status table

Address (Note 1) (Note 2) Name

Setting range

Remarks MR-MC2 MR-MC3

D410 0F8B10

Transient status (2 bytes)

0000h to 800Fh

The process after sending transient request is stored. bit0: Transient command processing completion wait bit1: Transient request start bit2: Transient receiving bit3: Transient reception completed normally bitF: Data valid bit

1: ON (transient normal) 0: OFF (abnormal occurrence)

Note. An abnormal occurrence is when there is a failure in communication, or a transient request is conducted to an axis/station other than the send target axis/station.

D411 0F8B11

D412 0F8B12 Reserved

D413 0F8B13 D414 0F8B14 Response data 1

(2 bytes) 0000h to FFFFh

The response data is stored. The response data includes valid data and invalid data (0), and is always stored as 4 words.

D415 0F8B15 D416 0F8B16 Response data 2

(2 bytes) 0000h to FFFFh D417 0F8B17

D418 0F8B18 Response data 3 (2 bytes)

0000h to FFFFh D419 0F8B19

D41A 0F8B1A Response data 4 (2 bytes)

0000h to FFFFh D41B 0F8B1B

D41C 0F8B1C

Reserved

D41D 0F8B1D D41E 0F8B1E D41F 0F8B1F

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis. 2. The start address for the first station is as follows. For the second station and after, increase by 20h for each station.

Using MR-MC2 : DA10h Using MR-MC3 : 0F9B10h

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7.18.3 Transient commands for servo amplifier

Data type Transient command

Unit Number of valid words (Note 1)

Remark

Servo motor ID (SSCNET )/ Encoder ID

0304 3

Servo motor ID (SSCNET /H) 0309 2 Encoder resolution 0305 [pulse] 2 Servo amplifier serial number (First 8 characters)

0306 [characters] 4

Servo amplifier serial number (Last 8 characters)

0307 [characters] 4

Servo amplifier recognition information (First 8 characters)

0310 [characters] 4

Servo amplifier recognition information (Last 8 characters)

0311 [characters] 4

Servo amplifier software number (First 8 characters)

0312 [characters] 4

Servo amplifier software number (Last 8 characters)

0313 [characters] 4

Power ON cumulative time 0319 [h] 2 Inrush relay ON/OFF number 031A [times] 2 Returns the contactor ON count. Read alarm history number 0323 [items] 1 Alarm history/Detail #1, #2 0324 4 Alarm history/Detail #3, #4 0325 4 Alarm history/Detail #5, #6 0326 4 Alarm history/Detail/Occurrence time 0328 /[h] 4 Alarm occurrence time #1, #2 0329 [h] 4 Alarm occurrence time #3, #4 032A [h] 4 Alarm occurrence time #5, #6 032B [h] 4 Alarm history clear command 0382 0 Home position [command unit] 0408 [pulse]/[rev] 3 Main circuit bus voltage 040A [V] 1 Regenerative load ratio 040B [%] 1 Effective load ratio 040C [%] 1 Peak load ratio 040D [%] 1 Estimate inertia moment ratio 040E [0.1] 1 Model loop gain 040F [rad/s] 1 LED display 0410 [characters] 2 Load-side encoder information 1 0416 [pulse] 2 Fully closed control or synchronous

encoder via servo amplifier use Load-side encoder information 2 0417 [pulse] 2 Speed feedback 0418 [0.01mm/s] 2 Linear servo use Servo motor thermistor temperature 0419 [C] 1 Linear servo use Z-phase counter 041A [pulse] 2 Module power consumption 0424 [W] 2 Module integral power consumption 0425 [Wh] 2 Disturbance torque 0427 [0.1%] 1 Instantaneous torque 0428 [0.1%] 1 Overload alarm margin 0429 [0.1%] 1 Error excessive alarm margin 042A [pulse] 2 Settling time 042B [ms] 1 Overshoot amount 042C [pulse] 1 Servo motor side/load-side position deviation

042D 2 Fully closed control use

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Data type Transient command

Unit Number of valid words (Note 1)

Remark

Servo motor side/load-side speed deviation

042E 2

Machine diagnostic status 042F 1 Friction estimation data 0430 [0.1%] 4 Vibration estimation data 0431 [Hz/0.1%] 4 Internal temperature of encoder 0434 [C] 1 For encoders that are not supported, 0 is

returned. Optional transient command 4 Used when using an optional transient

command.

Note 1. Number of valid words for response data 1 to 4. (1) Servo motor ID (SSCNET )/Encoder ID [0304h]

Request data Content Response data Content Request data 1 Reserved Response data 1 Servo motor ID (lower) Request data 2 Reserved Response data 2 Servo motor ID (upper) Request data 3 Reserved Response data 3 Encoder ID Request data 4 Reserved Response data 4 Reserved

(2) Servo motor ID (SSCNET /H) [0309h]

Request data Content Response data Content Request data 1 Reserved Response data 1 Servo motor ID (lower) Request data 2 Reserved Response data 2 Servo motor ID (upper) Request data 3 Reserved Response data 3 Reserved Request data 4 Reserved Response data 4 Reserved

(3) Alarm history/Detail #1, #2 [0324h]

Request data Content Response data Content Request data 1 Reserved Response data 1 Alarm history 1 Request data 2 Reserved Response data 2 Alarm detail 1 Request data 3 Reserved Response data 3 Alarm history 2 Request data 4 Reserved Response data 4 Alarm detail 2

(4) Alarm history/Detail/Occurrence time [0328h]

Request data Content Response data Content Request data 1 Alarm history number (from N=0) Response data 1 Alarm history number #(N+1) Request data 2 Reserved Response data 2 Alarm history number #(N+1) detail

Request data 3 Reserved

Response data 3 Alarm history number #(N+1) occurrence time (lower)

Request data 4 Reserved

Response data 4 Alarm history number #(N+1) occurrence time (upper)

(5) Alarm history clear command [0382h]

Request data Content Response data Content Request data 1 Alarm reset command (1EA5h) Response data 1 Reserved Request data 2 Reserved Response data 2 Reserved Request data 3 Reserved Response data 3 Reserved Request data 4 Reserved Response data 4 Reserved

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(6) Home position [command unit] [0408h]

Request data Content Response data Content

Request data 1 Reserved

Response data 1 Home position within one revolution (lower)

Request data 2 Reserved

Response data 2 Home position within one revolution (upper)

Request data 3 Reserved

Response data 3 Home position multiple revolution counter

Request data 4 Reserved Response data 4 Reserved (7) LED display [0410h]

Request data Content Response data Content

Request data 1 Reserved

Response data 1 Driver display status (7segLED) lower 2 digits

Request data 2 Reserved Response data 2 Character [JIS8 code] upper 2 digits Request data 3 Reserved Response data 3 Reserved Request data 4 Reserved Response data 4 Reserved

(8) Machine diagnostic status [042Fh]

Request data Content Response data Content

Request data 1 Reserved

Response data 1

Forward rotation friction 0: Estimating friction 1: Estimating complete 2: One side operation (motor rotation stays in one direction) 3: Parameter threshold exceeded 4: Low variation high- speed operation 5: Time constant underestimate 7: 60 minutes elapsed

0

Reverse rotation friction 0: Estimating friction 1: Estimating complete 2: One side operation (motor rotation stays in one direction) 3: Parameter threshold exceeded 4: Low variation high- speed operation 5: Time constant underestimate 7: 60 minutes elapsed Vibration estimation 0: Estimating vibration 1: Estimating complete

Request data 2 Reserved Response data 2 Reserved Request data 3 Reserved Response data 3 Reserved Request data 4 Reserved Response data 4 Reserved

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(9) Friction estimation data [0430h]

Request data Content Response data Content

Request data 1 Reserved

Response data 1 Forward rotation torque static friction [0.1%]

Request data 2 Reserved

Response data 2 Forward rotation torque kinetic friction (at rated speed) [0.1%]

Request data 3 Reserved

Response data 3 Reverse rotation torque static friction [0.1%]

Request data 4 Reserved

Response data 4 Reverse rotation torque kinetic friction (at rated speed) [0.1%]

(10) Vibration estimation data [0431h]

Request data Content Response data Content

Request data 1 Reserved

Response data 1 Motor stopped/servo amplifier locked Oscillation frequency [Hz]

Request data 2 Reserved

Response data 2 Motor stopped/servo amplifier locked Vibration level [0.1%]

Request data 3 Reserved

Response data 3 Motor operating Oscillation frequency [Hz]

Request data 4 Reserved Response data 4 Motor operating Vibration level [0.1%]

POINT Input 0 for request data that is reserved. Get the "friction estimation data" and "vibration estimation data" with transient

command after conducting machine diagnosis estimation. 7.18.4 Example of using transient commands

(1) Friction estimation data/vibration estimation data Setting "friction estimation data" and "vibration estimation data" to the transient command does not enable the correct values to be stored. With the procedure below, perform machine diagnosis and refer to the values. (a) Operate the servo motor approximately 20 minutes in the operation pattern of machine diagnosis

function - Friction judgment speed (servo parameter No.121E) until the diagnosis function is complete. (b) Check that the "forward rotation friction", "reverse rotation friction", and "vibration estimation" values of

machine diagnostic status are 1: Estimating complete. When the values are not that of estimating complete and machine diagnosis fails, repeat the operating procedure starting from (a).

(c) Set "friction estimation data" and "vibration estimation data" to the transient command, and turn ON the transient request.

POINT Refer to Servo Amplifier Instruction Manual for operation pattern of machine

diagnosis function.

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7.18.5 Transient commands for SSCNET /H head module

Data type Transient command

Unit Number of valid words (Note 1)

Remark

Buffer memory read 0211 4 Buffer memory write (2byte) 0291 1 Buffer memory write (4byte) 0292 1

Note 1. Number of valid words for response data 1 to 4. (1) Buffer memory read [0211h]

Request data Content Response data Content

Request data 1 Start I/O No. (first 2 digits of 3-digit display)

Response data 1 2-byte data of buffer memory address+0

Request data 2 Buffer memory address Response data 2 2-byte data of buffer memory address+2 Request data 3 Number of read data (1 to 4) Response data 3 2-byte data of buffer memory address+4 Request data 4 0 (fixed value) Response data 4 2-byte data of buffer memory address+6

(2) Buffer memory write (2byte) [0291h]

Request data Content Response data Content

Request data 1 Start I/O No. (first 2 digits of 3-digit display)

Response data 1 0 (fixed value)

Request data 2 Buffer memory address Response data 2 0 (fixed value) Request data 3 Write data Response data 3 0 (fixed value) Request data 4 0 (fixed value) Response data 4 0 (fixed value)

(3) Buffer memory write (4byte) [0292h]

Request data Content Response data Content

Request data 1 Start I/O No. (first 2 digits of 3-digit display)

Response data 1 0 (fixed value)

Request data 2 Buffer memory address Response data 2 0 (fixed value) Request data 3 Write data (lower) Response data 3 0 (fixed value) Request data 4 Write data (upper) Response data 4 0 (fixed value)

POINT Set the first 2 digits for the start I/O No. when the start I/O No. of the intelligent

function module is a 3-digit display. (Example. When start I/O No. is 1F0h, set 1Fh)

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7. AUXILIARY FUNCTION

7.18.6 Transient commands for sensing module (axis mode)

Data type Transient command

Unit Number of valid words (Note 1)

Remark

Encoder resolution 0305 [pulse] 2 Servo amplifier recognition information (First 8 characters)

0310 [characters] 4 Refer to Section 7.18.3 for details.

Servo amplifier recognition information (Last 8 characters)

0311 [characters] 4

Servo amplifier software number (First 8 characters)

0312 [characters] 4

Servo amplifier software number (Last 8 characters)

0313 [characters] 4

Read alarm history number 0323 [items] 1 Alarm history/Detail #1, #2 0324 4 Alarm history/Detail #3, #4 0325 4 Alarm history/Detail #5, #6 0326 4 Alarm history/Detail/Occurrence time 0328 /[h] 4 Alarm occurrence time #1, #2 0329 [h] 4 Alarm occurrence time #3, #4 032A [h] 4 Alarm occurrence time #5, #6 032B [h] 4 Alarm history clear command 0382 0 LED display 0410 [characters] 2 Optional transient command

4 Used when using an optional transient command.

Note 1. Number of valid words for response data 1 to 4. (1) Encoder resolution [0305h]

Request data Content Response data Content Request data 1 0 (fixed value) Response data 1 Encoder resolution (lower) Request data 2 0 (fixed value) Response data 2 Encoder resolution (upper) Request data 3 0 (fixed value) Response data 3 0 (fixed value) Request data 4 0 (fixed value) Response data 4 0 (fixed value)

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7. AUXILIARY FUNCTION

7.19 Hot line forced stop function

7.19.1 Summary

When an alarm occurs in a MR-JE- B servo amplifier, the hot line forced stop function stops the other axes on the same line with a deceleration stop, allowing the axes to stop safely. When the main circuit power is shut-off at a servo alarm occurrence, use this function.

Servo amplifier

Position board Alarm information

Alarm information

Deceleration stop from servo amplifier

SSCNET /H

Alarm occurrence

POINT For the MR-JE- B, the control power supply and main circuit power are

integrated. Therefore when L1/2/3, the equivalent of the main circuit power of MR-J4(W )- B is shut-off, the control power supply of the servo amplifier is turned OFF. Consequently, SSCNET communication of the axes after the axis where the alarm occurred is disconnected when the wiring is designed to shut- off the main circuit power at an alarm occurrence. When this occurs, the position board can no longer control the disconnected axes and they are stopped by dynamic brake. Thus, if the hot line forced stop function is not used, machinery may cause a collision due to the coasting distance. When SSCNET communication is disconnected, a system error (E40 h) occurs.

System errors cannot be reset. Reboot the software, restart the system as required.

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7. AUXILIARY FUNCTION

7.19.2 Control details

The hot line forced stop function is set by a servo parameter. By using this function, other axes are stopped with a deceleration stop by a notification from the axis where the servo alarm occurred, without going through the control from the position board. The hot line forced stop function is enabled by factory default in the MR-JE-

B. To disable the function, set 1 (disabled) in hot line forced stop function selection of hot line forced stop function (servo parameter No.111A). Also, when using MR-JE- B and MR-J4(W )- B together, the hot line forced stop function can stop MR- J4(W )- B axes with a deceleration stop when an alarm occurs in a MR-JE- B. In order to stop MR-J4(W )- B with a deceleration stop as well, set 2 (enabled) in hot line forced stop deceleration stop selection of hot line forced stop function (servo parameter No.111A) of MR-J4(W )- B. (The factory default is "0" (disabled).) Refer to Servo Amplifier Instruction Manual for details.

POINT For axes that deceleration stop by the hot line forced stop function, a controller

forced stop warning (servo warning E7) occurs. The setting values for hot line forced stop function selection (servo parameter No.111A), and the operation in the servo amplifier is shown below. (1) Using MR-JE- B

Setting value Hot line output Deceleration stop at the

receiving of hot line signal 0: Enabled (initial value) Enabled Enabled 1: Disabled Disabled Disabled (2) Using MR-J4(W )- B

Setting value Hot line output Deceleration stop at the

receiving of hot line signal 0: Disabled (initial value) Disabled Disabled 2: Enabled Disabled Enabled Use a software version that supports hot line forced stop function for the servo amplifier. Servo amplifier software versions that support hot line forced stop function are shown in the table below.

Servo amplifier model Software version MR-J4(W )-B B7 or later MR-JE- B B6 or later

POINT Servo amplifiers other than the above do not support the hot line forced stop

function and therefore do not perform a hot line output or deceleration stop at the receiving of hot line signal.

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7. AUXILIARY FUNCTION

7.19.3 Timing for alarm occurrences

A timing chart using for servo alarm occurrence is shown below.

Servo alarm (SALM)

Main circuit power

Servo warning (SWRN)

System status code 000Ah

1)

2)

3)

4)

Servo alarm occurring axis

Servo alarm non-occurring axis

E40 h

1) A servo alarm occurs, and a stop is performed by dynamic brake. 2) The servo alarm non-occurring axis receives notification from the servo alarm occurring axis, and

servo warning (SWRN) turns ON. 3) Checks that servo alarm non-occurring axes are stopped, and main circuit power is shut-off by host

controller command. (If the main circuit power is shut-off before servo warning (SWRN) turns ON in the servo alarm non-occurring axis, a deceleration stop by this function may not perform correctly.)

4) System error (E40 h) occurs.

8 - 1

8

8. TANDEM DRIVE

8. TANDEM DRIVE

Tandem drive is that 1 axis is physically connected to and driven by 2 motors. The position board provides the same position command to the 2 axes set up for tandem drive. Tandem drive can be set up for a maximum of 8 sets (16 axes). 8.1 Drive modes

For tandem drive there are 2 drive modes; synchronous mode and non-synchronous micro-adjustment control mode. Types of operation that can be performed for each mode are as follows.

Operation mode Drive Modes

Synchronous mode Non-synchronous mode JOG operation Incremental feed Automatic operation Linear interpolation operation Home position return (Note) Home position reset

Note. Home position return operation can be performed only using the following home

position return method. If a different method is used to perform home position return, the tandem drive axis setting error (operation alarm 52, detail 01) occurs. Compatible home position return method

Dog cradle method Dog method Data set method Dog front end method Z-phase detection method Scale home position signal detection method Scale home position signal detection method 2

POINT Performing start operation with a non-compatible mode during a non-

synchronous micro-adjustment mode makes an alarm for tandem drive non- synchronous mode (operation alarm 51, detail 01) occur.

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8. TANDEM DRIVE

8.1.1 Synchronous mode

Through providing the master and slave axes the same position command, they move together. Each axis uses a feedback signal position loop, speed loop, and current loop for control. 8.1.2 Non-synchronous micro-adjustment control mode

Non-synchronous micro-adjustment control mode temporarily cancels synchronizing in order to adjust the position balance between the master axis and the slave axis. This enables submitting different position commands to each of the axes. This can only be done using incremental feed or JOG operation. When home position return has been completed, even if the tandem drive mode is switched to non- synchronous micro-adjustment mode, the system is not switched to non-home position return complete (home position return request (ZREQ) is not ON). After the mode is switched to the synchronous mode, automatic operation and linear interpolation can be performed without re-performing home position return.

POINT If the synchronization setting (parameter No.0265) is set to valid,

synchronization is not completed when the mode is switched to the non- synchronous micro-adjustment mode. When the mode is switched to the synchronous mode again, turn the servo off and then on, then perform synchronization. When automatic operation or linear interpolation is performed with synchronization incomplete, the tandem drive synchronous alignment error (operation error 58, detail 02) occurs.

When the synchronization setting (parameter No.0265) is set to invalid, the operation in the synchronization mode is performed based on the master axis holding deviation between master axis and slave axis at switching the mode to the synchronization mode.

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8. TANDEM DRIVE

8.1.3 Changing of drive mode

The changing of modes is performed using ON/OFF of the non-synchronous command signal (ASYN : is the group number). Changing of mode can be performed on a group basis. Changing of drive mode can only be performed when all of the following conditions are satisfied. The during smoothing of stopping (SMZ) is on for both the master axis and the slave axis. The in-position signal (INP) is ON for both the master axis and slave axis. No operation alarm has occurred for both the master axis and slave axis. Neither the master axis nor the slave axis is operating. They are not being synchronized. If even one of the conditions is not satisfied, the tandem drive mode change error (operation alarm 50, detail 01) occurs. (1) Example when drive mode can be changed

Non-synchronous micro-adjustment mode

Synchronous mode Synchronous mode

ON OFF

ON OFF

Non-synchronous command (ASYN )

In non-synchronous mode (ASYO )

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_ASYN )

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_ASYO )

(2) Example when drive mode can not be changed (the in-position signal (INP) of the master axis is OFF)

ON OFF

ON OFF

(Note) Operation alarm 50, detail 01

Synchronous mode

ON OFF

ON OFF

ON OFF

Non-synchronous command (ASYN )

In non-synchronous mode (ASYO )

In-position (INP) (master axis)

Operation alarm (OALM)

Operation alarm reset (ORST)

Note. When the tandem drive mode change error (operation alarm 50, detail 01) has been set, after returning the Non-synchronous command signal (ASYN ) to its normal status, turn the operation alarm reset signal (ORST) on to cancel the operation alarm.

When changing from non-synchronous micro-adjustment mode to synchronous mode, of the axis data for the slave axis, only the data that is valid for the master axis (refer to Section 8.3) is saved from the non- synchronous micro-adjustment mode. Zero clear and the like is not performed.

8 - 4

8. TANDEM DRIVE

8.2 Parameter settings

8.2.1 Designation of tandem drive axes

Setting the group number in the tandem drive group (parameter No.0264) defines the tandem drive axis. The 2 axes that are set to the same group No. can be driven in parallel. The maximum number of groups that can be driven in parallel is 8 (groups 1 to 8). Of the 2 axes that are designated with the same tandem drive group number the axis with the smaller axis No. is the master axis and the axis with the larger axis No. is the slave axis.

Control cycle Valid group number

MR-MC2 MR-MC3 0.88ms

1 to 8 1 to 8 0.44ms

0.22ms 1 to 4

POINT For the following conditions, upon system startup, the tandem drive axis setting

value error (operation alarm 52, detail 02) occurs, and tandem drive control can not be performed. If the complement axis is not set up If 3 or more axes are set up with the same group number If the group number exceeds the valid group number

8.2.2 Servo parameters

Set the servo parameters to the same values for the axes for which tandem drive is performed. However, the rotation direction selection (servo parameter No.110D) can be different values depending on mechanical specifications. 8.2.3 Control parameters

The settings of the control parameters for when using tandem drive can be selected from among the following 3 selections: "only values of master axis are valid", "set master/slave axes to same values", and "master and slave can be set separately". Only master axis values are valid means that the parameter settings of the master axis are used for both the master and the slave. In this case, the parameters of the slave axis are ignored. Refer to Chapter 11 for setting classifications of each control parameter.

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8. TANDEM DRIVE

8.3 Axis data classifications

Axis data for tandem drive axes have 2 data type settings: "only master axis data is valid" and "master axis/slave axis data are separate".

POINT Refer to Section 10.7 concerning axis data classifications for tandem drive axes.

In this table, "only master axis data is valid" is designated as "master" while "master axis/slave axis data are separate" is designated as "axes separate".

It is possible to review monitor data for each axis individually. 8.3.1 Only data from master axis is valid

(1) Command table data When the drive mode is synchronous mode, only the command table data from the master axis is valid. For this case the command table data for the slave is ignored. If the drive mode is non-synchronous micro- adjustment mode, each axis becomes valid.

(2) Status table data

When the drive mode is synchronous mode, only the status table data from the master axis is valid. For this case the status table data for the slave axis is optional. If the drive mode is non-synchronous micro- adjustment mode, each axis becomes valid.

8.3.2 Individual data for master axis/slave axis

Data that is valid for each axis independent of the drive mode.

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8. TANDEM DRIVE

8.4 Tandem drive axis operation

POINT Only have the master axis call the start operation functions of each axis when in

synchronous mode. 8.4.1 Home position return during tandem drive

Methods for returning to home position while using tandem drive axes include: dog method, dog cradle method, data set method, Z-phase detection method, scale home position signal detection method, and scale home position signal detection method 2. These home position return methods are performed while in synchronous mode. Note 1. If a non-compatible method is used to perform home position return, the tandem drive axis setting error (operation alarm 52, detail

01) occurs when home position return is started. 2. When in non-synchronous micro-adjustment mode, the while in tandem drive non-synchronous mode (operation alarm 51, detail

01) occurs when home position return is started.

POINT If a non-compatible method is used to perform home position return, the tandem

drive axis setting error (operation alarm 52, detail 01) occurs when home position return is started.

When in non-synchronous micro-adjustment mode, the while in tandem drive non-synchronous mode (operation alarm 51, detail 01) occurs when home position return is started.

The amount of home position shift is set using a control parameter No.0248, 0249. The home position can be shifted by setting the amount of home position shift. If the balance between tandem drive axes is not good just after turning on the power, it can cause stress to the equipment, therefore use non-synchronous micro-adjustment mode to adjust the balance and perform home position return.

When home position return is completed, the home position coordinates (master axis parameter No.0246, 0247) are set to the current command position for both the master axis and the slave axis.

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8. TANDEM DRIVE

(1) Home position return using a dog method

ON OFF

ON OFF

ON OFF

(Note 2)

Creep speed

Proximity dog

(Note 2)

(Master axis)

Creep speed

Home position return speed

Home position return speed

Home position return complete (ZP) (master axis)

Proximity dog input signal (DOG) (master axis) (Note 1)

Start operation (ST) (master axis)

Speed (slave axis)

Z-phase pulse (master axis)

Speed (master axis)

Amount of home position shift

Amount of home position shift

Home position

Note 1. The proximity dog signal for the master is the only valid signal. The slave axis also returns to home position based on the dog signal for the master.

2. The final stop position for both the master axis and the slave axis is based on the final master axis motor Z-phase. Also, only the master axis parameter for the value for the home position shift amount is valid.

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8. TANDEM DRIVE

(2) Home position return using the dog cradle method

ON OFF

ON OFF

ON OFF

Creep speed

Creep speed

Home position

Proximity dog

Home position return speed

Home position return complete (ZP) (master axis)

Proximity dog input signal (DOG) (master axis) (Note 1)

Start operation (ST) (master axis)

Speed (slave axis)

Z-phase pulse (master axis)

Speed (master axis)

Home position return speed

Amount of home position shift (Note 2)

Amount of home position shift (Note 2)

Note 1. The proximity dog signal for the master is the only valid signal. The slave axis also returns to home position based on the dog signal for the master.

2. The final stop position for both the master axis and the slave axis is based on the final master axis motor Z-phase. Also, only the master axis parameter for the value for the home position shift amount is valid.

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8. TANDEM DRIVE

(3) Home position return using a data set method

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Synchronous operation

Home position

Balance-adjustment

PMO

PS1

PM1

PS2 PS3

The positions of the master axis: PM1 and slave axis: PS3 become the home position for each axis

Master axis

Slave axis

Start operation (ST) (master axis)

Start operation (ST) (slave axis)

JOG mode (JOG) (master axis)

Incremental mode (S) (slave axis)

Non-synchronous command (ASYN )

In non-synchronous mode (ASYO )

Home position return mode (ZRN) (master axis)

Home position return complete (ZP) (master axis)

Note. This explanation is an example for using JOG operation for moving to home position. (4) Home position return using a dog front end method

Home position return using a dog front end method uses the proximity dog front end as the home position. The following two methods are available for the home position return using a dog front end method with the tandem drive axes: using the proximity dog front end on the master axis as the home position and detecting each proximity dog front end for the master axis and slave axis to perform tweaking (compensation of deviation between master axis and slave axis). Set either of the methods with the compensation of home position return deviation in the tandem drive options (parameter No.0265). Tandem drive options (parameter No.0265)

Application Compensation of home position return deviation

Home position return method

Deviation compensation invalid

Uses the proximity dog front end as the home position. Use this method when there is no need to consider the mechanical deviation such as the case where no deviations occur between master axis and slave axis.

Deviation compensation valid

Adjustment mode Use this mode to calculate the proximity dog front end offset (amount of deviation in the position of the proximity dog front end for the master axis and slave axis) during mechanical adjustment.

Normal mode

Use this mode to detect the amount of proximity dog front end deviation between master axis and slave axis and perform tweaking (compensation of deviation between master axis and slave axis) in normal operation so that the axis is mechanically at a right angle.

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8. TANDEM DRIVE

(a) Deviation compensation invalid

The motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. When deviation compensation is invalid, only the proximity dog signal for the master axis is used.

Home position return speed

Creep speed

Proximity dog

Speed (master axis)

Speed (slave axis)

Start operation (ST)

Proximity dog input signal (DOG) (master axis) (Note 1)

Home position

(Note 2)

Home position return complete (ZP)

Home position return speed

Creep speed (Note 2) Amount of home position shift

Amount of home position shift

Note 1. The proximity dog signal for the master is the only valid signal. The slave axis also returns to home position based on the proximity

dog signal for the master. 2. The final stop position for both the master axis and the slave axis is based on the master axis proximity dog front end. Also, only the

master axis parameter for the value for the home position shift amount is valid.

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8. TANDEM DRIVE

(b) Deviation compensation valid

The motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. When deviation compensation is valid, the proximity dog signals for the master axis and for the slave axis are used to calculate the amount of deviation between each dog front end position or to compensate the deviation between the master axis and the slave axis. To perform the calculation or the compensation of deviation amount, designate adjustment mode or normal mode using tandem drive options (parameter No.0265). 1) Adjustment mode

a) Summary Adjustment mode is used during mechanical adjustment, and is used to calculate the dog front end position offset (amount of deviation in the position of the proximity dog front end for the master axis and slave axis). When executing home position return while in adjustment mode, after detecting the master axis dog front end position and the slave axis dog front end position while returning to home position, the axes are moved to the dog front end position of the master axis. At this time the amount of offset from the position of the dog front end for the master axis to the position of the dog front end for the slave axis is calculated and output using the tandem drive home position signal offset (parameter No.026C, 026D). This amount of offset is used when compensating the amount of deviation between the master axis and slave axis when returning to home position; therefore, after completing home position return save this offset on the user program. Note. Prior to returning to home position, set the axis linking the master axis and slave axis mechanically at a right angle to

the movement direction. If it is not at a right angle, the dog front end position offset amount can not be correctly calculated.

b) Start operation method

1. Adjust the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.

2. Set the home position return method (parameter No.0240) to "Dog front end method" and tandem drive option (parameter No.0265) to "Adjustment mode".

3. Start home position return operation. 4. After home position return is complete, read the tandem drive home position signal offset

(parameter No.026C, 026D) and save it to the user program.

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8. TANDEM DRIVE

c) Operation example for adjustment mode

Tandem drive home position signal offset

Home position

Home position

Creep speed

Proximity dog

Start operation

Home position return speed

Proximity dog signal (DOG) (master axis) Proximity dog signal (DOG) (slave axis)

Home position return complete (ZP)

Proximity dog

Speed (master axis)

Speed (slave axis)

2) Normal mode a) Summary

In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction. When home position return is performed using normal mode, after detecting the master axis dog front end position and slave axis dog front end position while returning to home position, calculate the deviation of the master axis and slave axis based on the tandem drive home position signal offset (parameter No.026C, 026D). The master axis moves to the dog front end position and the slave axis moves to the slave axis home position calculated based on the tandem driver home position signal offset and the previously noted deviation. Note 1. When performing home position return in normal mode, set the tandem drive home position signal offset (parameter

No.026C, 026D) to the correct value. If the tandem drive home position signal offset value is erroneous, the axis that links the master axis and slave axis will not be at a right angle.

2. If the amount of deviation between the master axis and the slave axis exceeds the value calculated from the valid width of tandem drive deviation compensation (parameter No.026B) tandem drive deviation compensation units multiplication (parameter No.026E), an exceeding of valid width of tandem drive deviation compensation error (operation alarm 57, detail 01) occurs and home position return operation is terminated. (Tweak movement is not performed.)

8 - 13

8. TANDEM DRIVE

b) Start operation method

1. Set the home position return method (parameter No.0240) to "Dog front end method" and tandem drive option (parameter No.0265) to "Normal mode".

2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start home position return operation. Note. Through setting the amount of home position shift (parameter No.0248, 0249), the position shifted from dog front end

position can be defined as the home position.

c) Operation example for normal mode

Tandem drive home position signal offset

Home position return speed

Creep speed

Proximity dog

Proximity dog

Speed (master axis)

Speed (slave axis)

Proximity dog signal (DOG) (master axis)

Home position return complete (ZP)

Home position

Proximity dog signal (DOG) (slave axis)

Start operation

Home position

Deviation

Amount of deviation compensation

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8. TANDEM DRIVE

(5) Home position return using a Z-phase detection method

Master axis

Slave axis

Start operation (ST) (master axis)

JOG mode (JOG) (master axis)

Non-synchronous command (ASYN )

Home position return mode (ZRN) (master axis)

Home position return complete (ZP) (master axis)

In non-synchronous mode (ASYO )

Start operation (ST) (slave axis)

Incremental mode (S) (slave axis)

Synchronous operation

Home position

PM1

PS2 PS3

PM0

PS1

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Z-phase pulse (master axis)

ON OFF

Creep speed

The positions of the master axis: PM1

and slave axis: PS3 become the home position for each axis.

Balance-adjustment

Note 1. This explanation is an example for using JOG operation for moving to home position. 2. The final stop position for both the master axis and the slave axis is based on the first master axis motor Z-phase in the home

position return direction from the start operation position. Also, only the master axis parameter for the value for the home position shift amount is valid.

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8. TANDEM DRIVE

(6) Home position return using a scale home position signal detection method

Home position return is performed using a home position signal (Z-phase) on a linear scale. After detecting the proximity dog, move in the direction of the home position and in the opposite direction and the position where a home position signal is detected is defined to be the home position. When using scale home position signal detection home position return for tandem drive axes, designate adjustment mode or normal mode using tandem drive options (parameter No.0265). (a) Adjustment mode

1) Summary Adjustment mode is used during mechanical adjustment, and is used to calculate the home position signal offset (amount of deviation in the position of the home position signal for the master axis and slave axis) on a linear scale. When executing home position return while in adjustment mode, after detecting the master axis home position signal and the slave axis home position signal while returning to home position, the axes are moved to the home position signal of the master axis. At this time the amount of offset from the position where the master home position signal was detected to the position where the slave home position was detected is calculated and output using the tandem drive home position signal offset (parameter No.026C, 026D). This amount of offset is used when compensating the amount of deviation between the master axis and slave axis when returning to home position; therefore, after completing home position return save this offset on the user program.

POINT Prior to returning to home position, set the axis linking the master axis and slave

axis mechanically at a right angle to the movement direction. If it is not at a right angle, the home position signal position offset amount can not be correctly calculated.

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8. TANDEM DRIVE

2) Operation example for normal mode

a) Start operation method 1. Adjust the axis linking the master axis and slave axis mechanically at a right angle to the

movement direction. 2. Set the home position return method (parameter No.0240) to scale home position signal

detection method and tandem drive option (parameter No.0265) to normal mode. 3. Start home position return operation. 4. After home position return is complete, read the tandem drive home position signal offset

(parameter No.026C, 026D) and save it to the user program.

b) Timing chart

ON OFF

ON OFF

ON OFF

Master Axis

Slave Axis

Tandem drive home position signal offset

Home position

(Note 2)

(Note 1)

Home position

(Note 2)

(Note 1) Creep speed

Start up

Proximity dog

Limit switch

Proximity dog

Limit switch

Home position return direction

Home position return speed

Home position signal (Z-phase) (master axis)

Home position signal (Z-phase) (slave axis) Home position return complete (ZP)

Note 1. When a limit switch signal is detected, an alarm occurs and execution of home position return is terminated. Position the proximity dog in front of the limit switch signal. (As shown in the diagram, position the proximity dog signal so that it overlaps the limit switch signal.)

2. Set the distance between the master axis/slave axis home position signals and the proximity dog so that it is greater than the deviation at maximum tolerance of the master axis and slave axis.

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8. TANDEM DRIVE

(b) Normal mode

1) Summary In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction. When home position return is performed using normal mode, after detecting the master axis home position signal and slave position home position signal while returning to home position, calculate the deviation of the master axis and slave axis based on the tandem drive home position signal offset (parameter No.026C, 026D). The master axis moves to the position of the home position signal and the slave axis moves to the slave axis home position calculated based on the tandem driver home position signal offset and the previously noted deviation.

POINT When performing home position return in normal mode, set the tandem drive

home position signal offset (parameter No.026C, 026D) to the correct value. If the tandem drive home position signal offset value is erroneous, the axis that links the master axis and slave axis will not be at a right angle.

If the amount of deviation between the master axis and the slave axis exceeds the value calculated from the valid width of tandem drive deviation compensation (parameter No.026B) tandem drive deviation compensation units multiplication (parameter No.026E), an exceeding of valid width of tandem drive deviation compensation error (operation alarm 57, detail 01) occurs and home position return operation is terminated. (Tweak movement is not performed.)

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8. TANDEM DRIVE

2) Operation example for normal mode

a) Startup method 1. Set the home position return method (parameter No.0240) to scale home position signal

detection method and tandem drive option (parameter No.0265) to normal mode. 2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start home position return operation.

b) Timing chart

ON OFF

ON OFF

ON OFF

Master Axis

Slave Axis

Tandem drive home position signal offset

Home position

(Note 2)

(Note 1)

Home position

(Note 2)

(Note 1) Creep speed

Start up

Proximity dog

Limit switch

Proximity dog

Limit switch

Home position return direction

Home position return speed

Home position signal (Z-phase) (master axis)

Home position signal (Z-phase) (slave axis) Home position return complete (ZP)

Amount of deviation compensationDeviation

Note 1. When a limit switch signal is detected, an alarm occurs and execution of home position return is terminated. Position the proximity dog in front of the limit switch signal. (As shown in the diagram, position the proximity dog signal so that it overlaps the limit switch signal.)

2. Set the distance between the master axis/slave axis home position signals and the proximity dog so that it is greater than the deviation at maximum tolerance of the master axis and slave axis.

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8. TANDEM DRIVE

(7) Home position return using a scale home position signal detection method 2

Home position return is performed using a home position signal (Z-phase) on a linear scale. After the start operation is performed, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position. When using scale home position signal detection home position return for tandem drive axes, designate adjustment mode or normal mode using tandem drive options (parameter No.0265). (a) Adjustment mode

1) Summary Adjustment mode is used during mechanical adjustment, and is used to calculate the home position signal offset (amount of deviation in the position of the home position signal for the master axis and slave axis) on a linear scale. When executing home position return while in adjustment mode, after detecting the master axis home position signal and the slave axis home position signal while returning to home position, the axes are moved to the home position signal of the master axis. At this time the amount of offset from the position where the master home position signal was detected to the position where the slave home position was detected is calculated and output using the tandem drive home position signal offset (parameter No.026C, 026D). This amount of offset is used when compensating the amount of deviation between the master axis and slave axis when returning to home position; therefore, after completing home position return save this offset on the user program.

POINT Prior to returning to home position, set the axis linking the master axis and slave

axis mechanically at a right angle to the movement direction. If it is not at a right angle, the home position signal position offset amount cannot be correctly calculated.

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8. TANDEM DRIVE

2) Operation example for adjustment mode

a) Start operation method 1. Adjust the axis linking the master axis and slave axis mechanically at a right angle to the

movement direction. 2. Set the home position return method (parameter No.0240) to scale home position signal

detection method and tandem drive option (parameter No.0265) to adjustment mode. 3. Start home position return operation. 4. After home position return is complete, read the tandem drive home position signal offset

(parameter No.026C, 026D) and save it to the user program.

b) Timing chart

Home position signal (Z-phase) (master axis)

Home position signal (Z-phase) (slave axis)

Home position return complete (ZP)

Master Axis Home position

Creep speed

Home position return speed

Home position return direction

Tandem drive home position signal offset

Home position

Start operation (Note 2)

ON OFF

ON OFF

ON OFF

Limit switch (Note 1)

Limit switch (Note 1) Start operation (Note 2)

Slave Axis

Note 1. When a limit switch signal is detected, an alarm occurs and execution of return to home position is terminated. 2. Set the distance between the master axis/slave axis home position signals and the start operation position so that it is

greater than the deviation at maximum tolerance of the master axis and slave axis.

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8. TANDEM DRIVE

(b) Normal mode

1) Summary In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction. When home position return is performed using normal mode, after detecting the master axis home position signal and slave position home position signal while returning to home position, calculate the deviation of the master axis and slave axis based on the tandem drive home position signal offset (parameter No.026C, 026D). The master axis moves to the position of the home position signal and the slave axis moves to the slave axis home position calculated based on the tandem driver home position signal offset and the previously noted deviation.

POINT When performing home position return in normal mode, set the tandem drive

home position signal offset (parameter No.026C, 026D) to the correct value. If the tandem drive home position signal offset value is erroneous, the axis that links the master axis and slave axis will not be at a right angle.

If the amount of deviation between the master axis and the slave axis exceeds the value calculated from the valid width of tandem drive deviation compensation (parameter No.026B) tandem drive deviation compensation units multiplication (parameter No.026E), an exceeding of valid width of tandem drive deviation compensation error (operation alarm 57, detail 01) occurs and home position return operation is terminated. (Tweak movement is not performed.)

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8. TANDEM DRIVE

2) Operation example for normal mode

a) Start operation method 1. Set the home position return method (parameter No.0240) to scale home position signal

detection method and tandem drive option (parameter No.0265) to normal mode. 2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start home position return operation.

b) Timing chart

Creep speed

Home position signal (Z-phase) (master axis)

Home position signal (Z-phase) (slave axis)

Home position return complete (ZP)

Home position

Home position return speed

Home position return direction

Tandem drive home position signal offset

Home position

ON OFF

ON OFF

ON OFF

Start operation (Note 2)

Start operation (Note 2)

Master Axis

Slave Axis

Limit switch

(Note 1)

Limit switch

(Note 1) Deviation

Amount of deviation compensation

Note 1. When a limit switch signal is detected, an alarm occurs and execution of return to home position is terminated. 2. Set the distance between the master axis/slave axis home position signals and the start operation position so that it is

greater than the deviation at maximum tolerance of the master axis and slave axis.

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8. TANDEM DRIVE

8.4.2 JOG operation during tandem drive

(1) Synchronous mode When JOG operation is performed while in synchronous mode, master axis data and signals are used. An example is shown below.

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Start of operation Stop operation

Speed (master axis)

Speed (slave axis)

Start operation (ST) (master axis)

JOG operation mode (JOG) (master axis)

In JOG operation mode (JO) (master axis)

During operation (OP) (master axis)

During smoothing of stopping (SMZ) (master axis)

Important data classifications related to JOG operation during synchronous mode are shown in the following table. For other related data, refer to Section 10.7.

Type Items for which only item associated

with master is valid Items defined for each axis

Command signal/data JOG operation mode (JOG) Movement direction (DIR) Start operation (ST) Manual feed speed Acceleration time constant Deceleration time constant

None

Status signal In JOG operation mode (JO) During operation (OP) During smoothing of stopping (SMZ)

In-position (INP) Position switch (PSW)

The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and in-position signals are being used, check the in-position signal (INP) for both the master axis and the slave axis. For other types of movement, normal axis movement is followed. (Refer to Section 5.1)

(2) Non-synchronous micro-adjustment mode

Movement is the same as for normal axis movement. (Refer to Section 5.1)

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8. TANDEM DRIVE

8.4.3 Incremental feed while using tandem drive

(1) Synchronous mode When incremental feed operation is performed while in synchronous mode, master axis data and signals are used. An example is shown below.

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Speed (master axis)

Speed (slave axis)

Start operation (ST) (master axis)

Incremental feed operation mode (S) (master axis)

In incremental feed operation mode (SO) (master axis)

During operation (OP) (master axis)

During smoothing of stopping (SMZ) (master axis)

Important data classifications related to incremental feed operation during synchronous mode are shown in the following table. For other related data, refer to Section 10.7.

Type Items for which only item associated

with master is valid Items defined for each axis

Command signal/data Incremental feed operation mode (S) Movement direction (DIR) Start operation (ST) Manual feed speed Acceleration time constant Deceleration time constant Incremental feed movement amount

None

Status signal In incremental feed mode (SO) During operation (OP) During smoothing of stopping (SMZ)

In-position (INP) Position switch (PSW)

The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and in-position signals (INP) are being used, check the in-position signal (INP) for both the master axis and the slave axis. For other types of movement, normal axis movement is followed. (Refer to Section 5.2)

(2) Non-synchronous micro-adjustment mode

Movement is the same as for normal axis movement. (Refer to Section 5.2)

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8. TANDEM DRIVE

8.4.4 Automatic operation during tandem drive

(1) Synchronous mode When automatic operation is entered while in synchronous mode, master axis data and signals are used. Also, the master axis table is used for the point table. An example is shown below.

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

Rough match output limits (parameter No.0230, 0231)

Stops after moving to the end point.

Start of operation

Speed (master axis)

Speed (slave axis)

Start operation (ST)

Rough match (CPO) (master axis)

Positioning complete (PF) (master axis)

During operation (OP) (master axis)

During smoothing of stopping (SMZ) (master axis)

Automatic operation mode (AUT) (master axis) In automatic operation mode (AUTO) (master axis)

Important data classifications related to automatic operation during synchronous mode are shown in the following table. For other related data, refer to Section 10.7.

Type Items for which only item associated

with master is valid Items defined for each axis

Command signal/data Automatic operation mode (AUT) Start operation (ST) Start point No. End point No. (Point table)

None

Status signal In automatic operation mode (AUTO) During operation (OP) During smoothing of stopping (SMZ) Positioning complete (PF) Rough match (CPO)

In-position (INP) Position switch (PSW)

The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and in-position signals (INP) are being used, check the in-position signal (INP) for both the master axis and the slave axis. For other types of movement, normal axis movement is followed. (Refer to Section 5.3)

(2) Non-synchronous micro-adjustment mode

Automatic operation can not be entered while in non-synchronous micro-adjustment mode. The while in tandem drive non-synchronous mode (operation alarm 51, detail 01) occurs upon start of operation.

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8. TANDEM DRIVE

8.4.5 Linear interpolation during tandem drive

When performing linear interpolation operation MC200 /interpolation operation MC300 , it is necessary to group the axes for which interpolation is to be set up. The groups are set up using linear interpolation group MC200 /interpolation operation group MC300 (parameter No.0260) and the master axis is the only one set up when in tandem drive axis operation. For other types of movement, normal axis movement is followed. (Refer to Section 5.6)

POINT When performing linear interpolation operation MC200 /interpolation

operation MC300 , limit the total number of axes to 4, including slave axes. If the total number of axes exceeds 4, the linear interpolation start up error MC200 /interpolation start up error MC300 (operation alarm 40, detail 02) occurs upon start of operation.

The following is a system configuration set up example.

Tandem drive group (parameter No.0264)

Position board Axis 1

XA YA1 (master)

YA2 (slave)

Axis 2 Axis 3

XB1 (master)

XB2 (slave)

YB1 (master)

YB2 (slave)

Axis 4 Axis 5 Axis 6 Axis 7

1 XA 1 0 2 YA1 1 1 3 YA2 0 1 4 XB1 2 2 5 XB2 0 2 6 YB1 2 3 7 YB2 0 3

Tandem drive group 1 Tandem drive group 2 Tandem drive group 3

Linear interpolation group 1 Interpolation group 1

Linear interpolation group Interpolation group

(parameter No.0260)

Linear interpolation group 2 Interpolation group 2

The group number of the slave axis is set to the same number of the master axis independent of its setting.

Axis nameAxis No.

(1) Synchronous mode When linear interpolation operation MC200 /interpolation operation MC300 is entered while in synchronous mode, master axis data and signals are used. Also, the master axis table is used for the point table. Important data classifications related to linear interpolation operation MC200 /interpolation operation MC300 during synchronous mode are shown in the following table. For other related data, refer to Section 10.7.

Type Items for which only item associated with master is valid Items defined for each axis Command signal/data Linear interpolation mode MC200 /interpolation mode MC300 (LIP)

Start operation (ST) Start point No. End point No. (Point table)

None

Status signal In linear interpolation mode MC200 /in interpolation mode MC300 (LIPO) During operation (OP) During smoothing of stopping (SMZ) Positioning complete (PF) Rough match (CPO)

In-position (INP) Position switch (PSW)

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8. TANDEM DRIVE

The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and in-position signals are being used, check the in-position signal for both the master axis and the slave axis. For other types of movement, normal axis movement is followed. (Refer to Section 5.6)

The following shows an example where start operation is performed for the linear interpolation group 1 from the configuration example on the previous page.

ON OFF

ON OFF

ON OFF

YA1 axis (master axis)

ON OFF

ON OFF

ON OFF

ON OFF

Stops after moving to the end point.

Speed Rough match output limits (parameter No.0230, 0231)

Start of operation

Turns on when all axes in the linear interpolation group configuration move to within rough match limits.

XA axis

YA2 axis (slave axis)

Start operation (XA axis)

Linear interpolation mode (LIP) (XA, YA1 axis) In linear interpolation mode (LIPO) (XA, YA1 axis) During operation (OP) (XA, YA1 axis)

Positioning complete (PF) (XA, YA1 axis)

Rough match (CPO) (XA, YA1 axis)

During smoothing of stopping (SMZ) (XA, YA1 axis)

POINT

For Linear interpolation operation, the XA axis and YA1 axis (master axis) are used for linear interpolation operation. The YA2 axis (slave axis) moves synchronously with the master axis.

(2) Non-synchronous micro-adjustment mode

Linear interpolation operation cannot be entered while in non-synchronous micro-adjustment mode. The while in tandem drive non-synchronous mode (operation alarm 51, detail 01) occurs upon start of operation.

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8. TANDEM DRIVE

8.5 Servo on and servo off during tandem drive axis operation

(1) Synchronous mode When the master axis servo on signal (SON) and slave axis servo on signal (SON) are turned on, the both axes are turned on. Also, when the servo on signal (SON) for either the master axis or the slave axis is turned off, both axes are turned servo off.

ON OFF

ON OFF

ON OFF

ON OFF

Servo on (SON) (master axis)

Servo on (SON) (slave axis)

Servo ready (RDY) (master axis)

Servo ready (RDY) (slave axis)

When an axis has moved while the servo off, the current command position is updated in accordance with the movement amount (Current feedback position) both for the master axis and for the slave axis. When there is a misalignment between the master axis and slave axis at the servo on, synchronous alignment is performed by aligning the command for the slave axis with the one for the master axis. During synchronous alignment, "synchronizing" status signal (SYEO : is the group number) turns on. After confirming the "synchronizing" status signal is off, perform the start operation. However under the following conditions, the tandem drive synchronous alignment error (operation alarm 58, detail 01) occurs and synchronization is canceled. After the cause for the alarm is removed, turn the servo off and then on to perform synchronization again. When automatic operation or linear interpolation is performed with synchronization incomplete, the tandem drive synchronous alignment error (operation error 58, detail 02) occurs.

(a) If the deviation between the master axes command position and the slave axis command position

exceeds the tandem drive synchronous alignment valid width (parameter No.0266), the tandem drive synchronous alignment valid width error (operation alarm 54, detail 01) occurs.

(b) If a stop command (STP, RSTP) is input while synchronizing, the tandem drive synchronous alignment

error (operation alarm 58, detail 01) occurs.

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8. TANDEM DRIVE

POINT

Synchronization is validated after home position return complete (after home position is established). When the home position return request (ZREQ) is ON, synchronization is not performed.

Set the speed at synchronization using the tandem drive synchronous alignment speed (parameter No.0267) and the speed units multiplication factor (parameter No.020E, 020F).

When start operation is performed during synchronization, the tandem drive while performing synchronization (operation alarm 55, detail 01) occurs.

When drive mode is toggled during synchronization, the tandem drive mode change error (operation alarm 50, detail 01) occurs.

If the "tandem drive synchronous alignment valid width error" (operation alarm 54, detail 01) or the "tandem drive synchronous alignment error" (operation alarm 58, detail 01) occurs within absolute position detection system, the absolute value will be lost. (The absolute position data of the home position return option 2 (parameter No.0241) becomes invalid and "absolute position erased signal" (ABSE) turns on.)

Implement a stop command on the master axis. Because system is in synchronous mode, a stop command to the slave axis is invalid.

If the synchronization setting (parameter No.0265) is set to invalid, synchronization for turning servo on is not performed. The position board operates with the deviation between the master axis and the slave axis held. The setting of this parameter becomes valid at the leading edge of servo ready (RDY) signal. While synchronization is invalid, the following operations may make a deviation between the master axis and the slave axis. As necessary, perform synchronization (micro-adjustment) with the user program. In addition, check the deviation between the master axis and the slave axis is within an allowance. At turning on the after turning off the servo At canceling a servo alarm after a servo alarm occurs At resetting a forced stop after a forced stop occurs

(2) While in non-synchronous micro-adjustment mode

The servos can be turned on and off separately. Movement is as the same as normal axes. (Refer to Section 6.4)

8.6 Tandem drive axis limit switch

If the limit switches on either the master axis or the slave axis is detected, an alarm occurs and both axes are stopped using the rapid stop time constant. For other types of movement, normal axis movement is followed. (Refer to Section 6.8)

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8. TANDEM DRIVE

8.7 Tandem drive axis software limit

Software limits become valid after completing home position return (home position return request (ZREQ) is off). Software limits are checked for both the master axis and the slave axis. In this case, the software limit boundaries for the master axis become valid. The following shows an example where the software limit is reached during JOG operation when the synchronization setting (parameter No.0265) is set to invalid and there is a deviation between the master axis and slave axis at servo-on.

Deviation at servo-on

Master axis Slave axis

Software limit

Start operation position

Operation alarm occurrence (Operation alarm A2)

For other types of software limit occurrences, normal axis movement is followed. (Refer to Section 6.9) 8.8 Tandem drive interference check

Interference check is performed both for the master axis and slave axis. The parameter value of interference check width for the master axis becomes valid.

Deviation between the master axis and the slave axis

Master axis Slave axis

Interference check width

Axis

Operation alarm occurrence (Operation alarm 45)

Interference check axis

Deceleration amount for the axis

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8. TANDEM DRIVE

8.9 Tandem drive axis servo alarms

If an alarm occurs on the master axis or slave axis, dynamic braking and stoppage is implemented for the axis for which the servo alarm did not occur as well. When the cause for an alarm on an axis is cancelled such as through a servo alarm reset, the dynamic brake is cancelled. This is the same for a servo forced stop warning (E6) or a main circuit off warning (E9) status on either the master axis or the slave axis. This operation does not exist in drive modes (synchronous mode/non-synchronous micro adjustment mode).

POINT Relationship between servo on/off and dynamic brake on/off

While Servo On command is ON While Servo On command is OFF

Dynamic brake off

Servo control is operating (Positioning can be controlled.)

Servo is coasting (Is easily turned using an external force.)

Dynamic brake on

Dynamic brake status (If an external force is placed to try and rotate axis, dynamic brake resists the force.)

8.10 Deviation monitoring function

A function where if the deviation between the master axis and the slave axis exceeds the tandem drive excessive deviation width (parameter No.0268) during synchronous mode while in tandem drive axis mode, the tandem drive excessive deviation (operation alarm 53, detail 01) occurs and both axes are stopped using a dynamic brake. When the setting for the excessive deviation width is set to 0, it becomes invalid.

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8. TANDEM DRIVE

MEMO

9 - 1

9

9. INTERFACE MODE

9. INTERFACE MODE

9.1 Summary

Interface mode is a function for sending the commands for every operation cycle (position commands, speed commands and torque commands) straight to the servo amplifier. By using this function, any given acceleration/deceleration pattern, speed pattern, or torque pattern is possible. To use interface mode, designate "1: Interface mode" with system option 2 (parameter No.0002), and perform system startup after setting Interface mode option (parameter No.000F). When system startup is performed in interface mode, operation modes from standard mode such as JOG operation, automatic operation, etc. cannot be used. The host controller controls the servo amplifier by updating the contents of the command buffer at a timing of either when the host controller receives the interrupt output for each control cycle given by the position board (when interrupt output is valid), or at any given timing (when interrupt output is invalid). When interrupt output is valid, position control mode, speed control mode, and torque control mode can be used. When interrupt output is invalid, only position control mode can be used. (1) Using MR-MC2

(a) Software version A3 or earlier Only position control mode can be used.

(b) Software version A4 or later

Position control mode, speed control mode, and torque control mode can be used. (2) Using MR-MC3

(a) No restrictions by software version Position control mode, speed control mode, and torque control mode can be used.

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9. INTERFACE MODE

POINT

When using interface mode, all axes operate in interface mode. Cannot operate some axes in standard mode during interface mode.

Cannot switch control modes (standard mode and interface mode) after system startup.

When using the test operation function of MR Configurator2 connected to the position board with a USB connection, the position board stops importing commands. If the test operation function is executed while motors are rotating, they come to a stop. Be sure to perform test operation after stopping operation. The system must be restarted to control with commands from the position board again. For details on test operation refer to Servo Amplifier Instruction Manual, and help of MR Configurator2.

The test tool is not compatible with interface mode. It can get monitors and graphs of servo information.

When the number of buffers used in interface mode maximum buffer number (parameter No.023F) is set to "1", the number of axes that can be controlled is restricted. While it is possible to control more axes than the recommended number of control axes below, the during system program memory access signal (BMA) stays ON for a longer time, making the available time for command buffer writing from the user program shorter. When controlling more axes than the recommended number of control axes below, and making the available time for command buffer writing from the user program longer, set the number of buffers used to "2" or more, or make the command data update cycle longer. MC300

Control cycle Recommended number of control axes 0.88ms 64 axes 0.44ms 52 axes 0.22ms 27 axes

When connecting remote I/O modules, the number of axes that can be

controlled, and the available time for command buffer writing varies with the number of modules to be connected, and the number of I/O device points to be used.

The available time for command buffer writing from the user program can be calculated with control cycle[ms] 1000 - Operation cycle current time[s]. The calculation is an estimate, thus it is shorter than the actual writing time.

API LIBRARY

For a detailed procedure for interface mode, refer to the sample program (InterruptIfmDrive/PollingIfmDrive) contained on the utility software.

When the response of the host controller operating system is not on time due to the load of the user program etc., increase the number of position command buffers to be used (position control only), or set the command data update cycle longer.

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9. INTERFACE MODE

9.2 Combinations with functions

The following shows the combinations of interface mode with each function.

Classification Function Control mode

Remarks Position control

Speed control

Torque control

Operational function

JOG operation Incremental feed Automatic operation Linear interpolation MC200 Interpolation operation (linear interpolation, circular interpolation) MC300

Home position return The normal home position return function is invalid. After moving to the home position, use the home position set command. Check the DOG signal status with the high-speed monitor.

Home position reset function Application function

Command units

Electronic gear Command units are always pulse units.

Speed unit Speed unit Related only to speed units during monitor output. Speed units multiplication factor

Related only to speed units during monitor output.

Speed limit Acceleration/ deceleration

Linear acceleration/deceleration

Smoothing filter Start up speed enable S-curve acceleration/ deceleration (Sine acceleration/deceleration)

Jerk ratio acceleration/ deceleration MC300

Vibration suppression command filter 1 MC300

Servo off The system becomes servo free. Follow up processes are not performed after servo off. Perform them with the user program. Operation stop by servo off is invalid. Perform servo off after a deceleration stop.

Forced stop Stop operation Rapid stop operation Limit switch (stroke end) Check the LSP/LSN signal status with the high-

speed monitor. Software limit Interlock Rough match output Torque limit Command change

Speed change Change of time constants Position change

Backlash Position switch Completion of operation signal

: Usable : Unusable : Restriction

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9. INTERFACE MODE

Classification Function Control mode

Remarks Position control

Speed control

Torque control

Application function

Interference check function Home position search limit Gain switching PI-PID switching Home position set If home position set request is turned ON at speed

control/torque control, home position set error (ZSE) turns ON.

Absolute position detection system Home position return request High response I/F Other axes start In-position function Digital I/O I/O device Servo amplifier general I/O Dual port memory exclusive control Pass position interrupt Mark detection Continuous operation to torque control SSCNET /H head module Sensing module Station mode

Axis mode Auxiliary function

Reading/writing parameters Changing parameters at the servo Alarm and system error Monitor function High speed monitor function Interrupt Interrupt output is not performed by factor of

interrupt. Interrupt is output according to the interrupt output cycle settings only during interrupt valid.

Interrupt output cycle Can only be used in interface mode. Command data update cycle Can only be used in interface mode. User watchdog function Software reboot function Parameter backup Test mode Reconnect/disconnect function When reconnecting, startup is in position control

mode. Sampling Log Operation cycle monitor function Amplifier-less axis function For torque control mode, operation stops when

torque command is 0.0%, or when torque control speed limit value is 0, and zero speed (ZSP) turns ON.

Alarm history function External forced stop disabled Transient transmission

Tandem drive Tandem drive

: Usable : Unusable : Restriction

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9. INTERFACE MODE

9.3 Parameters

For interface mode, the parameters used and some of the parameter functions change. The following are parameters used in interface mode. (1) System parameters

(a) System parameters used Parameter

No. Symbol Name Remarks

0001 *SYSOP1 System option 1 0002 *SYSOP2 System option 2 Designates interface mode in control mode.

000E *EMID External forced stop disabled

000F *IFM0 Interface mode option Designates the interrupt output cycle and command data update cycle.

0040 LGS1 Log acquiring selection1

0041 LGS2 Log acquiring selection2 0042 LGS3 Log acquiring selection3

0043 LGS4 Log acquiring selection4 MC300

0044 LGS5 Log acquiring selection5

004A *IOTBL I/O table

004B LGS6 Log acquiring selection6 MC300

(b) Parameter details Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0002 *SYSOP2 System option 2 0000h 0000h to

1101h

0 0 0 Control mode selection Set the control mode. 0: Standard mode 1: Interface mode

000F *IFM0 Interface mode option 0000h 0000h to

0F0Fh

00 Interrupt output cycle When interrupt by interface mode is valid, set the cycle for which the interrupt is output. Interrupt output cycle: Control cycle (setting value+1) Example: When interrupt output

cycle is set to 1 and control cycle is 0.88ms, interrupt is output approximately every 1.77ms.

Command data update cycle Set the cycle for which position command is updated in interface mode. Command data update cycle: Control cycle (setting value+1) Example: When command data

update cycle is set to 2 and control cycle is 0.88ms, position command is updated approximately every 2.66ms.

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9. INTERFACE MODE

(2) Servo parameters

There are no differences to standard mode. (3) Control parameters

(a) Control parameters used Parameter

No. Symbol Name Remarks

0200 *OPC1 Control option 1 Speed units relates to the units during monitor output.

0203 *AXALC Axis No. assignment

020E SUML Speed units multiplication factor (lower) Speed units multiplication factor relates to the units during monitor output. 020F SUMH Speed units multiplication factor (upper)

0210 TLP Forward rotation torque limit value 0211 TLN Reverse rotation torque limit value

0213 *GIOO General I/O option

0214 *GDNA General I/O number assignment

0215 *GDINA General input No. assignment MC300

0216 *GDONA General output No. assignment MC300

0218 *SSIA Sensor signal input assignment MC300

0219 *SOP Sensor input options Sets the source of input for LSP/LSN/DOG signals. Each signal is used in monitor output only.

021A *SLSP Sensor signal (LSP) connection specification

021B *SLSN Sensor signal (LSN) connection specification

021C *SDOG Sensor signal (DOG) connection specification

021D *VEND Vendor ID

021E *CODE Type code

023F *IFBN Interface mode maximum buffer number Designates the maximum buffer number of the command buffer. Note. When controlling by interface mode with

interrupt output invalid, 1 or more must be set.

0241 *OPZ2 Home position return Option 2 Can set valid/invalid of system only.

0246 ZPSL Home position coordinates (lower) Set only for absolute position system.

0247 ZPSH Home position coordinates (upper)

024D *LSO Home position multiple revolution data Set only for absolute position system.

024E *CYOL Home position within 1 revolution position (lower)

Set only for absolute position system.

024F *CYOH Home position within 1 revolution position (upper)

(b) Parameter details

The parameter details regarding interface mode are shown below.

Parameter No.

Symbol Name Initial value Units Setting range

Function When in tandem

drive 023F *IFBN Interface mode

maximum buffer number

0 0 to 63

Sets the maximum value of the ring buffer number being used in interface mode. The set value+1 is the number of buffers. Note. When controlling by interface mode

with interrupt output invalid, 1 or more must be set.

9 - 7

9. INTERFACE MODE

9.4 Interface

(1) System information Address

Content MR-MC2 MR-MC3

0010 000010 Interrupt output cycle

0011 000011

0012 000012 Command data update cycle

0013 000013

(a) Interrupt output cycle

The interrupt output cycle (control cycle N) outputs the value of N.

(b) Command data update cycle The command data update cycle (control cycle N) outputs the value of N.

(2) System status table

Address Content

MR-MC2 MR-MC3

0478 000C18 Command buffer read error counter

0479 000C19 (3) System command/status bit

(a) System command bit Address

Bit Symbol Signal name MR-MC2 MR-MC3

03E0 000B00 0 ITE Interrupt processing complete 1 ITS Interrupt output valid 2 Reserved 3 4 HMA During user program memory access 5

Reserved 6 7

1) Details on system command bit

Symbol Signal name Function details

Function Operation ITS Interrupt output valid Commands interrupt output valid. Outputs the interrupt each interrupt output

cycle when interrupt output valid (ITS) is turned on.

HMA During user program memory access

Commands when the user program is accessing the command buffer.

When during user program memory access (HMA) is turned on, the system program recognizes that the user program is accessing the command buffer, and does not access the command buffer. When this happens, the system program counts up on the command buffer read error counter.

9 - 8

9. INTERFACE MODE

(b) System status bit

Address Bit Symbol Signal name

MR-MC2 MR-MC3

0450 000BE0 0 ITO Outputting with factor of interrupt 1 IITO During interface mode interrupt valid 2 EVDO Event detection enabled 3 HRIF During highly response I/F valid 4 BMA During system program memory access 5 PRINF Continuous operation to torque control compatible information 6 Reserved 7 IFMO In interface mode

1) Details on system status bit

Symbol Signal name Function details

Function Operation IITO During interface mode

interrupt valid Notifies the interrupt during interface mode is valid.

Interrupt output valid (ITS) is turned on.

Interrupt output valid (ITS) is turned off.

EVDO Event detection enabled Notifies the event detection function is valid.

Interface mode is selected in control mode, and system startup is performed.

BMA During system program memory access

Notifies the system program is accessing the command buffer.

The system program is accessing the command buffer.

The system program is not accessing the command buffer.

IFMO In interface mode Notifies the control mode is in interface mode.

Interface mode is selected in control mode, and system startup is performed.

Standard mode is selected in control mode, and system startup is performed.

9 - 9

9. INTERFACE MODE

(4) Axis command/status

(a) Axis command Address (Note)

Name Setting range

Remarks MR-MC2 MR-MC3

1030 005040 Latest command buffer number

0 to 63 Set the latest command buffer number after updating. 1031 005041 1032 005042 Control mode command Refer to

remarks Set the mode to switch to. 0000h: Position control mode 0001h: Speed control mode 0002h: Torque control mode

1033 005043

1048 005058 Torque control speed limit value (0.01r/min)

0 to 1000000000

Set the speed limit value when in torque control mode. When a value outside the setting range is set, the previous value that was set within the valid range is the speed limit value. Also, torque control setting error (operation alarm 2F, detail No.01) occurs.

1049 005059 104A 00505A 104B 00505B

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +C0h Using MR-MC3 : +140h

(b) Axis status

Address (Note 1) Name

Setting range

Remarks MR-MC2 MR-MC3

108E 0050DE Maximum buffer number 1 to 64 Notifies the maximum buffer number that can be used. 108F 0050DF 1090 0050E0 Transmit buffer number 0 to 63 Notifies buffer number that is being transmitted. 1091 0050E1 1092 0050E2 Control mode status Refer to

remarks The current control mode is shown below.

000h: Position control mode 001h: Speed control mode 002h: Torque control mode 0: Control mode switch normal 8: Control mode switch error (Note 2)

1093 0050E3

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +C0h Using MR-MC3 : +140h

2. A control mode switch error occurs when conducting the following operations. Switching from position control mode to another control mode while zero speed (ZSP) is OFF. Specifying a control mode outside of range to control mode command.

9 - 10

9. INTERFACE MODE

(5) Position command buffer

The number of buffers and the addresses that are used differ for each control mode. The buffers for each control mode are shown below. (a) Position control mode Address (Note)

Content Address (Note)

Content MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 5000 101000

Position command buffer 0 (pulse)

502C 10102C Position command buffer 11 (pulse)

5001 101001 502D 10102D 5002 101002 502E 10102E 5003 101003 502F 10102F 5004 101004

Position command buffer 1 (pulse)

5030 101030 Position command buffer 12 (pulse)

5005 101005 5031 101031 5006 101006 5032 101032 5007 101007 5033 101033 5008 101008

Position command buffer 2 (pulse)

5034 101034 Position command buffer 13 (pulse)

5009 101009 5035 101035 500A 10100A 5036 101036 500B 10100B 5037 101037 500C 10100C

Position command buffer 3 (pulse)

5038 101038 Position command buffer 14 (pulse)

500D 10100D 5039 101039 500E 10100E 503A 10103A 500F 10100F 503B 10103B 5010 101010

Position command buffer 4 (pulse)

503C 10103C Position command buffer 15 (pulse)

5011 101011 503D 10103D 5012 101012 503E 10103E 5013 101013 503F 10103F 5014 101014

Position command buffer 5 (pulse)

5040 101040 Position command buffer 16 (pulse)

5015 101015 5041 101041 5016 101016 5042 101042 5017 101017 5043 101043 5018 101018

Position command buffer 6 (pulse)

5044 101044

: 5009 101019

: : 501A 10101A 501B 10101B 50EF 1010EF 501C 10101C

Position command buffer 7 (pulse)

50F0 1010F0 Position command buffer 60 (pulse)

501D 10101D 50F1 1010F1 501E 10101E 50F2 1010F2 501F 10101F 50F3 1010F3 5020 101020

Position command buffer 8 (pulse)

50F4 1010F4 Position command buffer 61 (pulse)

5021 101021 50F5 1010F5 5022 101022 50F6 1010F6 5023 101023 50F7 1010F7 5024 101024

Position command buffer 9 (pulse)

50F8 1010F8 Position command buffer 62 (pulse)

5025 101025 50F9 1010F9 5026 101026 50FA 1010FA 5027 101027 50FB 1010FB 5028 101028

Position command buffer 10 (pulse)

50FC 1010FC

Position command buffer 63 (pulse)

5029 101029 50FD 1010FD 502A 10102A 50FE 1010FE 502B 10102B 50FF 1010FF

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase the units of 100h for each axis.

9 - 11

9. INTERFACE MODE

(b) Speed control mode

Address (Note 1) Content

MR-MC2 MR-MC3 7800 109000

Speed command buffer 0 (0.01r/min)

7801 109001 7802 109002 7803 109003 7804 109004

Reserved

: : 787F 10907F

109080 :

1090FF Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add

the following value for each axis. Using MR-MC2 : +80h Using MR-MC3 : +100h

2. Setting range: -1000000000 (-10000000r/min) to 1000000000 (10000000r/min)

(c) Torque control mode Address (Note 1)

Content MR-MC2 MR-MC3

8C00 111000 Torque command buffer 0 (0.01r/min) (When parameter No.010D is 0, positive: CCW negative: CW)

8C01 111001 8C02 111002 8C03 111003 8C04 111004

Reserved

: : 8C7F 11107F

111080 :

1110FF Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add

the following value for each axis. Using MR-MC2 : +80h Using MR-MC3 : +100h

2. Setting range: -32768 (-3276.8%) to 32767 (3276.7%)

9 - 12

9. INTERFACE MODE

9.5 Control method

9.5.1 Control mode

The control mode is switched by specifying the control mode in the "control mode command". Switching to/from position control mode to/from speed control mode/torque control mode is performed while the motor is stopped, and switching between speed control mode and torque control mode is possible at any given time. Refer to Section 9.5.7 and Section 9.5.8 for details on switching control mode.

Position control mode

Torque control mode

Switch is possible while motor is stopped

(zero speed (ZSP) is ON)

Speed control mode Switch is possible during operation

POINT

After turning power supply ON, or after SSCNET reconnection, the control mode is position control mode.

When a control mode other than position control mode was specified at power supply ON, or SSCNET reconnection, startup in position control mode, before switching to the specified control mode.

When a control mode switch error has occurred, return the control mode command to the current control mode before performing the control mode switch again.

When switching from speed control mode or torque control mode, update the command position with the current feedback position after confirming zero speed (ZSP).

The data for control mode command is applied at the timing of the command data update cycle.

9 - 13

9. INTERFACE MODE

9.5.2 Position control mode

Position control mode is where position commands (absolute position in pulse units) generated by the user program can be sent to the servo amplifier. The position command buffer is made up of position data a maximum of 64 ring buffers, and is controlled with the latest position command buffer number and the transmitting position buffer number. Refer to Section 9.5.5 or Section 9.5.6 for the update method of the buffer.

POINT For the setting value of the position command buffer, ensure that the difference

between the previous command value and the current command value is no more than 20000000. When the difference between the previous command value and the current command value exceeds 20000000, command data error (operation alarm A7, detail No.03) occurs, followed by an immediate stop.

When an alarm other than command data error (operation alarm A7, detail No.03) occurs, conduct a deceleration stop by the user program.

In-position (INP)

Position command data 0 100 200 300 400 to 10000

10000 Position

10000

(1) Parameter

(a) System parameter Parameter No. Symbol Name Remarks

000F *IFMO Interface mode option Specify the interrupt output cycle and command data update cycle.

(b) Control parameter Parameter No. Symbol Name Remarks

0210 TLP Forward rotation torque limit value

Becomes valid when using torque limit.

0211 TLN Reverse rotation torque limit value

023F *IFBN Interface mode maximum buffer number

Set the maximum buffer number of the position command buffer. Note. When interrupt output is invalid in interface mode, 1 or

higher must be set.

9 - 14

9. INTERFACE MODE

(2) Axis data command/status table

(a) Axis data command table Address (Note)

Content Setting range MR-MC2 MR-MC3

1030 005040 Latest position command buffer number 0 to 63

1031 005041 Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add

the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

(b) Axis data status table

Address (Note) Content Setting range

MR-MC2 MR-MC3 108E 0050DE

Maximum position command buffer number 1 to 64 108F 0050DF 1090 0050E0

Transmit position command buffer number 0 to 63 1091 0050E1

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add

the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

(3) Position command buffer

Address (Note) Name Initial value Units Setting range Remarks

MR-MC2 MR-MC3 5000 101000 Position command buffer 0 0 pulse -2147483648

to 2147483647

Input the target position in absolute position for every command data update cycle.

5001 101001 5002 101002 5003 101003 5004 101004 Position command buffer 1 0 pulse -2147483648

to 2147483647

Input the target position in absolute position for every command data update cycle.

5005 101005 5006 101006 5007 101007 5008 101008

: : : : : : : 50FB 1010FB 50FC 1010FC Position command buffer

63 0 pulse -2147483648

to 2147483647

Input the target position in absolute position for every command data update cycle.

50FD 1010FD 50FE 1010FE 50FF 1010FF

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 100h for each axis.

9 - 15

9. INTERFACE MODE

9.5.3 Speed control mode

Speed control mode is where speed commands (speed in units of 0.01r/min) generated by the user program can be sent to the servo amplifier. The speed command buffer is made up of speed command data a maximum of 1 buffer. Refer to Section 9.5.6 for the update method of the buffer.

POINT If a value outside of the range is input to the speed command buffer, command

data error (operation alarm A7, detail No.01) occurs. The speed command value becomes 0[0.01r/min], followed by an immediate stop.

When an alarm other than command data error (operation alarm A7, detail No.01) occurs, conduct a deceleration stop by the user program.

Zero speed (ZSP)

Speed command data 0 1000 2000 3000

200.00

Speed

20000 to 0200004000 to 20000 0

(1) Parameter (a) System parameter Parameter No. Symbol Name Remarks

000F *IFMO Interface mode option Specify the interrupt output cycle and command data update cycle.

(b) Control parameter Parameter No. Symbol Name Remarks

0210 TLP Forward rotation torque limit value

Becomes valid when using torque limit.

0211 TLN Reverse rotation torque limit value

9 - 16

9. INTERFACE MODE

(2) Speed command buffer

Address (Note) Name Initial value Units Setting range Remarks

MR-MC2 MR-MC3 7800 109000 Speed command buffer 0 0 0.01r/min -1000000000

to 1000000000

Input the target speed for every command data update cycle. 7801 109001

7802 109002 7803 109003

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +80h Using MR-MC3 : +100h

(3) Monitor

When using speed control mode in interface mode, use the following monitor numbers to monitor/sample the speed commands being sent to the servo amplifier. (a) Operation information

Monitor No. Content Units Remarks 0324 Speed command (lower) 0.01r/min Notifies the speed command during speed control. 0325 Speed command (upper)

(b) Operation information (double word)

Monitor No. Content Units Remarks 1324 Speed command 0.01r/min Notifies the speed command during speed control.

9 - 17

9. INTERFACE MODE

9.5.4 Torque control mode

Torque control mode is where torque commands (torque in units of 0.1%) generated by the user program of the host controller can be sent to the servo amplifier. The torque command buffer is made up of torque command data a maximum of 1 buffer. Refer to Section 9.5.6 for the update method of the buffer. The relationship between the torque command and the direction of the output torque of the servo motor differs depending on the settings of rotation direction selection/movement direction selection (servo parameter No.110D) and function selection C-B (servo parameter No.119C). The torque command during torque control mode is restricted by the torque control speed limit value. The meanings of the signs for the following data that can referred to by the monitor during torque control mode differ from other control modes. Servo information (2)

Monitor No. Content Units 020A Electrical current command 0.1% 020B Electrical current feedback 0.1%

The meanings of the signs for electrical current command (monitor No.020A) and electrical current feedback (monitor No.020B) during torque control mode are as follows.

Parameter No. Command direction Motor revolution

direction Electrical current command/electrical current feedback sign

Position control Speed control Torque control

0 Positive CCW (positive) Positive Positive Positive Negative CW (negative) Negative Negative Negative

1 Positive CW (negative) Negative Negative Positive Negative CCW (positive) Positive Positive Negative

POINT

If a value outside of the range is input to the torque command buffer, command data error (operation alarm A7, detail No.02) occurs. The torque command value becomes the value before the change.

When an alarm occurs, conduct a deceleration stop by the user program.

Zero speed (ZSP)

Torque command data 0 10 20 30

30.0%

Torque

300 to 030030 to 300 0

9 - 18

9. INTERFACE MODE

(1) Parameter

(a) System parameter Parameter No. Symbol Name Remarks

000F *IFMO Interface mode option Specify the interrupt output cycle and command data update cycle. (2) Axis data command/status table

(a) Axis data command table Address (Note)

Content Setting range MR-MC2 MR-MC3

1048 005058 Torque control speed limit value (0.01r/min)

0 to 1000000000 1049 005059 104A 00505A 104B 00505B

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

(3) Torque command buffer

Address (Note) Name Initial value Units

Setting range

Remarks MR-MC2 MR-MC3

8C00 111000 Torque command buffer 0 0 0.1% -32768 to 32767

Input the target torque for every command data update cycle. 8C01 111001

8C02 111002 8C03 111003

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +80h Using MR-MC3 : +100h

9 - 19

9. INTERFACE MODE

9.5.5 Control method for interrupt output invalid

Interrupt output invalid is compatible with position control mode only.

POINT When the update of the latest position command buffer number is delayed etc.

due to the load, etc. on the user program, and the latest position command buffer number and transmit position command buffer number continue to get closer, the same position command details are transmitted to the servo amplifier, and over time, an axis that was in operation, begins to output a command of speed 0.

When controlling with interrupt output invalid, set the Interface mode maximum buffer number (parameter No.023F) to 1 or more. When set to 0, the position command buffer cannot be updated and thus cannot control. (The same position command is transmitted to the servo amplifier)

The following is the control method for when interrupt output is invalidated (ITS is turned off). The user program updates the latest position command buffer number by checking the latest position command buffer number and transmit position command buffer number at any given time, and setting the position command for each command data update cycle to an empty buffer. At this time, do not change the contents of the buffers between the transmit position command buffer number and latest position command buffer number. The position board transmits the contents of the next buffer every command data update cycle, and updates the transmit position command buffer number. Note. When a value outside the range is set to the latest position command buffer number, a latest command buffer number setting error

(operation alarm 2D) is output, and it stops.

9 - 20

9. INTERFACE MODE

The following is an example of when the maximum buffer number is 11. When the buffer status resembles "Example 1: Before buffer set", and there are 5 cycles of position command data that have been calculated by the user program, set the latest position command buffer number to 1 after setting position command data to empty buffers 9 to 11, and buffers 0 to 1. After processing, the buffer status resembles "Example 2: After buffer set (5 cycles)". Under the same conditions, when there are 10 cycles of position command data that have been calculated by the user program, set the latest position command buffer number to 4 after setting position command data to buffers 9 to 11, and buffers 0 to 4. At this time, because there are only 8 empty buffers, 2 cycles of position command data cannot be set. Set these buffers the next time the buffers empty. After processing, the buffer status is becomes similar to "Example 3: After buffer set (10 cycles)". Example 1: Before buffer set

n+9

0 1 2 3 4 5 6 7 8 9 10 11 n+7 n+8 n+10 n+11 n n+1 n+2 n+3 n+4 n+5 n+6

0 0 0

Position command buffer before setting command

Transmit buffer number

Latest command buffer number

: Empty buffer : Set buffer Set data

: Unused data

Example 2: After buffer set (5 cycles)

0 1 2 3 4 5 6 7 8 9 10 11

0 1 2 3 4

sscIfmRenewLatestBufferEx function

sscIfmGetTransmitBufferEx function

Position command data in the user program

Position command buffer before setting command

Latest command buffer number

Transmit buffer number

Example 3: After buffer set (10 cycles)

0 1 2 3 4 5 6 7 8 9 10 11

0 1 2 3 4 5 6 7 8 9 Position command data in the user program

Position command buffer before setting command

Latest command buffer number

Transmit buffer number

On hold until next time

9 - 21

9. INTERFACE MODE

(1) Procedure for updating position command data

The procedure for updating position command data when interrupt output is invalid is shown below.

Get latest position command buffer number (sscCheckLatestBuffer)

Start

Get transmit position command buffer number (sscCheckTransmitBuffer)

Yes

No

Store the position command data in the latest position command buffer (sscIfmRenewLatestBufferEx)

(Transmit position command buffer number=

latest position command buffer+1) or ((Transmit position command buffer

number=0) and (latest position command buffer=maximum position

command buffer number))?

End

POINT

During servo off always perform a follow up (store current feedback position to the latest position command buffer). Immediately after servo on, the motor may operate at a very high speed.

When servo ready (RDY) switches from ON to OFF due to an alarm factor etc., turn servo on (SON) OFF. After removing the cause, an unexpected operation may occur.

9 - 22

9. INTERFACE MODE

9.5.6 Control method for interrupt output valid

There is no difference in control method for position control mode, speed control mode and torque control mode when control method for interrupt output is valid. The control method is as follows. The following is the control method for when interrupt output is validated (ITS is turned on), and the number of command buffers used is 0. The position board outputs the command set by the user program for every command data update cycle after the system startup. While ITS is turned on, an interrupt is generated every interrupt output cycle. Have the user program update the command buffer 0, and read the high speed monitor from the generation of an interrupt (interrupt output cycle control cycle/2). The command data update cycle, and interrupt output cycle can be set in Interface mode option (parameter No.000F). In the time from the generation of an interrupt until the completion of the above process, turn on the during user program memory access signal (HMA). When the system program reads the command, it checks the during user program memory access signal (HMA). When the signal is on, the update is regarded as incomplete and does not perform the read, and the command buffer read error counter is incremented. When this happens, the previous position command value is sent to the servo amplifier, and when in position control mode, an immediate stop follows. When in speed control mode or torque control mode, operation continues with the previous values and same command data. While the position board is reading command and writing high speed monitor, the during system program memory access signal (BMA) is turned on. (When it is not a control cycle where command data is updated, during system program memory access signal (BMA) is not turned on). When in position control mode and using several buffers in interrupt output valid, perform the same process at every interrupt output as interrupt output invalid. Clear the interrupt signal (IRQ) by writing 0 to the interrupt clear register. Be sure to clear the interrupt signal within the interrupt handler. Note. For real time processing, the execution of command read, high speed monitor, and communication with servo amplifier within the

control cycle are guaranteed processes.

9 - 23

9. INTERFACE MODE

The timing of control differs depending on the settings of the command data update cycle and interrupt output cycle. Use the table below when referring to the timing charts.

Command data update cycle Interrupt output cycle Reference

Control cycle 1 Control cycle 1 Refer to (2)(a)

Control cycle n (n = 2 to 16) (Note 2)

Control cycle 2 Control cycle 1 Refer to (3), (Note 1) Control cycle 2 Refer to (2)(b)

Control cycle n (n = 3 to 16) (Note 2)

Control cycle 3

Control cycle 1 Refer to (3), (Note 1) Control cycle 2 Unavailable Control cycle 3 Refer to (2)(b)

Control cycle n (n = 4 to 16) (Note 2)

Control cycle 4

Control cycle 1 Refer to (3), (Note 1) Control cycle 2 Refer to (3), (Note 1) Control cycle 3 Unavailable

Control cycle 4 (n = 4 to 16) Refer to (2)(b) Control cycle n (n = 5 to 16) (Note 2)

: : :

Control cycle m (m = 5 to 16)

Control cycle n (when n

Refer to (3), (Note 1)

Control cycle n (when n

Unavailable

Control cycle n (when n = m) Refer to (2)(b) Control cycle n (when n>m) (Note 2)

Note 1. When the update of the command is slower than the control cycle, the servo amplifier in-position signal and current feedback

position is still used when importing in a cycle shorter than the command data update is necessary. 2. When command data update cycle < interrupt output cycle, and command is updated for every interrupt output cycle, the timing of

the update of command data is still too late. For position control mode, the update of several position command buffers every interrupt output cycle is necessary. Set the maximum buffer number so that (command data update cycle) (maximum buffer number + 1) > (interrupt output cycle), and perform the control method for interrupt output invalid at the timing of the interrupt generation. For speed control mode or torque control mode, the above setting cannot be used.

(1) Procedure for updating command data

The procedure for storing command data is shown below. There is no difference in the procedure for position control mode, speed control mode, or torque control mode.

Store command data in latest command buffer (sscIfmRenewLatestBufferEx)

Turn OFF during user program memory access (sscSetCommandBitSignalEx)

Turn ON during user program memory access (sscSetCommandBitSignalEx)

End

Start

9 - 24

9. INTERFACE MODE

(2) When command data update cycle = interrupt output cycle

(a) When command data update cycle is control cycle 1, and interrupt out cycle is control cycle 1.

Handler

sscIfmRenewLatestBufferEx function

sscSetCommandBitSignalEx function (SSC_CMDBIT_SYS_HMA)

User program processing

Control cycle

Interrupt signal (IRQ)

System program processing

Handler Command buffer 0 write

During user program memory access (HMA)

During system program memory access (BMA)

Control on host controller

side

Control on position board side

Realtime processing (Note 1)

(Command read)

System program occupy period

User program occupy period (Less than control cycle/2)

Command data update cycle=interrupt output cycle

Background processing (Note 2) Realtime processing (Note 1)

(Command read)

Note 1. For real time processing, the execution of command read, high speed monitor, and communication with servo amplifier within the control cycle are guaranteed processes.

2. For background processing, the execution of monitor, parameter read/write within the control cycle are not guaranteed processes.

(b) When command data update cycle is control cycle n, and interrupt output cycle is control cycle n. The following is an example of when command data update cycle = interrupt output cycle = control cycle 2.

Handler

sscIfmRenewLatestBufferEx function

sscSetCommandBitSignalEx function (SSC_CMDBIT_SYS_HMA)

User program processing

Control cycle

Interrupt signal (IRQ)

System program processing

Handler Command buffer 0 write

During user program memory access (HMA)

During system program memory access (BMA)

Control on host controller

side

Control on position board side

Realtime processing (Note 1)

(Command read)

System program occupy period

User program occupy period (Less than control cycle/2)

Command data update cycle=interrupt output cycle

Background processing (Note 3)

Realtime processing (Note 1)

(Command read) Background processing (Note 3)

Realtime processing (Note 2)

Note 1. For real time processing, the execution of command read, high speed monitor, and communication with servo amplifier within the control cycle are guaranteed processes.

2. Reading of command is not performed for this real time process. (During system program memory access (BMA) does not turn on) 3. For background processing, the execution of monitor, parameter read/write within the control cycle are not guaranteed processes.

9 - 25

9. INTERFACE MODE

(3) When command data update cycle > interrupt output cycle

The following is an example of when command data update cycle is control cycle 2, and interrupt output cycle is control cycle 1. Using the interrupt output cycle as a reference, the user program updates the command buffer during the command data update cycle once only. Make sure the user program occupy period is within (interrupt output cycle) (control cycle/2).

User program processing

Control cycle

Interrupt signal (IRQ)

System program processing

During user program memory access (HMA)

During system program memory access (BMA)

Control on host controller

side

Control on position board side

Realtime processing (Note 1)

(Command read)

System program occupy period

User program occupy period (Less than control cycle/2)

Command data update cycle=interrupt output cycle

Background processing (Note 3)

Realtime processing (Note 1)

(Command read) Background processing (Note 3)

Realtime processing (Note 2)

Handler Command buffer 0 write

sscIfmRenewLatestBufferEx function

Handler Handler

sscSetCommandBitSignalEx function (SSC_CMDBIT_SYS_HMA)

High speed monitor etc.

Note 1. For real time processing, the execution of command read, high speed monitor, and communication with servo amplifier within the control cycle are guaranteed processes.

2. Reading of command is not performed for this real time process. (During system program memory access (BMA) does not turn on) 3. For background processing, the execution of monitor, parameter read/write within the control cycle are not guaranteed processes.

9 - 26

9. INTERFACE MODE

9.5.7 Procedure for switching control mode

The procedure when switching control mode is as follows. (1) Position control mode

Switch to position control mode is performed with the following procedure. (a) Check that zero speed (ZSP) is turned ON.

(b) Perform a follow up to update the position command to match the current feedback position.

(c) Input "0: Position control mode" to the control mode command.

(d) Check that control mode status is "0: Position control mode".

(e) Stop follow up.

API LIBRARY

To check if zero speed (ZSP) is ON/OFF in (a) above, set SSC_STSBIT_AX_ZSP to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.

Use the sscIfmRenewLatestBufferEx function to perform follow up in (b) above. Use the sscIfmSetControlMode function to set control mode command in (c)

above. Use the sscIfmGetControlMode function to check control mode status in (d)

above. (2) Speed control mode

Switch to speed control mode is performed with the following procedure. (a) Check that zero speed (ZSP) is turned ON.

(Not required when switching from torque control mode)

(b) Input "1: Speed control mode" to the control mode command.

(c) Check that control mode status is "1: Speed control mode".

POINT Use the value of the torque limit (parameter No.0210, 0211) during speed

control mode. Set the value before switching modes.

API LIBRARY To check if zero speed (ZSP) is ON/OFF in (a) above, set

SSC_STSBIT_AX_ZSP to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.

Use the sscIfmSetControlMode function to set control mode command in (b) above.

Use the sscIfmGetControlMode function to check control mode status in (c) above.

9 - 27

9. INTERFACE MODE

(3) Torque control mode

Switch to torque control mode is performed with the following procedure. (a) Check that zero speed (ZSP) is turned ON.

(Not required when switching from speed control mode)

(b) Input the speed limit value during torque control mode to the torque control speed limit value.

(c) Input "2: Torque control mode" to the control mode command.

(d) Check that control mode status is "2: Torque control mode".

POINT Set the torque control speed limit value before switching modes.

API LIBRARY

To check if zero speed (ZSP) is ON/OFF in (a) above, set SSC_STSBIT_AX_ZSP to the status bit number with the sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.

Use the sscIfmTrqSetSpeedLimit function to set torque control speed limit value in (b) above.

Use the sscIfmSetControlMode function to set control mode command in (c) above.

Use the sscIfmGetControlMode function to check control mode status in (d) above.

9 - 28

9. INTERFACE MODE

9.5.8 Examples of switching control mode

The switch timing for every setting of position control mode, speed control mode, and torque control mode when using interface mode is as follows. (1) Position control mode speed control mode

Current feedback position

Speed command data 0

Zero speed (ZSP)

300.00r/min

Speed

0...30000...0 0

Control mode command 0001h: Speed control 0000h: Position control0000h: Position control

0001h: Speed control 0000h: Position control0000h: Position controlControl mode status

Position command data

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmRenewLatestBufferEx function

sscIfmRenewLatestBufferEx function

POINT

When switching to position control mode and the travel amount at follow up exceeds 20000000, set position command data to the position command buffer to ensure that the travel amount per cycle is 20000000 or less.

9 - 29

9. INTERFACE MODE

(2) Position control mode torque control mode

30.0%

Torque

20000 Torque control speed limit value

sscsscIfmTrqSetSpeedLimit function

Current feedback position

Control mode command 0002h: Torque control 0000h: Position control0000h: Position control

0002h: Torque control 0000h: Position control0000h: Position control Control mode status

Position command data

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmRenewLatestBufferEx function

Torque command data 0

Zero speed (ZSP)

0...300...0 0 sscIfmRenewLatestBufferEx function

POINT

Set the torque control speed limit value before switching control modes. When returning to position control mode, switch control modes after checking

that zero speed (ZSP) is turned ON. If control mode is switched while zero speed (ZSP) is OFF, control mode switch error (operation alarm 2E, detail No.01) occurs.

When switching to position control mode and the travel amount at follow up exceeds 20000000, set position command data to the position command buffer to ensure that the travel amount per cycle is 20000000 or less.

9 - 30

9. INTERFACE MODE

(3) Speed control mode torque control mode

Torque command data 0

Speed command data

30.0%

Torque

20000...0 0...-100000

0...300...0 0

200.00r/min

Speed

-100.00r/min

Control mode command 0002h: Torque control 0001h: Speed control0001h: Speed control

10000Torque control speed limit value

0002h: Torque control 0001h: Speed control0001h: Speed controlControl mode status

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmSetControlMode function

sscIfmRenewLatestBufferEx function

sscIfmRenewLatestBufferEx function

sscIfmTrqSetSpeedLimit function

Note 1. The torque at speed control, and the speed at torque control depends on the system the servo motor is connected to. 2. When returning to speed control during torque control, set the speed command data before switching to torque control. Depending

on the speed command data at this time, the torque may increase/decrease due to torque control.

POINT Set the torque control speed limit value before switching control modes.

9 - 31

9. INTERFACE MODE

9.6 Interrupt output cycle

When several buffer are used in interrupt valid, and interrupt output for every control cycle is not needed, the cycle of interrupt output can be changed by the interrupt output cycle of Interface mode option (parameter No.000F). (1) System parameters Parameter

No. Symbol Name Initial value Units

Setting range

Function

000F *IFMO Interface mode option

0000h 0000h to

0F0Fh

00 0

Interrupt output cycle When interrupt by interface mode is valid, set the cycle for which the interrupt is output. Interrupt output cycle:

Control cycle (setting value+1) Example: When interrupt output cycle is set to 1 and control cycle is 0.88ms, interrupt is output approximately every 1.77ms.

(2) Interrupt output cycle

The relationship between interrupt output cycle and control cycle is shown in the table below. Setting value 0 1 2 3 8 15

Control cycle 0.88ms 0.88ms 1.77ms 2.66ms 3.55ms

8.00ms

14.22ms Control cycle 0.44ms 0.44ms 0.88ms 1.33ms 1.77ms 4.00ms 7.11ms Control cycle 0.22ms 0.22ms 0.44ms 0.66ms 0.88ms 2.00ms 3.55ms

9 - 32

9. INTERFACE MODE

9.7 Command data update cycle

The update cycle of command can be changed by command data update cycle of Interface mode option (parameter No.000F). Have the user program generate the command for every command data update cycle, and set to command buffer. Note. Because communication with the servo amplifier is performed every control cycle, the current feedback position and other high speed

monitors are updated every control cycle. (1) System parameters Parameter

No. Symbol Name Initial value Units

Setting range

Function

000F *IFMO Interface mode option

0000h 0000h to

0F0Fh Command data update cycle Set the cycle for which position command is updated in interface mode. Command data update cycle:

Control cycle(setting value+1) Example: When command data update cycle is set to 2 and control cycle is 0.88ms, position command is updated approximately every 2.66ms.

0 00

(2) Command data update cycle

The relationship between command data update cycle and control cycle is shown in the table below. Setting value 0 1 2 3 8 15

Control cycle 0.88ms 0.88ms 1.77ms 2.66ms 3.55ms

8.00ms

14.22ms Control cycle 0.44ms 0.44ms 0.88ms 1.33ms 1.77ms 4.00ms 7.11ms Control cycle 0.22ms 0.22ms 0.44ms 0.66ms 0.88ms 2.00ms 3.55ms

9 - 33

9. INTERFACE MODE

9.8 Event detection function

The event detection function detects the ON/OFF edges of specified status bits. Using this function eliminates the process of getting the status bits for every control cycle, reducing the processing load of the user program. The event detection function outputs the factor of event to the dual port memory when an event (alarm occurrence, change in the status of sensor input) occurs. The user program monitors the factor of event in addition to referring to outputting with factor of interrupt (ITO), and information of outputting with factor of interrupt. The event detection function can be used at any time, and no settings are required to use it. For clearing the factor of event, turn ON the interrupt processing high speed complete signal (ITFE). When the position board receives the interrupt processing high speed complete signal (ITFE), it turns OFF the interrupt processing high speed complete signal (ITFE), and clears the factor of event.

User program processing

Interrupt processing high speed complete signal(ITFE)(Note 2)

Command buffer 0 write

Han -dler

Outputting with factor of interrupt (ITO)

Interrupt signal (IRQ)

Control on host controller

side

Control on position board

side

Interrupt thread and device driver

Control cycle

Factor of event

(Note 3)

(Note 1) Han -dler

Note 1. The outputting with factor of interrupt (ITO), information of outputting with factor of interrupt, and factor of axis event are read by the interrupt handler.

2. The position board gets the commands for every control cycle. 3. ON is performed on the API library side (interrupt handler), and OFF is performed by the position board.

POINT When more than one event is detected in the same control cycle, all applicable

factors of event turn ON. Factors of event are held until interrupt processing high speed complete signal

(ITFE) is conducted. However, if the status of a signal changes while it is being held, the last status is retained. (Example. While a factor of event is being held, when an OFF edge is detected after the detection of an ON edge, only the OFF edge is output.)

A factor of event in the system is the same as a system interrupt factor. Refer to Section 7.6.

API LIBRARY

Getting the factor of event and turning ON the interrupt processing high speed complete signal are processed by the interrupt thread and device driver that is created when calling the sscIntStart function. Thus processing by user program is unnecessary.

Use the sscIfmGetEventStatusBits function for getting factor of event.

9 - 34

9. INTERFACE MODE

(1) Factor of axis event

Address Content

Address Content

MR-MC2 MR-MC3 MR-MC2 MR-MC3 0EE0 0043E0

Factor of event Axis 1

004560

Factor of event Axis 49

0EE1 0043E1 004561 0EE2 0043E2 004562 0EE3 0043E3 004563

0043E4 004564 0043E5 004565 0043E6 004566 0043E7 004567

0EE4 0043E8

Factor of event Axis 2

004568

Factor of event Axis 50

0EE5 0043E9 004569 0EE6 0043EA 00456A 0EE7 0043EB 00456B

0043EC 00456C 0043ED 00456D 0043EE 00456E 0043EF 00456F

0EE8 0043F0 :

004570 : : : :

0F5B 0044D7 0045D7 0F5C 0044D8

Factor of event Axis 32

0045D8

Factor of event Axis 64

0F5D 0044D9 0045D9 0F5E 0044DA 0045DA 0F5F 0044DB 0045DB

0044DC 0045DC 0044DD 0045DD 0044DE 0045DE 0044DF 0045DF

0F60 0044E0

Factor of event Axis 33 (Note)

0045E0 Reserved 0F61 0044E1 :

0F62 0044E2 0047DF 0F63 0044E3

0044E4 0044E5 0044E6 0044E7

0F64 0044E8 :

: :

0F9B 004557 0F9C 004558

Factor of event Axis 48 (Note)

0F9D 004559 0F9E 00455A 0F9F 00455B

00455C 00455D 00455E 00455F

Note. When using MR-MC2 , 0F60 to 0F9F is "Reserved".

9 - 35

9. INTERFACE MODE

(a) Details on factor of event on axis n

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +04h Using MR-MC3 : +08h

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

0EE0 to

0EE3

0043E0 to

0043E7

0 iRDYON Servo ready (ON edge) 1 iINPON In-position (ON edge) 2 iZSPON Zero speed (ON edge) 3 iTLCON Torque limit effective (ON edge) 4 iSALMON Servo alarm (ON edge) 5 iSWRNON Servo warning (ON edge) 6 iABSEON Absolute position erased (ON edge) 7 iOALMON Operation alarm (ON edge) 8 iMAK1ON Mark detection 1 (ON edge) 9 iMAK2ON Mark detection 2 (ON edge)

10 Reserved 11

12 13 iLSPON + side limit switch (ON edge) 14 iLSNON - side limit switch (ON edge) 15 iDOGON Proximity dog (ON edge) 16 iRDYOF Servo ready (OFF edge) 17 iINPOF In-position (OFF edge) 18 iZSPOF Zero speed (OFF edge) 19 iTLCOF Torque limit effective (OFF edge) 20 iSALMOF Servo alarm (OFF edge) 21 iSWRNOF Servo warning (OFF edge) 22 iABSEOF Absolute position erased (OFF edge) 23 iOALMOF Operation alarm (OFF edge) 24 iMAK1OF Mark detection 1 (OFF edge) 25 iMAK2OF Mark detection 2 (OFF edge) 26

Reserved 27 28 29 iLSPOF + side limit switch (OFF edge) 30 iLSNOF - side limit switch (OFF edge) 31 iDOGOF Proximity dog (OFF edge)

32

Reserved : 63

Note. OFF: No factor of event exists. ON: A factor of event exists.

9 - 36

9. INTERFACE MODE

9.9 Servo off

When axes are moved by an external force during servo off, perform a follow up (refer to the formula below) that updates the position command to align with the movement (feedback position).

CAUTION If a follow up is not performed, the servo amplifiers will align the current command position with the

position command at servo on, and the motors may operate at a very high speed.

Position command = Feedback position Machinery command position = Position command Home position offset

Coordinate return processing such as home position return after servo off are not necessary. If servo off is performed during axis operation, a free-run state occurs which is very dangerous. Be sure to servo off after stopping operation.

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_SON)

sscWaitStatusBitSignalEx (SSC_STSBIT_AX_RDY)

sscIfmRenewLatestBufferEx function

Servo on (SON)

Servo ready (RDY)

Moving speed

Current command positon

Movement by an external force

During servo off, update position command to align with movement.

POINT After updating the position command to match the current feedback position, do

not servo on until the transmit position command buffer number is the same as the latest position command buffer number.

When the command data update cycle (control cycle 2 or more) is set, the time of the command data update cycle set to the position board follow up applies. When the command data update cycle is set, make sure servo on is performed at the next command data update or later.

9 - 37

9. INTERFACE MODE

9.10 Home position return

When startup is performed in interface mode, the operational function home position return cannot be used. Therefore, for an absolute position detection system, use the following method to perform a home position return. For an incremental system, home position set is not necessary. (The position at power supply ON is treated as 0).

1) Update the position command buffer and move to the home position. 2) Check that the in-position signal (INP) is on. 3) Turn ON the home position set command (ZSC). 4) Check that home position set complete (ZSF) turns ON. 5) Read the home position multiple revolution data (parameter 024D), and home position within 1

revolution position (parameter 024E, 024F), and save to the user program. 6) The next time power supply is ON, set the parameters read in 5) 7) The position board will restore the absolute position based on the parameters above.

When home position return is performed by this function, coordinate systems such as the current command position and current feedback position are in the same state before home position return and do not change until the power supply is turned OFF/ON again. Therefore after home position return, perform a home position offset for position commands at home position return as shown in the formula below.

Position command = Machinery command position + Home position offset Position command : Position provided to the position board. (pulse) Machinery command position : The actual position to move the machine to. (pulse) Home position offset : The difference between machinery command position and position

command. (pulse) When the home position coordinates are set by parameters, the absolute position is restored so that the place of set home position is the same as the home position coordinates. When the home position set command turns on during in-position signal (INP) off, home position set error (ZSE) turns on, and home position return is not completed. Also, when position command exceeds 32 bit or motor exceeds 32767 revolutions when moving from the home position in an absolute position detection system, the current command position cannot be normally restored at power supply on. Use absolute position detection system within 32767 revolutions and with position commands within 32 bit.

sscIfmSetHomePosition function

Home position data (parameter)

Home position set command Home position set complete

9 - 38

9. INTERFACE MODE

(1) Axis data command/status bit

(a) Axis data command bit Address (Note)

Bit Symbol Signal name When in tandem

drive MR-MC2 MR-MC3 100A 00500A 0

Reserved

1 2 3 4 ZSC Home position set command 5

Reserved

6 7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

1) Details on axis data command bit

Symbol Signal name Function details

Function Operation ZSC Home position set

command Commands home position set. When home position set command (ZSC) is turned on, the

current position is set as home position. This is used when absolute position detection system is valid.

(b) Axis data status bit

Address (Note) Bit Symbol Signal name

When in tandem drive MR-MC2 MR-MC3

106A 0050AA 0

Reserved

1 2 3 4 ZSF Home position set complete 5 ZSE Home position set error 6

Reserved

7

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

1) Details on axis data status bit

Symbol Signal name Function details

Function Operation ZSF Home position set

complete Notifies the home position set is complete.

Home position set is completed.

Home position set command (ZSC) is turned off.

ZSE Home position set error

Notifies the home position set failed.

During an operation alarm. During servo off (including servo alarm). During test mode. In-position signal is off.

Home position set command (ZSC) is turned off.

9 - 39

9. INTERFACE MODE

9.11 Coordinate management

This section shows an example of how to approach coordination management. 9.11.1 Incremental system

When using servo amplifiers with incremental system setting, the current command position (position command) when SSCNET connection is restored is 0. Afterwards, a coordinate system value for a position of 0 when the SSCNET is connected needs to be used for the position command that the user program applies to position board until connecting to SSCNET again. In many cases, the actual home position of the machine and the home position of the position command (position when SSCNET is connected) are different, therefore, the position command is calculated using the machinery command position and home position offset with the following formula.

Position command = Machinery command position + Home position offset (1) When connected to SSCNET

Because the current command position (position command) when SSCNET connection is restored is 0, set home position offset to 0. Until home position is determined, machinery command position is undefined. Use the position that is referred to when connected to SSCNET (=0) as the machinery command position.

Absolute position restored by servo amplifier (=0) Current command position

Position command (=machinery command position) Home position offset (=0)

(2) Home position return When home position return is required, move to home position on the user program side. The home position of the position command (distance from position when connected to SSCNET to home position) is the home position offset after home position return. In an incremental system, home position set for position board is not required.

Position command

Machinery command position (=0) Current command position Home position

Home position offset

Absolute position restored by servo amplifier (=0)

(3) After home position return Calculate the position command (=machinery command position + home position offset) by using the home position offset determined at home position return.

Position command

Home position

Absolute position restored by servo amplifier (=0)

Home position offset Machinery command position

Current command position

9 - 40

9. INTERFACE MODE

9.11.2 Absolute position system

When using servo amplifiers with absolute position system setting, the absolute position restored when connected to SSCNET is a position calculated from the "home position coordinates", "home position within 1 revolution", and "home position multiple revolution data" set to the parameters. Afterwards, a coordinate system value for when the SSCNET is connected needs to be used for the position command that the user program applies to position board until connecting to SSCNET again. Similar to an incremental system, the coordinate system does not change after home position return operation (after home position set). As a result, the actual home position of the machine and the home position of the position command (position when SSCNET is connected) is different, therefore, the position command is calculated using the machinery command position and home position offset with the following formula.

Position command = Machinery command position + Home position offset (1) When connected to SSCNET (home position is not determined)

Because the current command position (position command) when SSCNET connection is restored is 0, set home position offset to 0. Until home position is determined, machinery command position is undefined. Use the position that is referred to when connected to SSCNET (=0) as the machinery command position.

Absolute position restored by servo amplifier (=0) Current command position

Position command (=machinery command position) Home position offset (=0)

(2) Home position return Move to home position on the user program side, execute home position set, and determine the home position. The home position of the position command (distance from position when connected to SSCNET to home position) is the home position offset after home position return.

Position command

Machinery command position (=0) Current command position Home position

Home position offset

Absolute position restored by servo amplifier (=0)

9 - 41

9. INTERFACE MODE

(3) After home position return

Position board also operates with the same coordinate system as when connected to SSCNET after home position return. As a result, the machinery command position and position command deviate by the difference between the new coordinate system and the coordinate system when connected to SSCNET. Set the amount of deviation to the home position offset.

Position command

Home position

Absolute position restored by servo amplifier (=0)

Home position offset Machinery command position

Current command position

Note. 0 position is the position in the coordinate system where machinery command position is 0 when restoring absolute position, or after home position return. (When the home position coordinate is 0, this is the position after performing home position return)

When home position coordinate is 0, the next time connecting to SSCNET, this position becomes the 0 position(Note).

Except for when home position coordinate is 0, the formula for calculating home position offset is as follows.

Home position offset = Position command at home position return Home position coordinate (4) After restoring absolute position

After restoring the home position, the machinery command position and position command are equivalent, thus set home position offset to 0.

Position command

0 position(Note) when absolute position is restored by servo amplifier

Absolute position restored by servo amplifier

Home position offset=0 Current command

position Restored absolute position Machinery command position

Note. 0 position is the position in the coordinate system where machinery command position is 0 when restoring absolute position, or after home position return. (When the home position coordinate is 0, this is the position after performing home position return)

9 - 42

9. INTERFACE MODE

9.12 Precautions

When performing interface mode the following precautions apply. (1) For the setting value of the position command buffer, ensure that the difference between the previous

command value and the current command value is no more than 20000000. When the difference between the previous command value and the current command value exceeds 20000000, command data error (operation alarm A7, detail No.03) occurs, followed by an immediate stop.

(2) If a value outside of the range is input to the speed command buffer, command data error (operation alarm

A7, detail No.01) occurs. The speed command value becomes 0[0.01r/min], followed by an immediate stop. (3) If a value outside of the range is input to the torque command buffer, command data error (operation alarm

A7, detail No.02) occurs. The torque command value becomes the value before the change.

10 - 1

10

10. TABLE MAP

10. TABLE MAP

10.1 Table list

POINT Do not write to reserved areas. The start number in the point table for each axis can be designated using point

number offset. 10.1.1 MR-MC2 table

4FF0h

03E0h

04D0h

0590h

0780h

1000h

2E00h

3870h

39F0h

4FA0h

04C0h

05C0h

06D0h

0FE0h

0FA0h

05B0h

3400h

3800h

0000h

0EE0h

System command/status table (224 bytes)

Outputting information table with factor of interrupt (16 bytes)

Interrupt factor table for each axis (192 bytes)

System interrupt table (32 bytes)

Reserved (272 bytes)

System configuration table (176 bytes) Reserved

(1888 bytes)

Details on factor of pass position interrupt (64 bytes)

Details on factor of other axes start interrupt (32 bytes)

Command/status table for each axis (7680 bytes)

Reserved (1536 bytes)

Servo parameter change number table (J4) (1024 bytes)

Point number offset table (80 bytes)

Reserved (5552 bytes)

Reserved (16 bytes)

Interrupt factor table for each station (16 bytes)

RIO command/status table (1024 bytes)

Reserved (112 bytes)

Factor of event table (192 bytes)

Dual port memory

Station 1 (128 bytes)

3400h RIO command/status table

3480h

3500h

3580h

3600h

Axis 1 (192 bytes)

1000h

Axis 2 (192 bytes)

Axis 3 (192 bytes)

Axis 4 (192 bytes)

Axis 5 (192 bytes)

Axis 6 (192 bytes)

Axis 7 (192 bytes)

Axis 8 (192 bytes)

Axis 9 (192 bytes)

Axis 10 (192 bytes)

Axis 11 (192 bytes)

:

10C0h

1180h

1240h

1300h

13C0h

1480h

1540h

1600h

16C0h

1780h

2740h

2800h

System information table (992 bytes)

Station 2 (128 bytes) Station 3

(128 bytes) Station 4

(128 bytes) Reserved

(512 bytes)

Command Status

Command Status

Command Status

Command Status

Command/status table

Reserved (1536 bytes)

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Axis 32 (192 bytes)

10 - 2

10. TABLE MAP

:

20000h 2000Fh

BDA0h

BE00h

CE80h

DF00h

E000h

E080h

E100h

EE00h

BC30h

BD30h

EF80h

EF90h EFFFh

B100h

BAF0h

BB30h

D400h

DB00h

B4F0h

5000h

7800h

A000h

A500h

A640h

AE40h

B000h

8C00h

A840h

E040h

Axis 2 (256 bytes)

Axis 1 (256 bytes)

6F00h (00F8h)

7000h (0100h)

5100h (0008h)

5200h (0010h)

5300h (0018h)

5400h (0020h)

5500h (0028h)

5600h (0030h)

5700h (0038h)

5800h (0040h)

5900h (0048h)

5A00h (0050h)

5000h (0000h)

"( )" refers to the point number offset

Axis 3 (256 bytes)

Axis 4 (256 bytes)

Axis 5 (256 bytes)

Axis 6 (256 bytes)

Axis 7 (256 bytes)

Axis 8 (256 bytes)

Axis 9 (256 bytes)

Axis 10 (256 bytes)

Axis 11 (256 bytes)

Axis 32 (256 bytes) Reserved

(2048 bytes)

Point table/position command buffer

Note. Refer to Section 1.5.3 for the board information. Board information (Note)

(16 bytes)

Dual port memory

Point table/position command buffer (10240 bytes)

Speed command buffer (5120 bytes)

Torque command buffer (5120 bytes)

High speed monitor table (1280 bytes)

Reserved (320 bytes)

Pass position interrupt table (512 bytes)

Continuous operation to torque control data table (1536 bytes)

Reserved (448 bytes)

Digital I/O table (256 bytes) Reserved

(1008 bytes) Mark detection command/status data table

(1536 bytes) Mark detection edge data table

(64 bytes) Mark detection position data table

(256 bytes) Alarm history data table

(256 bytes) Reserved

(112 bytes) Sampling data table

(96 bytes) Sampling data read table

(4224 bytes) Reserved

(1408 bytes) Transient transmit command/status table

(1792 bytes) I/O device table

(1024 bytes) Log data table

(256 bytes) Reserved (64 bytes)

Interpolation group No. being executed table (64 bytes)

Other axes start command/status table (128 bytes)

Other axes start data table (3328 bytes)

Reserved (384 bytes)

Exclusive control table (16 bytes) Reserved

(4208 bytes)

10 - 3

10. TABLE MAP

10.1.2 MR-MC3 table

Axis 1 (320 bytes)

Axis 2 (320 bytes)

Axis 3 (320 bytes)

Axis 4 (320 bytes)

Axis 5 (320 bytes)

Axis 6 (320 bytes)

Axis 7 (320 bytes)

Axis 8 (320 bytes)

Axis 9 (320 bytes)

Axis 10 (320 bytes)

Axis 11 (320 bytes)

:

Command/status table

Reserved (20480 bytes)

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Command Status

Axis 64 (320 bytes)

005000h

009EC0h

00A000h

005140h

005280h

0053C0h

005500h

005640h

005780h

0058C0h

005A00h

005B40h

005C80h

System command/status table (448 bytes)

Outputting information table with factor of interrupt (32 bytes)

Interrupt factor table for each axis (512 bytes)

System interrupt table (128 bytes)

Reserved (4064 bytes)

System configuration table (832 bytes)

Reserved (8448 bytes)

Details on factor of pass position interrupt (128 bytes)

Details on factor of other axes start interrupt (64 bytes)

Command/status table for each axis (40960 bytes)

Reserved (128 bytes)

Servo parameter change number table (J4) (1024 bytes)

Point number offset table (256 bytes)

Reserved (62208 bytes)

Interrupt factor table for each station (16 bytes)

RIO command/status table (6144 bytes)

Reserved (1760 bytes)

Factor of event table (1024 bytes)

Dual port memory System information table

(2816 bytes) 000B00h

002020h

002220h

004920h

010800h

010C00h

01FF00h

002000h

0022E0h

0048E0h

0047E0h

0022A0h

005000h

00F000h

000000h

0043E0h

000CC0h

001000h

001020h

004860h

Station 1 (192 bytes)

RIO command/status table

Station 2 (192 bytes) Station 3

(192 bytes) Station 4

(192 bytes)

Command Status

Command Status

Command Status

Command Status

Reserved (3072 bytes)

: Command

Status Station 16 (192 bytes)

Command Status

00F000h

00F0C0h

00F180h

00F240h

00FC00h

00FB40h

Board information (Note) (32 bytes) Note. Refer to Section 1.5.3 for the board information.

10 - 4

10. TABLE MAP

Axis 2 (1536 bytes)

Point table

Dual port memory

Point table (196608 bytes)

Speed command buffer table (32768 bytes)

Torque command buffer table (32768 bytes)

High speed monitor table (4096 bytes)

Reserved (1024 bytes)

Pass position interrupt table (1024 bytes)

Continuous operation to torque control data table (4096 bytes)

Reserved (128 bytes)

Mark detection command/status data table (4096 bytes)

Mark detection edge data table (128 bytes)

Mark detection position data table (512 bytes)

Alarm history data table (256 bytes)

Sampling data table (160 bytes)

Sampling data read table (16896 bytes)

Reserved (67584 bytes)

Transient transmit command/status table (5120 bytes)

I/O device table (2304 bytes)

Log data table (256 bytes) Reserved

(512 bytes) Interpolation group No. being executed table

(128 bytes) Other axes start command/status table

(256 bytes)

Other axes start data table (8192 bytes)

Reserved (256 bytes)

Exclusive control table (16 bytes)

Reserved (9216 bytes)

Axis 1 (1536 bytes)

Axis 3 (1536 bytes)

Axis 4 (1536 bytes)

Axis 5 (1536 bytes)

Axis 6 (1536 bytes)

Axis 7 (1536 bytes)

Axis 8 (1536 bytes)

Axis 9 (1536 bytes)

Axis 10 (1536 bytes)

Axis 11 (1536 bytes)

:

Axis 64 (1536 bytes)

Reserved (98304 bytes)

037A00h (07E0h)

038000h (0800h)

020000h (0000h)

020600h (0020h)

020C00h (0040h)

021200h (0060h)

021800h (0080h)

021E00h (00A0h)

022400h (00C0h)

022A00h (00E0h)

023000h (0100h)

023600h (0120h)

023C00h (0140h)

0E1800h

0E2800h

0E2A00h

0E3A00h

0E3D00h

0E3F00h

0E4000h

0E4100h

0E8300h

0F8B00h

0F9F00h

0FA800h

0FB100h

0E3A80h

0E3B00h

0E4060h

0FB200h

0FB400h

0FB480h

0FB580h

0FB680h

0FD680h

0FFA80h

7FFFFFh

0FFA90h

101000h

109000h

111000h

119000h

020000h

050000h

0E0000h

0E1000h

0E1400h

Reserved (589824 bytes)

Reserved (512 bytes)

Reserved (2304 bytes)

Reserved (5488 bytes)

Reserved (7237632 bytes)

Position command buffer table (32768 bytes)

Reserved (512 bytes)

Reserved (96 bytes)

"( )" refers to the point number offset

10 - 5

10. TABLE MAP

10.2 System information table

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

0000 000000 CH number

0000C0

Serial number

0001 000001 0000C1 0002 000002

Number of lines 0000C2

0003 000003 0000C3 0004 000004

Control cycle status 0001h: 0.88ms 0002h: 0.44ms 0003h: 0.22ms

0000C4

0005 000005 0000C5

0006 000006 Reserved

0000C6 0007 000007 0000C7 0008 000008 SSCNET

communication method 0: Not connected 2: SSCNET /H

0000C8 0009 000009 0000C9 000A 00000A

Reserved

0000CA 000B 00000B 0000CB 000C 00000C 0000CC 000D 00000D 0000CD 000E 00000E 0000CE 000F 00000F 0000CF 0010 000010

Interrupt output cycle 0030 0000D0

System program software version

0011 000011 0031 0000D1 0012 000012

Command data update cycle 0032 0000D2

0013 000013 0033 0000D3 0014 000014

Operation cycle current time 0034 0000D4

0015 000015 0035 0000D5 0016 000016

Operation cycle maximum time 0036 0000D6

0017 000017 0037 0000D7 0018 000018

Operation cycle over time 0038 0000D8

0019 000019 0039 0000D9 001A 00001A

Reserved

003A 0000DA 001B 00001B 003B 0000DB 001C 00001C 003C 0000DC 001D 00001D 003D 0000DD 001E 00001E 003E 0000DE 001F 00001F 003F 0000DF 0020 000020 0040 0000E0

Reserved

0021 000021 0041 0000E1 : : 0042 0000E2

002E 00002E 0043 0000E3 002F 00002F 0044 0000E4

000030 0045 0000E5 000031 0046 0000E6

: : : 0000BE 005E 0000FE 0000BF 005F 0000FF

10 - 6

10. TABLE MAP

Address

Content Address

Content MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0060 000100

Servo amplifier software version (Axis 1)

000500 Reserved 0061 000101 :

0062 000102 0008FF 0063 000103 0360 000900

Remote I/O software version (Station 1)

0064 000104 0361 000901 0065 000105 0362 000902 0066 000106 0363 000903 0067 000107 0364 000904 0068 000108 0365 000905 0069 000109 0366 000906 006A 00010A 0367 000907 006B 00010B 0368 000908 006C 00010C 0369 000909 006D 00010D 036A 00090A 006E 00010E 036B 00090B 006F 00010F 036C 00090C 0070 000110

Servo amplifier software version (Axis 2)

036D 00090D : : 036E 00090E

007F 00011F 036F 00090F 0080 000120

Servo amplifier software version (Axis 3)

0370 000910 Remote I/O software version (Station 2)

: : : : 008F 00012F 037F 00091F 0090 000130

Servo amplifier software version (Axis 4)

0380 000920 Remote I/O software version (Station 3)

: : : : 009F 00013F 038F 00092F 00A0 000140

: 0390 000930

Remote I/O software version (Station 4)

: : : : 024F 0002EF 039F 00093F 0250 0002F0

Servo amplifier software version (Axis 32)

03A0 000940 Remote I/O software version (Station 5) (Note)

: : : : 025F 0002FF 03AF 00094F 0260 000300

Servo amplifier software version (Axis 33) (Note)

03B0 000950 : : : : :

026F 00030F 03CF 00096F 0270 000310

: 03D0 000970

Remote I/O software version (Station 8) (Note)

: : : : 034F 0003EF 03DF 00097F 0350 0003F0

Servo amplifier software version (Axis 48) (Note)

000980 Remote I/O software version (Station 9)

: : : 035F 0003FF 00098F

000400 Servo amplifier software version (Axis 49)

000990 : : :

00040F 0009EF 000410

: 0009F0

Remote I/O software version (Station 16)

: : 0004EF 0009FF 0004F0

Servo amplifier software version (Axis 64)

000A00 Reserved : :

0004FF 000AFF Note. When using MR-MC2 , 0260 to 035F, and 03A0 to 03DF are "Reserved".

10 - 7

10. TABLE MAP

10.3 System command/status table

10.3.1 System commands

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 03E0 000B00

Command bit

000B2D Reserved 03E1 000B01 000B2E

03E2 000B02 000B2F 03E3 000B03 0400 000B30

System command code 03E4 000B04 0401 000B31 03E5 000B05 0402 000B32

Watchdog check counter 03E6 000B06 0403 000B33 03E7 000B07 0404 000B34

Watchdog timer start counter 03E8 000B08 0405 000B35 03E9 000B09 0406 000B36

Reboot ID 03EA 000B0A 0407 000B37 03EB 000B0B 0408 000B38 Flash ROM transfer ID

(Flash ROM initialization ID) 03EC 000B0C 0409 000B39 03ED 000B0D 040A 000B3A

Reserved

03EE 000B0E 040B 000B3B 03EF 000B0F 040C 000B3C 03F0 000B10 040D 000B3D 03F1 000B11 040E 000B3E 03F2 000B12 040F 000B3F 03F3 000B13 0410 000B40

Monitor number 1 03F4 000B14 0411 000B41 03F5 000B15 0412 000B42

Monitor number 2 03F6 000B16 0413 000B43 03F7 000B17 0414 000B44

Reserved 03F8 000B18 0415 000B45 03F9 000B19 0416 000B46 03FA 000B1A 0417 000B47 03FB 000B1B 0418 000B48

Parameter write number 1 03FC 000B1C 0419 000B49 03FD 000B1D 041A 000B4A

Parameter write data 1 03FE 000B1E 041B 000B4B 03FF 000B1F 041C 000B4C

Parameter write number 2

000B20 041D 000B4D 000B21 041E 000B4E

Parameter write data 2 000B22 041F 000B4F 000B23 0420 000B50

Parameter read number 1 000B24 0421 000B51 000B25 0422 000B52

Reserved 000B26 0423 000B53 000B27 0424 000B54

Parameter read number 2 000B28 0425 000B55 000B29 0426 000B56

Reserved 000B2A 0427 000B57 000B2B 0428 000B58

Log data read page number 000B2C 0429 000B59

10 - 8

10. TABLE MAP

Address

Content Address

Content MR- MC2

MR- MC3

MR- MC2

MR- MC3

042A 000B5A

Reserved

0440 000B70

Reserved 042B 000B5B 0441 000B71 042C 000B5C 0442 000B72 042D 000B5D 0443 000B73 042E 000B5E 0444 000B74

Alarm history read page number 042F 000B5F 0445 000B75 0430 000B60 0446 000B76

Alarm history initialization ID 0431 000B61 0447 000B77 0432 000B62 0448 000B78

System startup time

0433 000B63 0449 000B79 0434 000B64

Disconnection axis No. 044A 000B7A

0435 000B65 044B 000B7B 0436 000B66

Reserved

044C 000B7C 0437 000B67 044D 000B7D 0438 000B68 044E 000B7E 0439 000B69 044F 000B7F 043A 000B6A

000B80

Reserved 043B 000B6B : 043C 000B6C 000BDF 043D 000B6D 043E 000B6E 043F 000B6F

(1) System command code

System command code Content 0000 Initial value 0003 Parameter initialization 0004 Flash ROM parameter reading 000A Start system startup

(2) Reboot ID

Reboot ID Remarks 1EA5 Set when rebooting software.

(3) Flash ROM transfer ID (Flash ROM initialization ID)

Flash ROM transfer ID (Flash ROM initialization ID)

Remarks

A51E Set when transferring data to flash ROM. A55A Set when initializing flash ROM.

10 - 9

10. TABLE MAP

(4) Command bit

For each bit, 0 stands for invalid and 1 stands for valid. Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03E0 000B00 0 ITE Interrupt processing complete 03E1 000B01 0 SMPS Sampling start

1 ITS Interrupt output valid 1

Reserved

2 Reserved

2 3 3

4 HMA During user program memory access

4

5 SPWED1 Reserved

5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03E2 000B02 0 SEMI Software forced stop (Note) 03E3 000B03 0

Reserved

1

Reserved

1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03E4 000B04

0 ITFE Interrupt processing high speed complete

03E5 000B05

0

Reserved

1

Reserved

1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03E6 000B06

0 ASYN1 Non-synchronous command (group 1)

03E7 000B07

0

Reserved

1 ASYN2 Non-synchronous command (group 2)

1

2 ASYN3 Non-synchronous command (group 3)

2

3 ASYN4 Non-synchronous command (group 4)

3

4 ASYN5 Non-synchronous command (group 5)

4

5 ASYN6 Non-synchronous command (group 6)

5

6 ASYN7 Non-synchronous command (group 7)

6

7 ASYN8 Non-synchronous command (group 8)

7 Note. Software forced stop is a normally-open contact (an external forced stop is a normally-closed contact). When the signal is turned on, the status becomes

forced stop status. This is different than an external forced stop, in that it is performed through software processing.

10 - 10

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03E8 000B08 0 RBR Reboot preparation 03E9 000B09 0

Reserved

1 RBS Execution of reboot 1 2 CRST System alarm reset 2 3 Reserved 3 4 SMON Monitor command 4 5 SMONR Monitor latch command 5 6

Reserved 6

7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03EA 000B0A 0 LOGC Log command 03EB 000B0B 0 RCC Reconnection command

1 LOGR Reading of log data command 1 Reserved

2 Reserved 2 3 LOGI Log data initialization command 3 CCC Disconnection command 4 Reserved 4

Reserved 5 OCMC Operation cycle monitor clear 5 6

Reserved 6

7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03EC 000B0C 0

Reserved

03ED 000B0D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03EE 000B0E 0

Reserved

03EF 000B0F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03F0 000B10 0 SPWRT Parameter write command 03F1 000B11 0 SPRD Parameter read command

1

Reserved

1

Reserved

2 2 3 3 4 4 5 5 6 6 7 7

10 - 11

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03F2 000B12 0 SMPSW Sampling setting write command 03F3 000B13 0

Reserved

1 Reserved

1 2 2 3 3 4 SMPSR Sampling setting read command 4 5

Reserved 5

6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03F4 000B14 0

Reserved

03F5 000B15 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03F6 000B16 0 FTR Flash ROM transfer preparation 03F7 000B17 0 ALHR Alarm history read command

1 FTS Flash ROM transfer execution 1 Reserved

2 Reserved

2 ALHI Alarm history initialization command

3 3

Reserved 4 FIR

Flash ROM initialization preparation

4

5 FIS Flash ROM initialization execution 5 6

Reserved 6

7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03F8 000B18 0

Reserved

03F9 000B19 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03FA 000B1A 0

Reserved

03FB 000B1B 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 12

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03FC 000B1C 0

Reserved

03FD 000B1D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 03FE 000B1E 0

Reserved

03FF 000B1F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name

MR- MC2

MR- MC3

000B20 to

000B2F

0

Reserved

1 2 3 4 5 6 7

10 - 13

10. TABLE MAP

10.3.2 System status

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

0450 000BE0

Status bit

0470 000C10 System status code

0451 000BE1 0471 000C11 0452 000BE2 0472 000C12

Watchdog timer 0453 000BE3 0473 000C13 0454 000BE4 0474 000C14

System alarm number 0455 000BE5 0475 000C15 0456 000BE6 0476 000C16

Specific system alarm number 0457 000BE7 0477 000C17 0458 000BE8 0478 000C18

Command buffer read error counter 0459 000BE9 0479 000C19 045A 000BEA 047A 000C1A

Reserved

045B 000BEB 047B 000C1B 045C 000BEC 047C 000C1C 045D 000BED 047D 000C1D 045E 000BEE 047E 000C1E 045F 000BEF 047F 000C1F 0460 000BF0 0480 000C20

Monitor number 1 0461 000BF1 0481 000C21 0462 000BF2 0482 000C22

Monitor number 2 0463 000BF3 0483 000C23 0464 000BF4 0484 000C24

Monitor data 1 0465 000BF5 0485 000C25 0466 000BF6 0486 000C26

Monitor data 2 0467 000BF7 0487 000C27 0468 000BF8 0488 000C28

Parameter write number 1 0469 000BF9 0489 000C29 046A 000BFA 048A 000C2A

Parameter write data 1 046B 000BFB 048B 000C2B 046C 000BFC 048C 000C2C

Parameter write number 2 046D 000BFD 048D 000C2D 046E 000BFE 048E 000C2E

Parameter write data 2 046F 000BFF 048F 000C2F

000C00 0490 000C30 Parameter read number 1

000C01 0491 000C31 000C02 0492 000C32

Parameter read data 1 000C03 0493 000C33 000C04 0494 000C34

Parameter read number 2 000C05 0495 000C35 000C06 0496 000C36

Parameter read data 2 000C07 0497 000C37 000C08 0498 000C38

Log data read page number 000C09 0499 000C39 000C0A 049A 000C3A

Number of valid log data events 000C0B 049B 000C3B 000C0C 049C 000C3C

Reserved 000C0D 049D 000C3D 000C0E 049E 000C3E 000C0F 049F 000C3F

10 - 14

10. TABLE MAP

Address

Content Address

Content MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 04A0 000C40

Reserved

04B0 000C50

Reserved 04A1 000C41 04B1 000C51 04A2 000C42 04B2 000C52 04A3 000C43 04B3 000C53 04A4 000C44

Error code of reconnection/disconnection 04B4 000C54

Alarm history read page number 04A5 000C45 04B5 000C55 04A6 000C46

Reserved

04B6 000C56 Number of valid alarm history events

04A7 000C47 04B7 000C57 04A8 000C48 04B8 000C58

Reserved

04A9 000C49 04B9 000C59 04AA 000C4A 04BA 000C5A 04AB 000C4B : : 04AC 000C4C 04BF 000C5F 04AD 000C4D

000C60

04AE 000C4E : 04AF 000C4F 000CBF

(1) System status code

System status code Content 0000 During system preparation 0001 System preparation completion 0003 Parameter initialization completion 0004 Flash ROM parameter read completion 0005 Flash ROM parameter read error 0009 Waiting for SSCNET response 000A During system running 000F Rebooting

E System error

Note. Notification items when a system error (E to) occurs. Forced stop is executed for servo amplifier. However, depending on the system status, there are cases where forced stop is not

executed. System errors (E400h to) are SSCNET communication errors. Confirm the status of the servo amplifiers as well as the

SSCNET cable. For details, refer to Section 13.6. (2) Error code of reconnection/disconnection

Error code of reconnection/disconnection

Content

0000 No error 0001 Disconnected axis specification error 0002 Reconnected axis No. duplication error 0003 Reconnected axis type code error 0004 Reconnection error during communication error 0006 Communication cycle error

10 - 15

10. TABLE MAP

(3) Status bit

For each bit, 0 stands for invalid and 1 stands for valid. Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0450 000BE0 0 ITO Outputting with factor of interrupt 0451 000BE1 0 SMPW Waiting for sampling trigger

1 IITO During interface mode interrupt valid

1 SMPO Sampling is being performed

2 EVDO Event detection enabled 2 SMPF Sampling is complete 3 HRIF During highly response I/F valid 3 SMPE Sampling error

4 BMA During system program memory access

4 Reserved

5 PRINF Continuous operation to torque control compatible information

5 AHINF Alarm history information

6 Reserved 6 Reserved

7 IFMO In interface mode 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0452 000BE2 0 EMIO During forced stop 0453 000BE3 0

Reserved

1 Reserved 1 2 TSTO In test mode (Note) 2 3

Reserved 3

4 4 5 5 6 EMID External forced stop disabled 6 IPCH Changeable interpolation group 7 Reserved 7 Reserved

Note. If test mode is selected from MR Configurator2, status becomes test mode in operation (TSTO). The following items concerning control exist during test mode. Operation from the position board (such as automatic operation) cannot be performed. In order to perform operations using the position board, the system must be restarted.

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0454 000BE4 0

Reserved

0455 000BE5 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 16

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0456 000BE6

0 ASYO1 In non-synchronous mode (group 1)

0457 000BE7

0 SYEO1 Synchronizing (group 1)

1 ASYO2 In non-synchronous mode (group 2)

1 SYEO2 Synchronizing (group 2)

2 ASYO3 In non-synchronous mode (group 3)

2 SYEO3 Synchronizing (group 3)

3 ASYO4 In non-synchronous mode (group 4)

3 SYEO4 Synchronizing (group 4)

4 ASYO5 In non-synchronous mode (group 5)

4 SYEO5 Synchronizing (group 5)

5 ASYO6 In non-synchronous mode (group 6)

5 SYEO6 Synchronizing (group 6)

6 ASYO7 In non-synchronous mode (group 7)

6 SYEO7 Synchronizing (group 7)

7 ASYO8 In non-synchronous mode (group 8)

7 SYEO8 Synchronizing (group 8)

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0458 000BE8 0 RBOK Reboot preparation complete 0459 000BE9 0

Reserved

1 RBNG Reboot preparation error 1 2 CALM Current system alarm 2 3 Reserved 3 4 SMOUT Monitor output 4 5 SMRCH Monitor latch 5 6 SMER1 Monitor number error 1 6 7 SMER2 Monitor number error 2 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 045A 000BEA 0 LOGO Log operation being performed 045B 000BEB 0 RCO During reconnection processing

1 LOGRF Reading of log data complete 1 RCF Reconnection complete 2 LOGRE Reading of log data error 2 RCE Reconnection error 3 LOGIF Log data initialization is complete 3 CCO During disconnection processing 4 LOGIE Log data initialization error 4 CCF Disconnection complete 5 OCMCO Operation cycle monitor clear 5 CCE Disconnection error 6 OCME Operation cycle alarm 6

Reserved 7 OCMW Operation cycle warning 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 045C 000BEC 0

Reserved

045D 000BED 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 17

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 045E 000BEE 0

Reserved

045F 000BEF 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0460 000BF0 0 SPWFIN1 Parameter write complete 1 0461 000BF1 0 SPRFIN1 Parameter read complete 1

1 SPWEN1 Parameter number error 1 1 SPREN1 Parameter number error 1 2 SPWED1 Parameter data out of bounds 1 2 SPRFIN2 Parameter read complete 2 3 Reserved 3 SPREN2 Parameter number error 2 4 SPWFIN2 Parameter write complete 2 4

Reserved 5 SPWEN2 Parameter number error 2 5 6 SPWED2 Parameter data out of bounds 2 6 7 Reserved 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0462 000BF2 0 SWFIN Sampling setting write complete 0463 000BF3 0

Reserved

1 SWEN Sampling setting number error 1

2 SWED Sampling setting data out of bounds

2

3 Reserved 3 4 SRFIN Sampling setting read complete 4 5 SREN Sampling setting number error 5 6

Reserved 6

7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0464 000BF4 0

Reserved

0465 000BF5 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 18

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0466 000BF6

0 FROK Flash ROM transfer preparation complete

0467 000BF7

0 ALHRF Alarm history read complete

1 FRNG Flash ROM transfer preparation error

1 ALHRE Alarm history read error

2 FSOK Flash ROM transfer complete 2 ALHIF Alarm history initialization complete

3 FSNG Flash ROM transfer error 3 ALHIE Alarm history initialization error

4 FIROK Flash ROM initialization preparation complete

4

Reserved 5 FIRNG Flash ROM initialization preparation error

5

6 FIOK Flash ROM initialization complete 6 7 FING Flash ROM initialization error 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 0468 000BF8 0

Reserved

0469 000BF9 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 046A 000BFA 0

Reserved

046B 000BFB 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 046C 000BFC 0

Reserved

046D 000BFD 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 19

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 046E 000BFE 0

Reserved

046F 000BFF 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name

MR- MC2

MR- MC3

000C00 to

000C0F

0

Reserved

1 2 3 4 5 6 7

10 - 20

10. TABLE MAP

10.4 Factor of interrupt

10.4.1 Information of outputting with factor of interrupt

When an interrupt occurs, the bit corresponding to the axis No., station No., or system which is the factor of the interrupt turns on.

Address Content Remarks

MR-MC2 MR-MC3 04C0 002000

Outputting with factor of axis interrupt 1 Axis 1 (bit 0) to axis 32 (bit 31) 04C1 002001 04C2 002002 04C3 002003 04C4 002004

Outputting with factor of axis interrupt 2 (Note)

Axis 33 (bit 0) to axis 64 (bit 31) 04C5 002005 04C6 002006 04C7 002007

002008

Reserved

002009 00200A 00200B 00200C 00200D 00200E 00200F

04C8 002010 Outputting with factor of station interrupt (Note)

Station 1 (bit0) to station 4 (bit3) MC200 Station 1 (bit0) to station 16 (bit15) MC300

04C9 002011 002012

002013 04CA 002014 Outputting with factor of system interrupt System (bit 0) 04CB 002015

Reserved

04CC 002016 04CD 002017 04CE 002018 04CF 002019

00201A 00201B 00201C 00201D 00201E 00201F

Note. When using MR-MC2 , 04C4 to 04C7, and 04C9 is "Reserved".

10 - 21

10. TABLE MAP

10.4.2 Factor of axis interrupt

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

04D0 002020

Factor of interrupt Axis 1

04FC 00204C

Factor of interrupt Axis 12 04D1 002021 04FD 00204D 04D2 002022 04FE 00204E 04D3 002023 04FF 00204F 04D4 002024

Factor of interrupt Axis 2

0500 002050

Factor of interrupt Axis 13 04D5 002025 0501 002051 04D6 002026 0502 002052 04D7 002027 0503 002053 04D8 002028

Factor of interrupt Axis 3

0504 002054

: 04D9 002029

: : 04DA 00202A 04DB 00202B 054B 00209B 04DC 00202C

Factor of interrupt Axis 4

054C 00209C

Factor of interrupt Axis 32 04DD 00202D 054D 00209D 04DE 00202E 054E 00209E 04DF 00202F 054F 00209F 04E0 002030

Factor of interrupt Axis 5

0550 0020A0 Factor of interrupt Axis 33 (Note)

04E1 002031 0551 0020A1 04E2 002032 0552 0020A2 04E3 002033 0553 0020A3 04E4 002034

Factor of interrupt Axis 6

0554 0020A4

: 04E5 002035

: : 04E6 002036 04E7 002037 058B 0020DB 04E8 002038

Factor of interrupt Axis 7

058C 0020DC Factor of interrupt Axis 48 (Note)

04E9 002039 058D 0020DD 04EA 00203A 058E 0020DE 04EB 00203B 058F 0020DF 04EC 00203C

Factor of interrupt Axis 8

0020E0

Factor of interrupt Axis 49 04ED 00203D 0020E1 04EE 00203E 0020E2 04EF 00203F 0020E3 04F0 002040

Factor of interrupt Axis 9

0020E4

: 04F1 002041

: 04F2 002042 04F3 002043 00211B 04F4 002044

Factor of interrupt Axis 10

00211C

Factor of interrupt Axis 64 04F5 002045 00211D 04F6 002046 00211E 04F7 002047 00211F 04F8 002048

Factor of interrupt Axis 11

002120

Reserved 04F9 002049

: 04FA 00204A 04FB 00204B 00221F

Note. When using MR-MC2 , 0550 to 058F is "Reserved".

10 - 22

10. TABLE MAP

(1) Details on factor of interrupt on axis n

The addresses in the table are the addresses for the first axis. For the second axis and after, add 04h for each axis.

Address

Bit Symbol Signal name MR-MC2 MR-MC3

04D0 to

04D3

002020 to

002023

0 iRDY Servo ready (interrupt) 1 iINP In-position (interrupt) 2 iZSP Zero speed (interrupt) 3 iZPAS Passed Z-phase (interrupt) 4 iTLC Torque limit effective (interrupt) 5 iSALM Servo alarm (interrupt) 6 iSWRN Servo warning (interrupt) 7 iABSE Absolute position erased (interrupt) 8 iOP During operation (interrupt) 9 iCPO Rough match (interrupt) 10 iPF Positioning complete (interrupt) 11 iZP Home position return complete (interrupt) 12 iSMZ During smoothing of stopping (interrupt) 13 iOALM Operation alarm (interrupt) 14 iOPF Completion of operation (interrupt) 15 iPSW Position switch (interrupt) 16 iGAINO During gain switching (interrupt) 17 iFCLSO Fully closed loop control changing (interrupt) 18 iTLSO Selecting torque limit (interrupt) 19 iSPC During PID control (interrupt) 20 Reserved 21 iMAK1 Mark detection 1 (interrupt) 22 iMAK2 Mark detection 2 (interrupt) 23 iPRSMO During continuous operation to torque control (interrupt) 24 iIWT Interference check standby (interrupt) 25 iSINP Servo amplifier in-position (interrupt) 26

Reserved

27 28 29 30 31

Note. OFF: No factor of interrupt exists.

ON: A factor of interrupt exists.

10 - 23

10. TABLE MAP

10.4.3 System interrupt factors

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 0590 002220

System interrupt factors 0598 002238

Factor of pass position interrupt 1 0591 002221 0599 002239 0592 002222

Reserved

059A 00223A 0593 002223 059B 00223B

002224 059C 00223C

Factor of pass position interrupt 2 002225 059D 00223D 002226 059E 00223E 002227 059F 00223F

0594 002228 Factor of other axes start interrupt MC200 Factor of other axes start interrupt 1 MC300

002240

Factor of pass position interrupt 3 0595 002229 002241 0596 00222A 002242 0597 00222B 002243

00222C

Factor of other axes start interrupt 2

002244

Factor of pass position interrupt 4 00222D 002245 00222E 002246 00222F 002247 002230

Reserved

05A0 002248 Reserved 002231 : :

002232 05AF 00229F 002233 002234 002235 002236 002237

(1) Details on factor of system interrupt

Address Bit Symbol (Note) Signal name

MR-MC2 MR-MC3 0590

to 0591

002220 to

002221

0 iSYSE System error (interrupt) 1 iCALM System alarm (interrupt) 2 iEMIO During forced stop (interrupt) 3

Reserved 4 5 6 7 iOCME Operation cycle alarm (interrupt) 8 iOASF Outputting with factor of other axes start interrupt (interrupt) 9 iPPI Outputting with factor of pass position interrupt (interrupt) 10

Reserved

11 12 13 14 15

Note. OFF: No factor of interrupt exists. ON: A factor of interrupt exists.

10 - 24

10. TABLE MAP

(2) Factor of other axes start interrupt

When the outputting with factor of other axes start interrupt (iOASF) is on, the bit corresponding to other axes start data No. turns on. (a) Factor of other axes start interrupt MC200 /Factor of other axes start interrupt 1 MC300

Address Bit Symbol Signal name

MR-MC2 MR-MC3 0594

to 0597

002228 to

00222B

0 iOAS1 Other axes start data 1 (interrupt) 1 iOAS2 Other axes start data 2 (interrupt) 2 iOAS3 Other axes start data 3 (interrupt) 3 iOAS4 Other axes start data 4 (interrupt) 4 iOAS5 Other axes start data 5 (interrupt) 5 iOAS6 Other axes start data 6 (interrupt) 6 iOAS7 Other axes start data 7 (interrupt) 7 iOAS8 Other axes start data 8 (interrupt) 8 iOAS9 Other axes start data 9 (interrupt) 9 iOAS10 Other axes start data 10 (interrupt) 10 iOAS11 Other axes start data 11 (interrupt) 11 iOAS12 Other axes start data 12 (interrupt) 12 iOAS13 Other axes start data 13 (interrupt) 13 iOAS14 Other axes start data 14 (interrupt) 14 iOAS15 Other axes start data 15 (interrupt) 15 iOAS16 Other axes start data 16 (interrupt) 16 iOAS17 Other axes start data 17 (interrupt) 17 iOAS18 Other axes start data 18 (interrupt) 18 iOAS19 Other axes start data 19 (interrupt) 19 iOAS20 Other axes start data 20 (interrupt) 20 iOAS21 Other axes start data 21 (interrupt) 21 iOAS22 Other axes start data 22 (interrupt) 22 iOAS23 Other axes start data 23 (interrupt) 23 iOAS24 Other axes start data 24 (interrupt) 24 iOAS25 Other axes start data 25 (interrupt) 25 iOAS26 Other axes start data 26 (interrupt) 26 iOAS27 Other axes start data 27 (interrupt) 27 iOAS28 Other axes start data 28 (interrupt) 28 iOAS29 Other axes start data 29 (interrupt) 29 iOAS30 Other axes start data 30 (interrupt) 30 iOAS31 Other axes start data 31 (interrupt) 31 iOAS32 Other axes start data 32 (interrupt)

10 - 25

10. TABLE MAP

(b) Factor of other axes start interrupt 2

Address Bit Symbol Signal name

MR-MC2 MR-MC3 00222C

to 00222F

0 iOAS33 Other axes start data 33 (interrupt) 1 iOAS34 Other axes start data 34 (interrupt) 2 iOAS35 Other axes start data 35 (interrupt) 3 iOAS36 Other axes start data 36 (interrupt) 4 iOAS37 Other axes start data 37 (interrupt) 5 iOAS38 Other axes start data 38 (interrupt) 6 iOAS39 Other axes start data 39 (interrupt) 7 iOAS40 Other axes start data 40 (interrupt) 8 iOAS41 Other axes start data 41 (interrupt) 9 iOAS42 Other axes start data 42 (interrupt) 10 iOAS43 Other axes start data 43 (interrupt) 11 iOAS44 Other axes start data 44 (interrupt) 12 iOAS45 Other axes start data 45 (interrupt) 13 iOAS46 Other axes start data 46 (interrupt) 14 iOAS47 Other axes start data 47 (interrupt) 15 iOAS48 Other axes start data 48 (interrupt) 16 iOAS49 Other axes start data 49 (interrupt) 17 iOAS50 Other axes start data 50 (interrupt) 18 iOAS51 Other axes start data 51 (interrupt) 19 iOAS52 Other axes start data 52 (interrupt) 20 iOAS53 Other axes start data 53 (interrupt) 21 iOAS54 Other axes start data 54 (interrupt) 22 iOAS55 Other axes start data 55 (interrupt) 23 iOAS56 Other axes start data 56 (interrupt) 24 iOAS57 Other axes start data 57 (interrupt) 25 iOAS58 Other axes start data 58 (interrupt) 26 iOAS59 Other axes start data 59 (interrupt) 27 iOAS60 Other axes start data 60 (interrupt) 28 iOAS61 Other axes start data 61 (interrupt) 29 iOAS62 Other axes start data 62 (interrupt) 30 iOAS63 Other axes start data 63 (interrupt) 31 iOAS64 Other axes start data 64 (interrupt)

10 - 26

10. TABLE MAP

(3) Details on factor of other axes start interrupt

When the factor of other axes start interrupt (iOAS ) is on, the interrupt factor of other axes start status bit corresponding to other axes start data No. turns on.

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 0FE0 0048E0 Details on factor of other axes start interrupt 1

004900 Details on factor of other axes start interrupt 33 0FE1 0048E1 Details on factor of other axes start interrupt 2 004901 Details on factor of other axes start interrupt 34 0FE2 0048E2 Details on factor of other axes start interrupt 3 004902 Details on factor of other axes start interrupt 35 0FE3 0048E3 Details on factor of other axes start interrupt 4 004903 Details on factor of other axes start interrupt 36 0FE4 0048E4 Details on factor of other axes start interrupt 5 004904 Details on factor of other axes start interrupt 37 0FE5 0048E5 Details on factor of other axes start interrupt 6 004905 Details on factor of other axes start interrupt 38 0FE6 0048E6 Details on factor of other axes start interrupt 7 004906 Details on factor of other axes start interrupt 39 0FE7 0048E7 Details on factor of other axes start interrupt 8 004907 Details on factor of other axes start interrupt 40 0FE8 0048E8 Details on factor of other axes start interrupt 9 004908 Details on factor of other axes start interrupt 41 0FE9 0048E9 Details on factor of other axes start interrupt 10 004909 Details on factor of other axes start interrupt 42 0FEA 0048EA Details on factor of other axes start interrupt 11 00490A Details on factor of other axes start interrupt 43 0FEB 0048EB Details on factor of other axes start interrupt 12 00490B Details on factor of other axes start interrupt 44 0FEC 0048EC Details on factor of other axes start interrupt 13 00490C Details on factor of other axes start interrupt 45 0FED 0048ED Details on factor of other axes start interrupt 14 00490D Details on factor of other axes start interrupt 46 0FEE 0048EE Details on factor of other axes start interrupt 15 00490E Details on factor of other axes start interrupt 47 0FEF 0048EF Details on factor of other axes start interrupt 16 00490F Details on factor of other axes start interrupt 48 0FF0 0048F0 Details on factor of other axes start interrupt 17 004910 Details on factor of other axes start interrupt 49 0FF1 0048F1 Details on factor of other axes start interrupt 18 004911 Details on factor of other axes start interrupt 50 0FF2 0048F2 Details on factor of other axes start interrupt 19 004912 Details on factor of other axes start interrupt 51 0FF3 0048F3 Details on factor of other axes start interrupt 20 004913 Details on factor of other axes start interrupt 52 0FF4 0048F4 Details on factor of other axes start interrupt 21 004914 Details on factor of other axes start interrupt 53 0FF5 0048F5 Details on factor of other axes start interrupt 22 004915 Details on factor of other axes start interrupt 54 0FF6 0048F6 Details on factor of other axes start interrupt 23 004916 Details on factor of other axes start interrupt 55 0FF7 0048F7 Details on factor of other axes start interrupt 24 004917 Details on factor of other axes start interrupt 56 0FF8 0048F8 Details on factor of other axes start interrupt 25 004918 Details on factor of other axes start interrupt 57 0FF9 0048F9 Details on factor of other axes start interrupt 26 004919 Details on factor of other axes start interrupt 58 0FFA 0048FA Details on factor of other axes start interrupt 27 00491A Details on factor of other axes start interrupt 59 0FFB 0048FB Details on factor of other axes start interrupt 28 00491B Details on factor of other axes start interrupt 60 0FFC 0048FC Details on factor of other axes start interrupt 29 00491C Details on factor of other axes start interrupt 61 0FFD 0048FD Details on factor of other axes start interrupt 30 00491D Details on factor of other axes start interrupt 62 0FFE 0048FE Details on factor of other axes start interrupt 31 00491E Details on factor of other axes start interrupt 63 0FFF 0048FF Details on factor of other axes start interrupt 32 00491F Details on factor of other axes start interrupt 64

(a) Details on factor of other axes start interrupt

Address (Note 1) Bit

Symbol (Note 2)

Signal name MR-MC2 MR-MC3

0FE0 0048E0 0 iOSOP Other axes start notice (interrupt) 1 iOSFIN Other axes start complete (interrupt) 2 iOSERR Other axes start incomplete (interrupt) 3

Reserved 4 5 6 7

Note 1. The addresses in the table are the addresses for the other axes start status table 1. For the other axes status table 2 and

after, increase in units of 1h for each other axes start status table. 2. : Other axes start No.

10 - 27

10. TABLE MAP

(4) Factor of pass position interrupt

When the outputting with factor of pass position interrupt (iPPI) is on, the bit corresponding to the pass position condition number of the factor of the pass position interrupt turns on. (a) Factor of pass position interrupt 1

Address Bit Symbol Signal name

MR-MC2 MR-MC3 0598

to 059B

002238 to

00223B

0 iPPI1 Pass position condition 1 (interrupt) 1 iPPI2 Pass position condition 2 (interrupt) 2 iPPI3 Pass position condition 3 (interrupt) 3 iPPI4 Pass position condition 4 (interrupt) 4 iPPI5 Pass position condition 5 (interrupt) 5 iPPI6 Pass position condition 6 (interrupt) 6 iPPI7 Pass position condition 7 (interrupt) 7 iPPI8 Pass position condition 8 (interrupt) 8 iPPI9 Pass position condition 9 (interrupt) 9 iPPI10 Pass position condition 10 (interrupt) 10 iPPI11 Pass position condition 11 (interrupt) 11 iPPI12 Pass position condition 12 (interrupt) 12 iPPI13 Pass position condition 13 (interrupt) 13 iPPI14 Pass position condition 14 (interrupt) 14 iPPI15 Pass position condition 15 (interrupt) 15 iPPI16 Pass position condition 16 (interrupt) 16 iPPI17 Pass position condition 17 (interrupt) 17 iPPI18 Pass position condition 18 (interrupt) 18 iPPI19 Pass position condition 19 (interrupt) 19 iPPI20 Pass position condition 20 (interrupt) 20 iPPI21 Pass position condition 21 (interrupt) 21 iPPI22 Pass position condition 22 (interrupt) 22 iPPI23 Pass position condition 23 (interrupt) 23 iPPI24 Pass position condition 24 (interrupt) 24 iPPI25 Pass position condition 25 (interrupt) 25 iPPI26 Pass position condition 26 (interrupt) 26 iPPI27 Pass position condition 27 (interrupt) 27 iPPI28 Pass position condition 28 (interrupt) 28 iPPI29 Pass position condition 29 (interrupt) 29 iPPI30 Pass position condition 30 (interrupt) 30 iPPI31 Pass position condition 31 (interrupt) 31 iPPI32 Pass position condition 32 (interrupt)

10 - 28

10. TABLE MAP

(b) Factor of pass position interrupt 2

Address Bit Symbol Signal name

MR-MC2 MR-MC3 059C

to 059F

00223C to

00223F

0 iPPI33 Pass position condition 33 (interrupt) 1 iPPI34 Pass position condition 34 (interrupt) 2 iPPI35 Pass position condition 35 (interrupt) 3 iPPI36 Pass position condition 36 (interrupt) 4 iPPI37 Pass position condition 37 (interrupt) 5 iPPI38 Pass position condition 38 (interrupt) 6 iPPI39 Pass position condition 39 (interrupt) 7 iPPI40 Pass position condition 40 (interrupt) 8 iPPI41 Pass position condition 41 (interrupt) 9 iPPI42 Pass position condition 42 (interrupt) 10 iPPI43 Pass position condition 43 (interrupt) 11 iPPI44 Pass position condition 44 (interrupt) 12 iPPI45 Pass position condition 45 (interrupt) 13 iPPI46 Pass position condition 46 (interrupt) 14 iPPI47 Pass position condition 47 (interrupt) 15 iPPI48 Pass position condition 48 (interrupt) 16 iPPI49 Pass position condition 49 (interrupt) 17 iPPI50 Pass position condition 50 (interrupt) 18 iPPI51 Pass position condition 51 (interrupt) 19 iPPI52 Pass position condition 52 (interrupt) 20 iPPI53 Pass position condition 53 (interrupt) 21 iPPI54 Pass position condition 54 (interrupt) 22 iPPI55 Pass position condition 55 (interrupt) 23 iPPI56 Pass position condition 56 (interrupt) 24 iPPI57 Pass position condition 57 (interrupt) 25 iPPI58 Pass position condition 58 (interrupt) 26 iPPI59 Pass position condition 59 (interrupt) 27 iPPI60 Pass position condition 60 (interrupt) 28 iPPI61 Pass position condition 61 (interrupt) 29 iPPI62 Pass position condition 62 (interrupt) 30 iPPI63 Pass position condition 63 (interrupt) 31 iPPI64 Pass position condition 64 (interrupt)

10 - 29

10. TABLE MAP

(c) Factor of pass position interrupt 3

Address Bit Symbol Signal name

MR-MC2 MR-MC3 002240

to 002243

0 iPPI65 Pass position condition 65 (interrupt) 1 iPPI66 Pass position condition 66 (interrupt) 2 iPPI67 Pass position condition 67 (interrupt) 3 iPPI68 Pass position condition 68 (interrupt) 4 iPPI69 Pass position condition 69 (interrupt) 5 iPPI70 Pass position condition 70 (interrupt) 6 iPPI71 Pass position condition 71 (interrupt) 7 iPPI72 Pass position condition 72 (interrupt) 8 iPPI73 Pass position condition 73 (interrupt) 9 iPPI74 Pass position condition 74 (interrupt) 10 iPPI75 Pass position condition 75 (interrupt) 11 iPPI76 Pass position condition 76 (interrupt) 12 iPPI77 Pass position condition 77 (interrupt) 13 iPPI78 Pass position condition 78 (interrupt) 14 iPPI79 Pass position condition 79 (interrupt) 15 iPPI80 Pass position condition 80 (interrupt) 16 iPPI81 Pass position condition 81 (interrupt) 17 iPPI82 Pass position condition 82 (interrupt) 18 iPPI83 Pass position condition 83 (interrupt) 19 iPPI84 Pass position condition 84 (interrupt) 20 iPPI85 Pass position condition 85 (interrupt) 21 iPPI86 Pass position condition 86 (interrupt) 22 iPPI87 Pass position condition 87 (interrupt) 23 iPPI88 Pass position condition 88 (interrupt) 24 iPPI89 Pass position condition 89 (interrupt) 25 iPPI90 Pass position condition 90 (interrupt) 26 iPPI91 Pass position condition 91 (interrupt) 27 iPPI92 Pass position condition 92 (interrupt) 28 iPPI93 Pass position condition 93 (interrupt) 29 iPPI94 Pass position condition 94 (interrupt) 30 iPPI95 Pass position condition 95 (interrupt) 31 iPPI96 Pass position condition 96 (interrupt)

10 - 30

10. TABLE MAP

(d) Factor of pass position interrupt 4

Address Bit Symbol Signal name

MR-MC2 MR-MC3 002244

to 002247

0 iPPI97 Pass position condition 97 (interrupt) 1 iPPI98 Pass position condition 98 (interrupt) 2 iPPI99 Pass position condition 99 (interrupt) 3 iPPI100 Pass position condition 100 (interrupt) 4 iPPI101 Pass position condition 101 (interrupt) 5 iPPI102 Pass position condition 102 (interrupt) 6 iPPI103 Pass position condition 103 (interrupt) 7 iPPI104 Pass position condition 104 (interrupt) 8 iPPI105 Pass position condition 105 (interrupt) 9 iPPI106 Pass position condition 106 (interrupt) 10 iPPI107 Pass position condition 107 (interrupt) 11 iPPI108 Pass position condition 108 (interrupt) 12 iPPI109 Pass position condition 109 (interrupt) 13 iPPI110 Pass position condition 110 (interrupt) 14 iPPI111 Pass position condition 111 (interrupt) 15 iPPI112 Pass position condition 112 (interrupt) 16 iPPI113 Pass position condition 113 (interrupt) 17 iPPI114 Pass position condition 114 (interrupt) 18 iPPI115 Pass position condition 115 (interrupt) 19 iPPI116 Pass position condition 116 (interrupt) 20 iPPI117 Pass position condition 117 (interrupt) 21 iPPI118 Pass position condition 118 (interrupt) 22 iPPI119 Pass position condition 119 (interrupt) 23 iPPI120 Pass position condition 120 (interrupt) 24 iPPI121 Pass position condition 121 (interrupt) 25 iPPI122 Pass position condition 122 (interrupt) 26 iPPI123 Pass position condition 123 (interrupt) 27 iPPI124 Pass position condition 124 (interrupt) 28 iPPI125 Pass position condition 125 (interrupt) 29 iPPI126 Pass position condition 126 (interrupt) 30 iPPI127 Pass position condition 127 (interrupt) 31 iPPI128 Pass position condition 128 (interrupt)

10 - 31

10. TABLE MAP

(5) Details on factor of pass position interrupt

When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number turns on.

Address Content

MR-MC2 MR-MC3 0FA0 0047E0

Details on factor of pass position interrupt

Details on factor of pass position interrupt 1 0FA1 0047E1 Details on factor of pass position interrupt 2 0FA2 0047E2 Details on factor of pass position interrupt 3 0FA3 0047E3 Details on factor of pass position interrupt 4

: : : 0FDF 00481F Details on factor of pass position interrupt 64

004820 Details on factor of pass position interrupt 65

: : 00485F Details on factor of pass position interrupt 128

(a) Details on factor of pass position interrupt

Address (Note 1) Bit

Symbol (Note 2)

Signal name MR-MC2 MR-MC3

0FA0 0047E0 0 iPPIF Pass position interrupt complete (interrupt) 1 iPPIE Pass position interrupt incomplete (interrupt) 2 Reserved 3 4 5 6 7

Note 1. The address in the table is for the pass position condition number 1. For the pass position condition number 2 and above, increase in units of 01h for each pass position condition number.

2. : Pass position condition number

10 - 32

10. TABLE MAP

10.4.4 Station interrupt factors

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

05B0 0022A0 Station interrupt factor station 1

0022B2 Station interrupt factor station 10

05B1 0022A1 0022B3 05B2 0022A2

Station interrupt factor station 2 0022B4

Station interrupt factor station 11 05B3 0022A3 0022B5 05B4 0022A4

Station interrupt factor station 3 0022B6

Station interrupt factor station 12 05B5 0022A5 0022B7 05B6 0022A6

Station interrupt factor station 4 0022B8

Station interrupt factor station 13 05B7 0022A7 0022B9 05B8 0022A8

Station interrupt factor station 5 (Note) 0022BA

Station interrupt factor station 14 05B9 0022A9 0022BB 05BA 0022AA

Station interrupt factor station 6 (Note) 0022BC

Station interrupt factor station 15 05BB 0022AB 0022BD 05BC 0022AC

Station interrupt factor station 7 (Note) 0022BE

Station interrupt factor station 16 05BD 0022AD 0022BF 05BE 0022AE

Station interrupt factor station 8 (Note) 0022C0

Reserved 05BF 0022AF 0022C1

0022B0 Station interrupt factor station 9

: 0022B1 0022DF

Note. When using MR-MC2 , 05B8 to 05BF is "Reserved". (1) Details on station n interrupt factors

The addresses in the table are the addresses for the first axis. For the second axis and after, increase in units of 02h for each axis.

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

05B0 to

05B1

0022A0 to

0022A1

0

Reserved 1 2 3 4 5 iRUALM RIO module alarm (interrupt) 6 iRUWRN RIO module warning (interrupt) 7

Reserved

8 9 10 11 12 13 iRCALM RIO control alarm (interrupt) 14

Reserved 15

Note. OFF: No factor of interrupt exists. ON: A factor of interrupt exists.

10 - 33

10. TABLE MAP

10.5 Factor of event

Address Content

Address Content

MR-MC2 MR-MC3 MR-MC2 MR-MC3 0EE0 0043E0

Factor of event Axis 1

004560

Factor of event Axis 49

0EE1 0043E1 004561 0EE2 0043E2 004562 0EE3 0043E3 004563

0043E4 004564 0043E5 004565 0043E6 004566 0043E7 004567

0EE4 0043E8

Factor of event Axis 2

004568

Factor of event Axis 50

0EE5 0043E9 004569 0EE6 0043EA 00456A 0EE7 0043EB 00456B

0043EC 00456C 0043ED 00456D 0043EE 00456E 0043EF 00456F

0EE8 0043F0 :

004570 : : : :

0F5B 0044D7 0045D7 0F5C 0044D8

Factor of event Axis 32

0045D8

Factor of event Axis 64

0F5D 0044D9 0045D9 0F5E 0044DA 0045DA 0F5F 0044DB 0045DB

0044DC 0045DC 0044DD 0045DD 0044DE 0045DE 0044DF 0045DF

0F60 0044E0

Factor of event Axis 33 (Note)

0045E0 Reserved 0F61 0044E1 :

0F62 0044E2 0047DF 0F63 0044E3

0044E4 0044E5 0044E6 0044E7

0F64 0044E8 :

: :

0F9B 004557 0F9C 004558

Factor of event Axis 48 (Note)

0F9D 004559 0F9E 00455A 0F9F 00455B

00455C 00455D 00455E 00455F

Note. When using MR-MC2 , 0F60 to 0F9F is "Reserved".

10 - 34

10. TABLE MAP

(1) Details on factor of event on axis n

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +04h Using MR-MC3 : +08h

Address Bit

Symbol (Note)

Signal name MR-MC2 MR-MC3

0EE0 to

0EE3

0043E0 to

0043E7

0 iRDYON Servo ready (ON edge) 1 iINPON In-position (ON edge) 2 iZSPON Zero speed (ON edge) 3 iTLCON Torque limit effective (ON edge) 4 iSALMON Servo alarm (ON edge) 5 iSWRNON Servo warning (ON edge) 6 iABSEON Absolute position erased (ON edge) 7 iOALMON Operation alarm (ON edge) 8 iMAK1ON Mark detection 1 (ON edge) 9 iMAK2ON Mark detection 2 (ON edge) 10

Reserved 11 12 13 iLSPON + side limit switch (ON edge) 14 iLSNON - side limit switch (ON edge) 15 iDOGON Proximity dog (ON edge) 16 iRDYOF Servo ready (OFF edge) 17 iINPOF In-position (OFF edge) 18 iZSPOF Zero speed (OFF edge) 19 iTLCOF Torque limit effective (OFF edge) 20 iSALMOF Servo alarm (OFF edge) 21 iSWRNOF Servo warning (OFF edge) 22 iABSEOF Absolute position erased (OFF edge) 23 iOALMOF Operation alarm (OFF edge) 24 iMAK1OF Mark detection 1 (OFF edge) 25 iMAK2OF Mark detection 2 (OFF edge) 26

Reserved 27 28 29 iLSPOF + side limit switch (OFF edge) 30 iLSNOF - side limit switch (OFF edge) 31 iDOGOF Proximity dog (OFF edge)

32

Reserved : 63

Note. OFF: No factor of event exists. ON: A factor of event exists.

10 - 35

10. TABLE MAP

10.6 System configuration information table

Address Content Remarks

MR-MC2 MR-MC3 06D0 000CC0

Reserved : : 06DF 000CCF 06E0 000CD0

Controlling axis information (lower) MC200

Controlling axis information 1 MC300

The bit corresponding to the axis which is currently controllable (SSCNET communicating axis or amplifier-less axis) turns on. The bit is the axis 1 (bit 0) to the axis 32 (bit 31).

06E1 000CD1 06E2 000CD2 06E3 000CD3 06E4 000CD4

Controlling axis information (upper) MC200

Controlling axis information 2 MC300

Using MR-MC2 Fixed at 0.

Using MR-MC3 The bit corresponding to the axis which can currently be controlled (SSCNET communicating axis or the amplifier-less axis) turns on. The bit is the axis 33 (bit 0) to the axis 64 (bit 31).

06E5 000CD5 06E6 000CD6 06E7 000CD7

000CD8 Reserved :

000CDF 06E8 000CE0

Controlling station information

The bit corresponding to the station which is currently controllable (SSCNET communicating station or the remote I/O disconnect station) turns on. The bit is the station 1 (bit 0) to the station 4 (bit3). MC200 The bit is the station 1 (bit 0) to the station 16 (bit15). MC300

06E9 000CE1 000CE2

000CE3

06EA 000CE4 Reserved : :

0777 000FF7 0778 000FF8

Time synchronization information Set the time when starting up system, or reconnecting. When the set value is 0, the time is 0000hrs on January 1st, 2000.

0779 000FF9 077A 000FFA 077B 000FFB 077C 000FFC 077D 000FFD 077E 000FFE 077F 000FFF

(1) Details on time synchronization information

Address Content

MR-MC2 MR-MC3 0778 000FF8

Year 0779 000FF9 077A 000FFA Month 007B 000FFB Date 077C 000FFC Hour 077D 000FFD Minute 077E 000FFE Seconds 077F 000FFF Day

0: Sunday 4: Thursday 1: Monday 5: Friday 2: Tuesday 6: Saturday 3: Wednesday

10 - 36

10. TABLE MAP

10.7 Axis data

10.7.1 Axis data command table

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h The when in tandem drive (synchronous) column in the table is for axis data classification for when using tandem drive. Master : The data only valid for the master axis (refer to Section 8.3) Each axis : The data valid for both the master axis and slave axis (refer to Section 8.3)

Address Content

When in tandem drive

(synchronous)

Address Content

When in tandem drive

(synchronous) MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1000 005000

Command bit Refer to (1) of

this section

005024

Command bit Refer to (1) of

this section

1001 005001 005025 1002 005002 005026 1003 005003 005027 1004 005004 005028 1005 005005 005029 1006 005006 00502A 1007 005007 00502B 1008 005008 00502C 1009 005009 00502D 100A 00500A 00502E 100B 00500B 00502F 100C 00500C 1020 005030

Manual feed speed (Note) Master 100D 00500D 1021 005031 100E 00500E 1022 005032 100F 00500F 1023 005033 1010 005010 1024 005034 Manual feed acceleration

time constant Master

1011 005011 1025 005035 1012 005012 1026 005036 Manual feed deceleration

time constant Master

1013 005013 1027 005037 1014 005014 1028 005038

Incremental feed movement amount

Master 1015 005015 1029 005039 1016 005016 102A 00503A 1017 005017 102B 00503B 1018 005018 102C 00503C

Start point No. Master 1019 005019 102D 00503D 101A 00501A 102E 00503E

End point No. Master 101B 00501B 102F 00503F 101C 00501C 1030 005040 Latest position command

buffer number

101D 00501D 1031 005041 101E 00501E 1032 005042

Control mode command 101F 00501F 1033 005043

005020 1034 005044 Pass position condition start number

Each axis 005021 1035 005045 005022 1036 005046 Pass position condition end

number Each axis

005023 1037 005047 Note. The manual feed speed is the moving speed for manual operation (JOG operation as well as incremental feed).

10 - 37

10. TABLE MAP

Address

Content When in

tandem drive (synchronous)

Address Content

When in tandem drive

(synchronous) MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1038 005048

Reserved 1050 005060

Parameter write number 1 Each axis 1039 005049 1051 005061 103A 00504A

Latest command point No. Master 1052 005062

Parameter write data 1 Each axis 103B 00504B 1053 005063 103C 00504C

Reserved

1054 005064 Parameter write number 2 Each axis

103D 00504D 1055 005065 103E 00504E 1056 005066

Parameter read data 2 Each axis 103F 00504F 1057 005067 1040 005050

Monitor number 1 Each axis 1058 005068

Reserved 1041 005051 1059 005069 1042 005052

Monitor number 2 Each axis 105A 00506A

Parameter read number 2 Each axis 1043 005053 105B 00506B 1044 005054

Monitor number 3 Each axis 105C 00506C

Reserved

1045 005055 105D 00506D 1046 005056

Monitor number 4 Each axis 105E 00506E

1047 005057 105F 00506F 1048 005058

Torque control speed limit value

005070 1049 005059 : 104A 00505A 00509F 104B 00505B 104C 00505C

Reserved

104D 00505D 104E 00505E 104F 00505F

(1) Command bit

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode. Master : The data only valid for the master axis (refer to Section 8.3) Each axis : The data valid for both the master axis and slave axis (refer to Section 8.3) Special : Refer to Section 8.5 for details. Not supported : The data not supported by tandem drive.

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1000 005000 0 SON Servo on Special 1001 005001 0 ST Start operation Master 1

Reserved 1 DIR Movement direction Master

2 2 STP Stop operation Master 3 3 RSTP Rapid stop Master 4 TL Torque limit Each axis 4 Reserved

5 SRST Servo alarm reset Each axis 5 ORST Operation alarm reset

Master

6 Reserved

6 Reserved

7 7

10 - 38

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1002 005002 0 AUT

Automatic operation mode

Master 1003 005003

0

Reserved

1 ZRN Home position return mode

Master 1

2 JOG JOG operation mode Master 2

3 S Incremental feed mode

Master 3

4 Reserved 4

5 LIP

Linear interpolation mode MC200 Interpolation operation mode MC300

Master 5

6 DST Home position reset mode

Master 6

7 Reserved 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1004 005004 0 ITL Interlock Master 1005 005005 0 SCHG Change speed Master

1 RMONR High speed monitor latch command

Each axis 1 TACHG Change acceleration time constant

Master

2 Reserved

2 TDCHG Change deceleration time constant

Master

3 3 PCHG Position change Master

4 LSPC + side limit switch input

Each axis 4

Reserved 5 LSNC - side limit switch input

Each axis 5

6 DOGC Proximity dog input Each axis 6 7 Reserved 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1006 005006 0 FST Fast start operation Master

1007 005007 0 PPISTP

Pass position interrupt cancel

Master

1

Reserved

1

Reserved

2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1008 005008 0 GAIN

Gain changing command

Each axis 1009 005009

0

Reserved

1 FCLS Fully closed loop control change command

Each axis 1

2 Reserved 2

3 CPC PID control command

Each axis 3

4

Reserved

4 5 5 6 6 7 7

10 - 39

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

100A 00500A 0

Reserved

100B 00500B 0 Reserved

1 1 MKC1 Mark detection clear command 1

Each axis

2 2 MKD1 Mark detection disable command 1

Each axis

3 3 MKSEN1 Mark detection setting enable command 1

Each axis

4 ZSC Home position set command

4 Reserved

5

Reserved

5 MKC2 Mark detection clear command 2

Each axis

6 6 MKD2 Mark detection disable command 2

Each axis

7 7 MKSEN2 Mark detection setting enable command 2

Each axis

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

100C 00500C 0

Reserved

100D 00500D 0

Reserved

1 1 2 2 3 3

4 CTLMC Control mode switch command

Not supported

4

5 Reserved

5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

100E 00500E 0

Reserved

100F 00500F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1010 005010 0 MON Monitor command Each axis 1011 005011 0

Reserved

1 MONR Monitor latch command

Each axis 1

2

Reserved

2 3 3 4 4 5 5 6 6 7 7

10 - 40

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1012 005012 0

Reserved

1013 005013 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1014 005014 0 PWRT

Parameter write command

Each axis 1015 005015

0 PRD Parameter read command

Each axis

1

Reserved

1

Reserved

2 2 3 3 4 4 5 5 6 6

7 PSF Servo parameter read complete

Each axis 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1016 005016 0

Reserved

1017 005017 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1018 005018 0

Reserved

1019 005019 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

101A 00501A 0

Reserved

101B 00501B 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 41

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

101C 00501C 0

Reserved

101D 00501D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

101E 00501E 0

Reserved

101F 00501F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

MR-

MC2 MR-

MC3

005020 to

00502F

0

Reserved

1 2 3 4 5 6 7

10 - 42

10. TABLE MAP

10.7.2 Axis data status table

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h The when in tandem drive (synchronous) column in the table is for axis data classification for when using tandem drive. Master : The data only valid for the master axis (refer to Section 8.3) Each axis : The data valid for both the master axis and slave axis (refer to Section 8.3)

Address Content

When in tandem drive

(synchronous)

Address Content

When in tandem drive

(synchronous) MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1060 0050A0

Status bit Refer to (1) of

this section

0050C7

Status bit Refer to (1) of

this section

1061 0050A1 0050C8 1062 0050A2 0050C9 1063 0050A3 0050CA 1064 0050A4 0050CB 1065 0050A5 0050CC 1066 0050A6 0050CD 1067 0050A7 0050CE 1068 0050A8 0050CF 1069 0050A9 1080 0050D0

Operation alarm number Master 106A 0050AA 1081 0050D1 106B 0050AB 1082 0050D2 Specific operation alarm

number Master

106C 0050AC 1083 0050D3 106D 0050AD 1084 0050D4

Servo alarm number Each axis 106E 0050AE 1085 0050D5 106F 0050AF 1086 0050D6 Specific servo alarm

number Each axis

1070 0050B0 1087 0050D7 1071 0050B1 1088 0050D8

Reserved 1072 0050B2 1089 0050D9 1073 0050B3 108A 0050DA 1074 0050B4 108B 0050DB 1075 0050B5 108C 0050DC

Operation point No. Master 1076 0050B6 108D 0050DD 1077 0050B7 108E 0050DE Maximum position

command buffer number

1078 0050B8 108F 0050DF 1079 0050B9 1090 0050E0 Transmit position command

buffer number

107A 0050BA 1091 0050E1 107B 0050BB 1092 0050E2

Control mode status 107C 0050BC 1093 0050E3 107D 0050BD 1094 0050E4 Executing pass position

condition number Master

107E 0050BE 1095 0050E5 107F 0050BF 1096 0050E6

Reserved

0050C0 1097 0050E7 0050C1 1098 0050E8 0050C2 1099 0050E9 0050C3 109A 0050EA 0050C4 109B 0050EB 0050C5 109C 0050EC 0050C6 109D 0050ED

10 - 43

10. TABLE MAP

Address

Content When in

tandem drive (synchronous)

Address Content

When in tandem drive

(synchronous) MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 109E 0050EE

Reserved 10B2 005102

Parameter write data 1 Each axis 109F 0050EF 10B3 005103 10A0 0050F0

Monitor number 1 Each axis 10B4 005104

Parameter write number 2 Each axis 10A1 0050F1 10B5 005105 10A2 0050F2

Monitor number 2 Each axis 10B6 005106

Parameter write data 2 Each axis 10A3 0050F3 10B7 005107 10A4 0050F4

Monitor number 3 Each axis 10B8 005108

Parameter read number 1 Each axis 10A5 0050F5 10B9 005109 10A6 0050F6

Monitor number 4 Each axis 10BA 00510A

Parameter read data 1 Each axis 10A7 0050F7 10BB 00510B 10A8 0050F8

Monitor data 1 Each axis 10BC 00510C

Parameter read number 2 Each axis 10A9 0050F9 10BD 00510D 10AA 0050FA

Monitor data 2 Each axis 10BE 00510E

Parameter read data 2 Each axis 10AB 0050FB 10BF 00510F 10AC 0050FC

Monitor data 3 Each axis

005110

Reserved 10AD 0050FD : 10AE 0050FE

Monitor data 4 Each axis 00513F

10AF 0050FF 10B0 005100

Parameter write number 1 Each axis

10B1 005101

(1) Status bit

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h For each bit, 0 stands for invalid and 1 stands for valid. The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode. Master : The data only valid for the master axis (refer to Section 8.3) Each axis : The data valid for both the master axis and slave axis (refer to Section 8.3) Not supported : The data not supported by tandem drive

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1060 0050A0 0 RDY Servo ready Each axis 1061 0050A1 0 OP During operation Master 1 INP In-position Each axis 1 CPO Rough match Master 2 ZSP Zero speed Each axis 2 PF Positioning complete Master

3 ZPAS Passed Z-phase Each axis 3 ZP Home position return complete

Master

4 TLC Torque limit effective Each axis 4 SMZ During smoothing of stopping

Master

5 SALM Servo alarm Each axis 5 OALM Operation alarm Master

6 SWRN Servo warning Each axis 6 OPF Completion of operation

Master

7 ABSE Absolute position erased

Each axis 7 PSW Position switch Each axis

10 - 44

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1062 0050A2 0 AUTO

In automatic operation mode

Master 1063 0050A3

0

Reserved

1 ZRNO In home position return mode

Master 1

2 JO In JOG operation mode

Master 2

3 SO In incremental feed mode

Master 3

4 Reserved 4

5 LIPO

In linear interpolation mode MC200 In interpolation operation mode MC300

Master 5

6 DSTO In home position reset mode

Master 6

7 Reserved 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1064 0050A4 0 ISTP Interlock stop Master

1065 0050A5 0 SCF

Completion of preparation for changing speed

Master

1 RMRCH High speed monitor is latched

Each axis 1 TACF

Completion of preparation for changing acceleration time constant

Master

2 POV Stop position over- round

Master 2 TDCF

Completion of preparation for changing deceleration time constant

Master

3 STO Start up acceptance complete

Master 3 PCF Completion of preparation for changing position

Master

4

Reserved

4 SCE Speed change error Master

5 5 TACE Acceleration time constant change error

Master

6 ZREQ Home position return request

Master 6 TDCE Deceleration time constant change error

Master

7 Reserved 7 PCE Position change error Master

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1066 0050A6 0

Reserved

1067 0050A7

0 PPIOP Pass position interrupt

Master

1 1 PPIFIN Pass position interrupt complete

Master

2 2 PPIERR Pass position interrupt incomplete

Master

3 3

Reserved 4 4 5 5 6 6 7 7 AUTLO In point table loop Master

10 - 45

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1068 0050A8 0 GAINO During gain switching Each axis

1069 0050A9 0 IWT

Interference check standby

Each axis

1 FCLSO Fully closed loop control changing

Each axis 1 SINP Servo amplifier in- position

Each axis

2 TLSO Selecting torque limit Each axis 2

Reserved

3 SPC During PID control Each axis 3 4

Reserved 4

5 5 6 6

7 PRSMO During continuous operation to torque control

Not supported

7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

106A 0050AA 0

Reserved

106B 0050AB

0 MKIF1 Mark detection compatible information 1

Each axis

1 1 MKCF1 Mark detection clear complete 1

Each axis

2 2 MKDO1 Mark detection disabled 1

Each axis

3 3 MKSEF1 Mark detection setting enable complete 1

Each axis

4 ZSF Home position set complete

Not supported

4 MKIF2 Mark detection compatible information 2

Each axis

5 ZSE Home position set error

Not supported

5 MKCF2 Mark detection clear complete 2

Each axis

6

Reserved

6 MKDO2 Mark detection disabled 2

Each axis

7 7 MKSEF2 Mark detection setting enable complete 2

Each axis

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

106C 0050AC 0

Reserved

106D 0050AD 0

Reserved

1 1 2 2 3 3

4 CTLMCF Control mode switch complete

Not supported

4

5 CTLMCE Control mode switch error

Not supported

5

6 Reserved

6 7 7

10 - 46

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

106E 0050AE 0

Reserved

106F 0050AF 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1070 0050B0 0 MOUT Monitor output Each axis 1071 0050B1 0

Reserved

1 MRCH Monitor latch Each axis 1

2 MER1 Monitor number error 1

Each axis 2

3 MER2 Monitor number error 2

Each axis 3

4 MER3 Monitor number error 3

Each axis 4

5 MER4 Monitor number error 4

Each axis 5

6 MESV Servo amplifier is not connected

Each axis 6

7 Reserved 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1072 0050B2 0

Reserved

1073 0050B3 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1074 0050B4 0 PWFIN1

Parameter write complete 1

Each axis 1075 0050B5

0 PRFIN1 Parameter read complete 1

Each axis

1 PWEN1 Parameter number error 1

Each axis 1 PREN1 Parameter number error 1

Each axis

2 PWED1 Parameter data out of bounds 1

Each axis 2 PRFIN2 Parameter read complete 2

Each axis

3 Reserved 3 PREN2 Parameter number error 2

Each axis

4 PWFIN2 Parameter write complete 2

Each axis 4

Reserved 5 PWEN2

Parameter number error 2

Each axis 5

6 PWED2 Parameter data out of bounds 2

Each axis 6

7 PSCHG Changes to servo parameters exist

Each axis 7

10 - 47

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1076 0050B6 0

Reserved

1077 0050B7 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

1078 0050B8 0

Reserved

1079 0050B9 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

107A 0050BA 0

Reserved

107B 0050BB 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

107C 0050BC 0

Reserved

107D 0050BD 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name When in

tandem drive

Address Bit Symbol Signal name

When in tandem drive MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

107E 0050BE 0

Reserved

107F 0050BF 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 48

10. TABLE MAP

Address

Bit Symbol Signal name When in

tandem drive

MR-

MC2 MR-

MC3

0050C0 to

0050CF

0

Reserved

1 2 3 4 5 6 7

10 - 49

10. TABLE MAP

10.8 Axis data (sensing module (axis mode))

10.8.1 Axis data command table

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1000 005000

Command bit

005028

Command bit

1001 005001 005029 1002 005002 00502A 1003 005003 00502B 1004 005004 00502C 1005 005005 00502D 1006 005006 00502E 1007 005007 00502F 1008 005008 1020 005030

Manual feed speed (Note) 1009 005009 1021 005031 100A 00500A 1022 005032 100B 00500B 1023 005033 100C 00500C 1024 005034

Manual feed acceleration time constant 100D 00500D 1025 005035 100E 00500E 1026 005036

Manual feed deceleration time constant 100F 00500F 1027 005037 1010 005010 1028 005038

Incremental feed movement amount 1011 005011 1029 005039 1012 005012 102A 00503A 1013 005013 102B 00503B 1014 005014 102C 00503C

Start point No. 1015 005015 102D 00503D 1016 005016 102E 00503E

End point No. 1017 005017 102F 00503F 1018 005018 1030 005040

Latest position command buffer number 1019 005019 1031 005041 101A 00501A 1032 005042

Reserved 101B 00501B 1033 005043 101C 00501C 1034 005044

Pass position condition start number 101D 00501D 1035 005045 101E 00501E 1036 005046

Pass position condition end number 101F 00501F 1037 005047

005020 1038 005048 Reserved

005021 1039 005049 005022 103A 00504A

Latest command point No. 005023 103B 00504B 005024 103C 00504C

Reserved 005025 103D 00504D 005026 103E 00504E 005027 103F 00504F

Note. The manual feed speed is the moving speed for manual operation (JOG operation as well as incremental feed).

10 - 50

10. TABLE MAP

Address

Content Address

Content MR- MC2

MR- MC3

MR- MC2

MR- MC3

1040 005050 Monitor number 1

1052 005062 Parameter write data 1

1041 005051 1053 005063 1042 005052

Monitor number 2 1054 005064

Parameter write number 2 1043 005053 1055 005065 1044 005054

Monitor number 3 1056 005066

Parameter read data 2 1045 005055 1057 005067 1046 005056

Monitor number 4 1058 005068

Parameter read number 1 1047 005057 1059 005069 1048 005058

Torque control speed limit value

105A 00506A Reserved

1049 005059 105B 00506B 104A 00505A 105C 00506C

Parameter read number 2 104B 00505B 105D 00506D 104C 00505C

Reserved

105E 00506E

Reserved 104D 00505D 105F 00506F 104E 00505E 005070 104F 00505F : 1050 005060

Parameter write number 1 00509F

1051 005061

(1) Command bit

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1000 005000 0 SON Servo on 1001 005001 0 ST Start operation

1

Reserved

1 DIR Movement direction 2 2 STP Stop operation 3 3 RSTP Rapid stop 4 4 Reserved 5 SRST Servo alarm reset 5 ORST Operation alarm reset 6

Reserved 6

Reserved 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1002 005002 0 AUT Automatic operation mode 1003 005003 0

Reserved

1 ZRN Home position return mode 1 2 JOG JOG operation mode 2 3 S Incremental feed mode 3 4 Reserved 4

5 LIP Linear interpolation mode MC200 Interpolation operation mode MC300

5

6 DST Home position reset mode 6 7 Reserved 7

10 - 51

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1004 005004 0 ITL Interlock 1005 005005 0 SCHG Change speed

1 RMONR High speed monitor latch command

1 TACHG Change acceleration time constant

2 Reserved

2 TDCHG Change deceleration time constant 3 3 PCHG Position change 4 LSPC + side limit switch input 4

Reserved 5 LSNC - side limit switch input 5 6 DOGC Proximity dog input 6 7 Reserved 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1006 005006 0 FST Fast start operation 1007 005007 0 PPISTP Pass position interrupt cancel

1

Reserved

1

Reserved

2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1008 005008 0

Reserved

1009 005009 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 100A 00500A 0

Reserved

100B 00500B 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 100C 00500C 0

Reserved

100D 00500D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 52

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 100E 00500E 0

Reserved

100F 00500F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1010 005010 0 MON Monitor command 1011 005011 0

Reserved

1 MONR Monitor latch command 1 2

Reserved

2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1012 005012 0

Reserved

1013 005013 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1014 005014 0 PWRT Parameter write command 1015 005015 0 PRD Parameter read command

1

Reserved

1

Reserved

2 2 3 3 4 4 5 5 6 6 7 PSF Servo parameter read complete 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1016 005016 0

Reserved

1017 005017 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 53

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1018 005018 0

Reserved

1019 005019 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 101A 00501A 0

Reserved

101B 00501B 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 101C 00501C 0

Reserved

101D 00501D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 101E 00501E 0

Reserved

101F 00501F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name

MR- MC2

MR- MC3

005020 to

00502F

0

Reserved

1 2 3 4 5 6 7

10 - 54

10. TABLE MAP

10.8.2 Axis data status table

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 1060 0050A0

Status bit

0050CA

Status bit

1061 0050A1 0050CB 1062 0050A2 0050CC 1063 0050A3 0050CD 1064 0050A4 0050CE 1065 0050A5 0050CF 1066 0050A6 1080 0050D0

Operation alarm number 1067 0050A7 1081 0050D1 1068 0050A8 1082 0050D2

Specific operation alarm number 1069 0050A9 1083 0050D3 106A 0050AA 1084 0050D4

Servo alarm number 106B 0050AB 1085 0050D5 106C 0050AC 1086 0050D6

Specific servo alarm number 106D 0050AD 1087 0050D7 106E 0050AE 1088 0050D8

Reserved 106F 0050AF 1089 0050D9 1070 0050B0 108A 0050DA 1071 0050B1 108B 0050DB 1072 0050B2 108C 0050DC

Operation point No. 1073 0050B3 108D 0050DD 1074 0050B4 108E 0050DE

Maximum position command buffer number 1075 0050B5 108F 0050DF 1076 0050B6 1090 0050E0

Transmit position command buffer number 1077 0050B7 1091 0050E1 1078 0050B8 1092 0050E2

Reserved 1079 0050B9 1093 0050E3 107A 0050BA 1094 0050E4

Executing pass position condition number 107B 0050BB 1095 0050E5 107C 0050BC 1096 0050E6

Reserved

107D 0050BD 1097 0050E7 107E 0050BE 1098 0050E8 107F 0050BF 1099 0050E9

0050C0 109A 0050EA 0050C1 109B 0050EB 0050C2 109C 0050EC 0050C3 109D 0050ED 0050C4 109E 0050EE 0050C5 109F 0050EF 0050C6 10A0 0050F0

Monitor number 1 0050C7 10A1 0050F1 0050C8 10A2 0050F2

Monitor number 2 0050C9 10A3 0050F3

10 - 55

10. TABLE MAP

Address

Content Address

Content MR- MC2

MR- MC3

MR- MC2

MR- MC3

10A4 0050F4 Monitor number 3

10B4 005104 Parameter write number 2

10A5 0050F5 10B5 005105 10A6 0050F6

Monitor number 4 10B6 005106

Parameter write data 2 10A7 0050F7 10B7 005107 10A8 0050F8

Monitor data 1 10B8 005108

Parameter read number 1 10A9 0050F9 10B9 005109 10AA 0050FA

Monitor data 2 10BA 00510A

Parameter read data 1 10AB 0050FB 10BB 00510B 10AC 0050FC

Monitor data 3 10BC 00510C

Parameter read number 2 10AD 0050FD 10BD 00510D 10AE 0050FE

Monitor data 4 10BE 00510E

Parameter read data 2 10AF 0050FF 10BF 00510F 10B0 005100

Parameter write number 1

005110

Reserved 10B1 005101 : 10B2 005102

Parameter write data 1 00513F

10B3 005103

(1) Status bit

The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. Using MR-MC2 : +C0h Using MR-MC3 : +140h

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1060 0050A0 0 RDY Servo ready 1061 0050A1 0 OP During operation

1 INP In-position 1 CPO Rough match 2 Reserved 2 PF Positioning complete 3 ZPAS Passed Z-phase 3 ZP Home position return complete 4 TLC Torque limit effective 4 SMZ During smoothing of stopping 5 SALM Servo alarm 5 OALM Operation alarm 6 SWRN Servo warning 6 OPF Completion of operation 7 Reserved 7 PSW Position switch

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1062 0050A2 0 AUTO In automatic operation mode 1063 0050A3 0

Reserved

1 ZRNO In home position return mode 1 2 JO In JOG operation mode 2 3 SO In incremental feed mode 3 4 Reserved 4

5 LIPO In linear interpolation mode MC200 In interpolation operation mode MC300

5

6 DSTO In home position reset mode 6 7 Reserved 7

10 - 56

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1064 0050A4

0 ISTP Interlock stop 1065 0050A5

0 SCF Completion of preparation for changing speed

1 RMRCH High speed monitor is latched 1 TACF Completion of preparation for changing acceleration time constant

2 POV Stop position over-round 2 TDCF Completion of preparation for changing deceleration time constant

3 STO Start up acceptance complete 3 PCF Completion of preparation for changing position

4 Reserved

4 SCE Speed change error

5 5 TACE Acceleration time constant change error

6 ZREQ Home position return request 6 TDCE Deceleration time constant change error

7 Reserved 7 PCE Position change error

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1066 0050A6 0

Reserved

1067 0050A7 0 PPIOP Pass position interrupt 1 1 PPIFIN Pass position interrupt complete 2 2 PPIERR Pass position interrupt incomplete 3 3

Reserved 4 4 5 5 6 6 7 7 AUTLO In point table loop

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1068 0050A8 0

Reserved

1069 0050A9 0 IWT Interference check standby 1 1 SINP Servo amplifier in-position 2 2

Reserved

3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 106A 0050AA 0

Reserved

106B 0050AB 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 57

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 106C 0050AC 0

Reserved

106D 0050AD 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 106E 0050AE 0

Reserved

106F 0050AF 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1070 0050B0 0 MOUT Monitor output 1071 0050B1 0

Reserved

1 MRCH Monitor latch 1 2 MER1 Monitor number error 1 2 3 MER2 Monitor number error 2 3 4 MER3 Monitor number error 3 4 5 MER4 Monitor number error 4 5 6 MESV Servo amplifier is not connected 6 7 Reserved 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1072 0050B2 0

Reserved

1073 0050B3 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1074 0050B4 0 PWFIN1 Parameter write complete 1 1075 0050B5 0 PRFIN1 Parameter read complete 1

1 PWEN1 Parameter number error 1 1 PREN1 Parameter number error 1 2 PWED1 Parameter data out of bounds 1 2 PRFIN2 Parameter read complete 2 3 Reserved 3 PREN2 Parameter number error 2 4 PWFIN2 Parameter write complete 2 4

Reserved 5 PWEN2 Parameter number error 2 5 6 PWED2 Parameter data out of bounds 2 6

7 PSCHG Changes to servo parameters exist

7

10 - 58

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1076 0050B6 0

Reserved

1077 0050B7 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 1078 0050B8 0

Reserved

1079 0050B9 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 107A 0050BA 0

Reserved

107B 0050BB 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 107C 0050BC 0

Reserved

107D 0050BD 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 107E 0050BE 0

Reserved

107F 0050BF 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 59

10. TABLE MAP

Address

Bit Symbol Signal name

MR- MC2

MR- MC3

0050C0 to

0050CF

0

Reserved

1 2 3 4 5 6 7

10 - 60

10. TABLE MAP

10.9 Remote I/O data

10.9.1 RIO data command table

The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. Using MR-MC2 : +80h Using MR-MC3 : +C0h

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 3400 00F000

Command bit

3420 00F020 Monitor number 1

3401 00F001 3421 00F021 3402 00F002 3422 00F022

Monitor number 2 3403 00F003 3423 00F023 3404 00F004 3424 00F024

Monitor number 3 3405 00F005 3425 00F025 3406 00F006 3426 00F026

Monitor number 4 3407 00F007 3427 00F027 3408 00F008 3428 00F028

Reserved

3409 00F009 3429 00F029 340A 00F00A 342A 00F02A 340B 00F00B 342B 00F02B 340C 00F00C 342C 00F02C 340D 00F00D 342D 00F02D 340E 00F00E 342E 00F02E 340F 00F00F 342F 00F02F 3410 00F010

Reserved

3430 00F030 Parameter write number 1

3411 00F011 3431 00F031 3412 00F012 3432 00F032

Parameter write data 1 3413 00F013 3433 00F033 3414 00F014 3434 00F034

Parameter write number 2 3415 00F015 3435 00F035 3416 00F016 3436 00F036

Parameter write data 2 3417 00F017 3437 00F037 3418 00F018 3438 00F038

Parameter read number 1 3419 00F019 3439 00F039 341A 00F01A 343A 00F03A

Reserved 341B 00F01B 343B 00F03B 341C 00F01C 343C 00F03C

Parameter read number 2 341D 00F01D 343D 00F03D 341E 00F01E 343E 00F03E

Reserved 341F 00F01F 343F 00F03F

00F040 : 00F05F

10 - 61

10. TABLE MAP

(1) Command bit

For each bit, 0 stands for invalid and 1 stands for valid. The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. Using MR-MC2 : +80h Using MR-MC3 : +C0h

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3400 00F000 0

Reserved

3401 00F001 0

Reserved 1 1 2 2 3 3 4 4 5 RURST RIO module alarm reset 5 RCRST RIO control alarm reset 6

Reserved 6

Reserved 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3402 00F002 0

Reserved

3403 00F003 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3404 00F004 0 MON Monitor command 3405 00F005 0

Reserved

1 MONR Monitor latch command 1 2

Reserved

2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3406 00F006 0 PWRT Parameter write command 3407 00F007 0 PRD Parameter read command

1

Reserved

1

Reserved

2 2 3 3 4 4 5 5 6 6 7 7

10 - 62

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3408 00F008 0

Reserved

3409 00F009 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 340A 00F00A 0

Reserved

340B 00F00B 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 340C 00F00C 0

Reserved

340D 00F00D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 340E 00F00E 0

Reserved

340F 00F00F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 63

10. TABLE MAP

10.9.2 RIO data status table

The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. Using MR-MC2 : +80h Using MR-MC3 : +C0h

Address Content

Address Content MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 3440 00F060

Status bit

3460 00F080 Monitor number 1

3441 00F061 3461 00F081 3442 00F062 3462 00F082

Monitor number 2 3443 00F063 3463 00F083 3444 00F064 3464 00F084

Monitor number 3 3445 00F065 3465 00F085 3446 00F066 3466 00F086

Monitor number 4 3447 00F067 3467 00F087 3448 00F068 3468 00F088

Monitor data 1 3449 00F069 3469 00F089 344A 00F06A 346A 00F08A

Monitor data 2 344B 00F06B 346B 00F08B 344C 00F06C 346C 00F08C

Monitor data 3 344D 00F06D 346D 00F08D 344E 00F06E 346E 00F08E

Monitor data 4 344F 00F06F 346F 00F08F 3450 00F070

RIO control alarm No. 3470 00F090

Parameter write number 1 3451 00F071 3471 00F091 3452 00F072

Detail RIO control alarm No. 3472 00F092

Parameter write data 1 3453 00F073 3473 00F093 3454 00F074

RIO module alarm No. 3474 00F094

Parameter write number 2 3455 00F075 3475 00F095 3456 00F076

Detail RIO module alarm No. 3476 00F096

Parameter write data 2 3457 00F077 3477 00F097 3458 00F078

Reserved

3478 00F098 Parameter read number 1

3459 00F079 3479 00F099 345A 00F07A 347A 00F09A

Parameter read data 1 345B 00F07B 347B 00F09B 345C 00F07C 347C 00F09C

Parameter read number 2 345D 00F07D 347D 00F09D 345E 00F07E 347E 00F09E

Parameter read data 2 345F 00F07F 347F 00F09F

00F0A0 Reserved :

00F0BF

10 - 64

10. TABLE MAP

(1) Status bit

For each bit, 0 stands for invalid and 1 stands for valid. The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. Using MR-MC2 : +80h Using MR-MC3 : +C0h

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3440 00F060 0 RURDY Receiving controller ready on 3441 00F061 0

Reserved 1 RUA Outputting DO 1 2

Reserved 2

3 3 4 4 5 RUALM RIO module alarm 5 RCALM RIO control alarm 6 RUWRN RIO module warning 6

Reserved 7 Reserved 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3442 00F062 0

Reserved

3443 00F063 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3444 00F064 0 MOUT Monitor output 3445 00F065 0

Reserved

1 MRCH Monitor latch 1 2 MER1 Monitor number error 1 2 3 MER2 Monitor number error 2 3 4 MER3 Monitor number error 3 4 5 MER4 Monitor number error 4 5 6 MERIO RIO module is not connected 6 7 Reserved 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3446 00F066 0 PWFIN1 Parameter write complete 1 3447 00F067 0 PRFIN1 Parameter read complete 1

1 PWEN1 Parameter number error 1 1 PREN1 Parameter number error 1 2 PWED1 Parameter data out of bounds 1 2 PRFIN2 Parameter read complete 2 3 Reserved 3 PREN2 Parameter number error 2 4 PWFIN2 Parameter write complete 2 4

Reserved 5 PWEN2 Parameter number error 2 5 6 PWED2 Parameter data out of bounds 2 6 7 Reserved 7

10 - 65

10. TABLE MAP

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3448 00F068 0

Reserved

3449 00F069 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 344A 00F06A 0

Reserved

344B 00F06B 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 344C 00F06C 0

Reserved

344D 00F06D 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

Address

Bit Symbol Signal name Address

Bit Symbol Signal name MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 344E 00F06E 0

Reserved

344F 00F06F 0

Reserved

1 1 2 2 3 3 4 4 5 5 6 6 7 7

10 - 66

10. TABLE MAP

10.10 Servo parameter change number (SSCNET /H)

When parameter settings within the servo amplifier are changed using the auto tuning function or parameter changes using MR Configurator2 (set up software), the bit corresponding to the servo parameter number that was changed is turned on to notify concerning which parameter number was changed (in units of 16). To identify the changed parameter, check the servo parameter change number (monitor No.0590 to 05B7) corresponding to the bit which is turned on. Refer to Section 7.2 for more information.

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

3870 010800

Servo parameter change number 1 Axis 1

3898 010828

Servo parameter change number 1 Axis 6

3871 010801 3899 010829 3872 010802 389A 01082A 3873 010803 389B 01082B 3874 010804 389C 01082C 3875 010805 389D 01082D 3876 010806 389E 01082E 3877 010807 389F 01082F 3878 010808

Servo parameter change number 1 Axis 2

38A0 010830

Servo parameter change number 1 Axis 7

3879 010809 38A1 010831 387A 01080A 38A2 010832 387B 01080B 38A3 010833 387C 01080C 38A4 010834 387D 01080D 38A5 010835 387E 01080E 38A6 010836 387F 01080F 38A7 010837 3880 010810

Servo parameter change number 1 Axis 3

38A8 010838

Servo parameter change number 1 Axis 8

3881 010811 38A9 010839 3882 010812 38AA 01083A 3883 010813 38AB 01083B 3884 010814 38AC 01083C 3885 010815 38AD 01083D 3886 010816 38AE 01083E 3887 010817 38AF 01083F 3888 010818

Servo parameter change number 1 Axis 4

38B0 010840

:

3889 010819

: :

388A 01081A 388B 01081B 388C 01081C 388D 01081D 388E 01081E 388F 01081F 3967 0108F7 3890 010820

Servo parameter change number 1 Axis 5

3968 0108F8

Servo parameter change number 1 Axis 32

3891 010821 3969 0108F9 3892 010822 396A 0108FA 3893 010823 396B 0108FB 3894 010824 396C 0108FC 3895 010825 396D 0108FD 3896 010826 396E 0108FE 3897 010827 396F 0108FF

10 - 67

10. TABLE MAP

Address

Content Address

Content MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 3970 010900

Servo parameter change number 1 Axis 33 (Note)

010980

Servo parameter change number 1 Axis 49

3971 010901 010981 3972 010902 010982 3973 010903 010983 3974 010904 010984 3975 010905 010985 3976 010906 010986 3977 010907 010987 3978 010908

:

010988

: : :

:

39E7 010977 0109F7 39E8 010978

Servo parameter change number 1 Axis 48 (Note)

0109F8

Servo parameter change number 1 Axis 64

39E9 010979 0109F9 39EA 01097A 0109FA 39EB 01097B 0109FB 39EC 01097C 0109FC 39ED 01097D 0109FD 39EE 01097E 0109FE 39EF 01097F 0109FF

010A00 Reserved :

010BFF Note. When using MR-MC2 , 3970 to 39EF is "Reserved". (1) Details on servo amplifier change number on axis n (SSCNET /H)

Address (Note) Name Symbol Remarks

MR-MC2 MR-MC3

3870 010800 Servo parameter change number 11

PSN11 bit0: Parameter No.1100 to 110F to bit15: Parameter No.11F0 to 11FF 3871 010801

3872 010802 Servo parameter change number 12

PSN12 bit0: Parameter No.1200 to 120F to bit15: Parameter No.12F0 to 12FF 3873 010803

3874 010804 Servo parameter change number 13

PSN13 bit0: Parameter No.1300 to 130F to bit7: Parameter No.1370 to 137F 3875 010805

3876 010806 Reserved

3877 010807 Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase in units of 8h for each axis.

10 - 68

10. TABLE MAP

10.11 Transient transmit command/status table

10.11.1 Transient transmit command table

Address (Note 1) (Note 2) Content

MR-MC2 MR-MC3 D400 0F8B00

Command transmission request D401 0F8B01 D402 0F8B02

Transient command D403 0F8B03 D404 0F8B04

Request data 1 D405 0F8B05 D406 0F8B06

Request data 2 D407 0F8B07 D408 0F8B08

Request data 3 D409 0F8B09 D40A 0F8B0A

Request data 4 D40B 0F8B0B D40C 0F8B0C

Reserved D40D 0F8B0D D40E 0F8B0E D40F 0F8B0F

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

2. The start address for the first station is as follows. For the second station and after, increase by 20h for each station. Using MR-MC2 : DA00h Using MR-MC3 : 0F9B00h

10.11.2 Transient transmit status table

Address (Note 1) (Note 2) Content

MR-MC2 MR-MC3 D410 0F8B10

Transient status D411 0F8B11 D412 0F8B12

Reserved D413 0F8B13 D414 0F8B14

Response data 1 D415 0F8B15 D416 0F8B16

Response data 2 D417 0F8B17 D418 0F8B18

Response data 3 D419 0F8B19 D41A 0F8B1A

Response data 4 D41B 0F8B1B D41C 0F8B1C

Reserved D41D 0F8B1D D41E 0F8B1E D41F 0F8B1F

Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

2. The start address for the first station is as follows. For the second station and after, increase by 20h for each station. Using MR-MC2 : DA10h Using MR-MC3 : 0F9B10h

10 - 69

10. TABLE MAP

10.12 Point number offset

The start number in the point table for each axis can be designated using point number offset. The amount of offset from the start point in the point table is set by the point number for the point number offset. When setting up the point table, use the following equation to derive the 2-point memory address. Using MR-MC2

The address of the dual port memory = 5000h + 20h point number offset When the point number offset of the axis 2 is 0020h, the dual port memory address calculates to.

5000h + 20h 0020h = 5400h Set the point table for the axis 2 from 5400h.

Using MR-MC3

The address of the dual port memory = 020000h + 30h point number offset When the point number offset of the axis 2 is 0020h, the dual port memory address calculates to.

020000h + 30h 0020h = 020600h Set the point table for the axis 2 from 020600h.

Address

Content Initial Value Address

Content Initial Value

MR- MC2

MR- MC3

MR- MC2

MR- MC3

MR-

MC2 MR-

MC3 MR-

MC2 MR-

MC3 4FA0 01FF00 Axis 1 point number

offset 0000h 0000h

4FB8 01FF18 Axis 13 point number offset

0060h 0180h 4FA1 01FF01 4FB9 01FF19 4FA2 01FF02 Axis 2 point number

offset 0008h 0020h

4FBA 01FF1A : : : 4FA3 01FF03 : :

4FA4 01FF04 Axis 3 point number offset

0010h 0040h 4FDD 01FF3D

4FA5 01FF05 4FDE 01FF3E Axis 32 point number offset

0098h 03E0h 4FA6 01FF06 Axis 4 point number

offset 0018h 0060h

4FDF 01FF3F 4FA7 01FF07 4FE0 01FF40 Axis 33 point number

offset (Note)

0400h 4FA8 01FF08 Axis 5 point number

offset 0020h 0080h

4FE1 01FF41 4FA9 01FF09 4FE2 01FF42

: 4FAA 01FF0A Axis 6 point number offset

0028h 00A0h : :

4FAB 01FF0B 4FFD 01FF5D 4FAC 01FF0C Axis 7 point number

offset 0030h 00C0h

4FFE 01FF5E Axis 48 point number offset (Note)

05E0h 4FAD 01FF0D 4FFF 01FF5F 4FAE 01FF0E Axis 8 point number

offset 0038h 00E0h

01FF60 Axis 49 point number offset

0600h 4FAF 01FF0F 01FF61 4FB0 01FF10 Axis 9 point number

offset 0040h 0100h

01FF62 : : 4FB1 01FF11 :

4FB2 01FF12 Axis 10 point number offset

0048h 0120h 01FF7D

4FB3 01FF13 01FF7E Axis 64 point number offset

07E0h 4FB4 01FF14 Axis 11 point number

offset 0050h 0140h

01FF7F 4FB5 01FF15 01FF80

Reserved 4FB6 01FF16 Axis 12 point number offset

0058h 0160h :

4FB7 01FF17 01FFFF Note. When using MR-MC2 , 4FE0 to 4FEF is "Reserved".

10 - 70

10. TABLE MAP

10.13 Command buffers

10.13.1 Position command buffer

Address (Note) Content

Address (Note) Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

5000 101000 Position command buffer 0 (pulse)

502C 10102C Position command buffer 11 (pulse)

5001 101001 502D 10102D 5002 101002 502E 10102E 5003 101003 502F 10102F 5004 101004

Position command buffer 1 (pulse)

5030 101030 Position command buffer 12 (pulse)

5005 101005 5031 101031 5006 101006 5032 101032 5007 101007 5033 101033 5008 101008

Position command buffer 2 (pulse)

5034 101034 Position command buffer 13 (pulse)

5009 101009 5035 101035 500A 10100A 5036 101036 500B 10100B 5037 101037 500C 10100C

Position command buffer 3 (pulse)

5038 101038 Position command buffer 14 (pulse)

500D 10100D 5039 101039 500E 10100E 503A 10103A 500F 10100F 503B 10103B 5010 101010

Position command buffer 4 (pulse)

503C 10103C Position command buffer 15 (pulse)

5011 101011 503D 10103D 5012 101012 503E 10103E 5013 101013 503F 10103F 5014 101014

Position command buffer 5 (pulse)

5040 101040 Position command buffer 16 (pulse)

5015 101015 5041 101041 5016 101016 5042 101042 5017 101017 5043 101043 5018 101018

Position command buffer 6 (pulse)

5044 101044

: 5009 101019

: : 501A 10101A 501B 10101B 50EF 1010EF 501C 10101C

Position command buffer 7 (pulse)

50F0 1010F0 Position command buffer 60 (pulse)

501D 10101D 50F1 1010F1 501E 10101E 50F2 1010F2 501F 10101F 50F3 1010F3 5020 101020

Position command buffer 8 (pulse)

50F4 1010F4 Position command buffer 61 (pulse)

5021 101021 50F5 1010F5 5022 101022 50F6 1010F6 5023 101023 50F7 1010F7 5024 101024

Position command buffer 9 (pulse)

50F8 1010F8 Position command buffer 62 (pulse)

5025 101025 50F9 1010F9 5026 101026 50FA 1010FA 5027 101027 50FB 1010FB 5028 101028

Position command buffer 10 (pulse)

50FC 1010FC

Position command buffer 63 (pulse)

5029 101029 50FD 1010FD 502A 10102A 50FE 1010FE 502B 10102B 50FF 1010FF

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase the units of 100h for each axis.

10 - 71

10. TABLE MAP

10.13.2 Speed command buffer

Address (Note 1) Content

MR-MC2 MR-MC3 7800 109000

Speed command buffer 0 (0.01r/min)

7801 109001 7802 109002 7803 109003 7804 109004

Reserved

: : 787F 10907F

109080 :

1090FF Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +80h Using MR-MC3 : +100h

2. Setting range: -1000000000 (-10000000r/min) to 1000000000 (10000000r/min) 10.13.3 Torque command buffer

Address (Note 1) Content

MR-MC2 MR-MC3 8C00 111000

Torque command buffer 0 (0.01r/min) (When parameter No.010D is 0, positive: CCW negative: CW)

8C01 111001 8C02 111002 8C03 111003 8C04 111004

Reserved

: : 8C7F 11107F

111080 :

1110FF Note 1. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.

Using MR-MC2 : +80h Using MR-MC3 : +100h

2. Setting range: -32768 (-3276.8%) to 32767 (3276.7%)

10 - 72

10. TABLE MAP

10.14 Digital I/O table MC200

10.14.1 Digital input table

Address Digital input area number Digital input number Symbol Remarks B000 Digital input area 0

(2 bytes) Digital input 0

to Digital input 15 DI_000

to DI_00F Notifies the status of the digital input signal. The bits are DI_000 (bit0) to DI_00F (bit15).

B002 Digital input area 1 (2 bytes)

Digital input 16 to Digital input 31

DI_010 to DI_01F

Notifies the status of the digital input signal. The bits are DI_010(bit0) to DI_01F(bit15).

B004 Digital input area 2 (2 bytes)

Digital input 32 to Digital input 47

DI_020 to DI_02F

Notifies the status of the digital input signal. The bits are DI_020(bit0) to DI_02F(bit15).

B006 Digital input area 3 (2 bytes)

Digital input 48 to Digital input 63

DI_030 to DI_03F

Notifies the status of the digital input signal. The bits are DI_030(bit0) to DI_03F(bit15).

B008 Digital input area 4 (2 bytes)

Digital input 64 to Digital input 79

DI_040 to DI_04F

Notifies the status of the digital input signal. The bits are DI_040(bit0) to DI_04F(bit15).

B00A Digital input area 5 (2 bytes)

Digital input 80 to Digital input 95

DI_050 to DI_05F

Notifies the status of the digital input signal. The bits are DI_050(bit0) to DI_05F(bit15).

B00C Digital input area 6 (2 bytes)

Digital input 96 to Digital input 111

DI_060 to DI_06F

Notifies the status of the digital input signal. The bits are DI_060(bit0) to DI_06F(bit15).

B00E Digital input area 7 (2 bytes)

Digital input 112 to Digital input 127

DI_070 to DI_07F

Notifies the status of the digital input signal. The bits are DI_070(bit0) to DI_07F(bit15).

: : : : : B07E Digital input area 63

(2 bytes) Digital input 1008

to Digital input 1023 DI_3F0

to DI_3FF Notifies the status of the digital input signal. The bits are DI_3F0(bit0) to DI_3FF(bit15).

10.14.2 Digital output table

Address Digital input area number Digital input number Symbol Remarks B080 Digital output area 0

(2 bytes) Digital output 0

to Digital output 15 DO_000

to DO_00F Turns on/off the digital output signal. The bits are DO_000(bit0) to DO_00F(bit15).

B082 Digital output area 1 (2 bytes)

Digital output 16 to Digital output 31

DO_010 to DO_01F

Turns on/off the digital output signal. The bits are DO_010(bit0) to DO_01F(bit15).

B084 Digital output area 2 (2 bytes)

Digital output 32 to Digital output 47

DO_020 to DO_02F

Turns on/off the digital output signal. The bits are DO_020(bit0) to DO_02F(bit15).

B086 Digital output area 3 (2 bytes)

Digital output 48 to Digital output 63

DO_030 to DO_03F

Turns on/off the digital output signal. The bits are DO_030(bit0) to DO_03F(bit15).

B088 Digital output area 4 (2 bytes)

Digital output 64 to Digital output 79

DO_040 to DO_04F

Turns on/off the digital output signal. The bits are DO_040(bit0) to DO_04F(bit15).

B08A Digital output area 5 (2 bytes)

Digital output 80 to Digital output 95

DO_050 to DO_05F

Turns on/off the digital output signal. The bits are DO_050(bit0) to DO_05F(bit15).

B08C Digital output area 6 (2 bytes)

Digital output 96 to Digital output 111

DO_060 to DO_06F

Turns on/off the digital output signal. The bits are DO_060(bit0) to DO_06F(bit15).

B08E Digital output area 7 (2 bytes)

Digital output 112 to Digital output 127

DO_070 to DO_07F

Turns on/off the digital output signal. The bits are DO_070(bit0) to DO_07F(bit15).

: : : : : B0FE Digital output area 63

(2 bytes) Digital output 1008

to Digital output 1023 DO_3F0

to DO_3FF Turns on/off the digital output signal. The bits are DO_3F0(bit0) to DO_3FF(bit15).

10 - 73

10. TABLE MAP

10.15 I/O device table

10.15.1 Input device table

Address Input word device number Input bit device number

MR-MC2 MR-MC3 DB00 0F9F00

Input word device 00 Input bit device 000 to input bit device 00F DB01 0F9F01 DB02 0F9F02

Input word device 01 Input bit device 010 to input bit device 01F DB03 0F9F03 DB04 0F9F04

Input word device 02 Input bit device 020 to input bit device 02F DB05 0F9F05 DB06 0F9F06

Input word device 03 Input bit device 030 to input bit device 03F DB07 0F9F07 DB08 0F9F08

Input word device 04 Input bit device 040 to input bit device 04F DB09 0F9F09 DB0A 0F9F0A

Input word device 05 Input bit device 050 to input bit device 05F DB0B 0F9F0B DB0C 0F9F0C

Input word device 06 Input bit device 060 to input bit device 06F DB0D 0F9F0D DB0E 0F9F0E

Input word device 07 Input bit device 070 to input bit device 07F DB0F 0F9F0F DB10 0F9F10

Input word device 08 Input bit device 080 to input bit device 08F DB11 0F9F11 DB12 0F9F12

Input word device 09 Input bit device 090 to input bit device 09F DB13 0F9F13 DB14 0F9F14

Input word device 0A Input bit device 0A0 to input bit device 0AF DB15 0F9F15 DB16 0F9F16

: : : : DCF9 0FA0F9 DCFA 0FA0FA

Input word device FD Input bit device FD to input bit device FDF DCFB 0FA0FB DCFC 0FA0FC

Input word device FE Input bit device FE0 to input bit device FEF DCFD 0FA0FD DCFE 0FA0FE

Input word device FF Input bit device FF0 to input bit device FFF DCFF 0FA0FF

0FA100 Input word device 100 Input bit device 1000 to input bit device 100F

0FA101 : : :

0FA37E Input word device 23F Input bit device 23F0 to input bit device 23FF

0FA37F

10 - 74

10. TABLE MAP

10.15.2 Output device table

Address Output word device number Output bit device number

MR-MC2 MR-MC3 DD00 0FA380

Output word device 00 Output bit device 000 to output bit device 00F DD01 0FA381 DD02 0FA382

Output word device 01 Output bit device 010 to output bit device 01F DD03 0FA383 DD04 0FA384

Output word device 02 Output bit device 020 to output bit device 02F DD05 0FA385 DD06 0FA386

Output word device 03 Output bit device 030 to output bit device 03F DD07 0FA387 DD08 0FA388

Output word device 04 Output bit device 040 to output bit device 04F DD09 0FA389 DD0A 0FA38A

Output word device 05 Output bit device 050 to output bit device 05F DD0B 0FA38B DD0C 0FA38C

Output word device 06 Output bit device 060 to output bit device 06F DD0D 0FA38D DD0E 0FA38E

Output word device 07 Output bit device 070 to output bit device 07F DD0F 0FA38F DD10 0FA390

Output word device 08 Output bit device 080 to output bit device 08F DD11 0FA391 DD12 0FA392

Output word device 09 Output bit device 090 to output bit device 09F DD13 0FA393 DD14 0FA394

Output word device 0A Output bit device 0A0 to output bit device 0AF DD15 0FA395 DD16 0FA396

: : : : DEF9 0FA579 DEFA 0FA57A

Output word device FD Output bit device FD0 to output bit device FDF DEFB 0FA57B DEFC 0FA57C

Output word device FE Output bit device FE0 to output bit device FEF DEFD 0FA57D DEFE 0FA57E

Output word device FF Output bit device FF0 to output bit device FFF DEFF 0FA57F

0FA580 Output word device 100 Output bit device 1000 to output bit device 100F

0FA581 : : :

0FA7FE Output word device 23F Output bit device 23F0 to output bit device 23FF

0FA7FF

10 - 75

10. TABLE MAP

10.16 Mark detection command/status table

10.16.1 Mark detection command table

The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode. Each axis: The data valid for both the master axis and slave axis (refer to Section 8.3)

Address (Note) Name When in tandem drive

MR-MC2 MR-MC3 B4F0 0E2A00 Read complete buffer number 1 Each axis B4F1 0E2A01 Read complete buffer number 2 Each axis B4F2 0E2A02

Reserved

B4F3 0E2A03 B4F4 0E2A04 B4F5 0E2A05 B4F6 0E2A06 B4F7 0E2A07 B4F8 0E2A08 B4F9 0E2A09 B4FA 0E2A0A B4FB 0E2A0B B4FC 0E2A0C B4FD 0E2A0D B4FE 0E2A0E B4FF 0E2A0F

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis. 10.16.2 Mark detection status table

The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode. Each axis: The data valid for both the master axis and slave axis (refer to Section 8.3)

Address (Note) Name When in tandem drive

MR-MC2 MR-MC3 B500 0E2A10 Start data storage area 1 Each axis B501 0E2A11 Number of continuous latch data storages 1 Each axis B502 0E2A12 Number of mark detections counter 1 Each axis B503 0E2A13 Mark detection mode 1 Each axis B504 0E2A14 Start data storage area 2 Each axis B505 0E2A15 Number of continuous latch data storages 2 Each axis B506 0E2A16 Number of mark detections counter 2 Each axis B507 0E2A17 Mark detection mode 2 Each axis B508 0E2A18

Reserved

B509 0E2A19 B50A 0E2A1A B50B 0E2A1B B50C 0E2A1C B50D 0E2A1D B50E 0E2A1E B50F 0E2A1F

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

10 - 76

10. TABLE MAP

10.17 Mark detection data tables

10.17.1 Mark detection edge data table

This data shows the detection edges for every positioning data of the mark detection positioning data table. 0: Not detected 1: OFF edge 2: ON edge

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

BAF0 0E3A00 Mark detection edge data 0 BB12 0E3A22 Mark detection edge data 34 BAF1 0E3A01 Mark detection edge data 1 BB13 0E3A23 Mark detection edge data 35 BAF2 0E3A02 Mark detection edge data 2 BB14 0E3A24 Mark detection edge data 36 BAF3 0E3A03 Mark detection edge data 3 BB15 0E3A25 Mark detection edge data 37 BAF4 0E3A04 Mark detection edge data 4 BB16 0E3A26 Mark detection edge data 38 BAF5 0E3A05 Mark detection edge data 5 BB17 0E3A27 Mark detection edge data 39 BAF6 0E3A06 Mark detection edge data 6 BB18 0E3A28 Mark detection edge data 40 BAF7 0E3A07 Mark detection edge data 7 BB19 0E3A29 Mark detection edge data 41 BAF8 0E3A08 Mark detection edge data 8 BB1A 0E3A2A Mark detection edge data 42 BAF9 0E3A09 Mark detection edge data 9 BB1B 0E3A2B Mark detection edge data 43 BAFA 0E3A0A Mark detection edge data 10 BB1C 0E3A2C Mark detection edge data 44 BAFB 0E3A0B Mark detection edge data 11 BB1D 0E3A2D Mark detection edge data 45 BAFC 0E3A0C Mark detection edge data 12 BB1E 0E3A2E Mark detection edge data 46 BAFD 0E3A0D Mark detection edge data 13 BB1F 0E3A2F Mark detection edge data 47 BAFE 0E3A0E Mark detection edge data 14 BB20 0E3A30 Mark detection edge data 48 BAFF 0E3A0F Mark detection edge data 15 BB21 0E3A31 Mark detection edge data 49 BB00 0E3A10 Mark detection edge data 16 BB22 0E3A32 Mark detection edge data 50 BB01 0E3A11 Mark detection edge data 17 BB23 0E3A33 Mark detection edge data 51 BB02 0E3A12 Mark detection edge data 18 BB24 0E3A34 Mark detection edge data 52 BB03 0E3A13 Mark detection edge data 19 BB25 0E3A35 Mark detection edge data 53 BB04 0E3A14 Mark detection edge data 20 BB26 0E3A36 Mark detection edge data 54 BB05 0E3A15 Mark detection edge data 21 BB27 0E3A37 Mark detection edge data 55 BB06 0E3A16 Mark detection edge data 22 BB28 0E3A38 Mark detection edge data 56 BB07 0E3A17 Mark detection edge data 23 BB29 0E3A39 Mark detection edge data 57 BB08 0E3A18 Mark detection edge data 24 BB2A 0E3A3A Mark detection edge data 58 BB09 0E3A19 Mark detection edge data 25 BB2B 0E3A3B Mark detection edge data 59 BB0A 0E3A1A Mark detection edge data 26 BB2C 0E3A3C Mark detection edge data 60 BB0B 0E3A1B Mark detection edge data 27 BB2D 0E3A3D Mark detection edge data 61 BB0C 0E3A1C Mark detection edge data 28 BB2E 0E3A3E Mark detection edge data 62 BB0D 0E3A1D Mark detection edge data 29 BB2F 0E3A3F Mark detection edge data 63 BB0E 0E3A1E Mark detection edge data 30 0E3A40 Mark detection edge data 64 BB0F 0E3A1F Mark detection edge data 31 0E3A41 Mark detection edge data 65 BB10 0E3A20 Mark detection edge data 32 : : BB11 0E3A21 Mark detection edge data 33 0E3A7F Mark detection edge data 127

10 - 77

10. TABLE MAP

10.17.2 Mark detection positioning data table

Address Content

Address Content MR-

MC2 MR-

MC3

MR- MC2

MR- MC3

BB30 0E3B00

Mark detection positioning data 0

BB5C 0E3B2C

Mark detection positioning data 11 BB31 0E3B01 BB5D 0E3B2D BB32 0E3B02 BB5E 0E3B2E BB33 0E3B03 BB5F 0E3B2F BB34 0E3B04

Mark detection positioning data 1

BB60 0E3B30

Mark detection positioning data 12 BB35 0E3B05 BB61 0E3B31 BB36 0E3B06 BB62 0E3B32 BB37 0E3B07 BB63 0E3B33 BB38 0E3B08

Mark detection positioning data 2

BB64 0E3B34

Mark detection positioning data 13 BB39 0E3B09 BB65 0E3B35 BB3A 0E3B0A BB66 0E3B36 BB3B 0E3B0B BB67 0E3B37 BB3C 0E3B0C

Mark detection positioning data 3

BB68 0E3B38

Mark detection positioning data 14 BB3D 0E3B0D BB69 0E3B39 BB3E 0E3B0E BB6A 0E3B3A BB3F 0E3B0F BB6B 0E3B3B BB40 0E3B10

Mark detection positioning data 4

BB6C 0E3B3C

Mark detection positioning data 15 BB41 0E3B11 BB6D 0E3B3D BB42 0E3B12 BB6E 0E3B3E BB43 0E3B13 BB6F 0E3B3F BB44 0E3B14

Mark detection positioning data 5

BB70 0E3B40

Mark detection positioning data 16 BB45 0E3B15 BB71 0E3B41 BB46 0E3B16 BB72 0E3B42 BB47 0E3B17 BB73 0E3B43 BB48 0E3B18

Mark detection positioning data 6

BB74 0E3B44

: BB49 0E3B19

: : BB4A 0E3B1A BB4B 0E3B1B BC2B 0E3BFB BB4C 0E3B1C

Mark detection positioning data 7

BC2C 0E3BFC

Mark detection positioning data 63 BB4D 0E3B1D BC2D 0E3BFD BB4E 0E3B1E BC2E 0E3BFE BB4F 0E3B1F BC2F 0E3BFF BB50 0E3B20

Mark detection positioning data 8

0E3C00

Mark detection positioning data 64 BB51 0E3B21 0E3C01 BB52 0E3B22 0E3C02 BB53 0E3B23 0E3C03 BB54 0E3B24

Mark detection positioning data 9

0E3C04

: BB55 0E3B25

: BB56 0E3B26 BB57 0E3B27 0E3CFB BB58 0E3B28

Mark detection positioning data 10

0E3CFC

Mark detection positioning data 127 BB59 0E3B29 0E3CFD BB5A 0E3B2A 0E3CFE BB5B 0E3B2B 0E3CFF

10 - 78

10. TABLE MAP

10.18 Continuous operation to torque control data table

Address (Note) Symbol Name

At manual switch selection MR-MC2 MR-MC3

A840 0E1800

PRCPS Continuous operation to torque control switching position (4 bytes)

Invalid A841 0E1801 A842 0E1802 A843 0E1803 A844 0E1804

PRLMPS Press limit position (4 bytes)

Valid A845 0E1805 A846 0E1806 A847 0E1807 A848 0E1808

PRCTSP Continuous operation to torque control speed limit value (4 bytes)

Valid A849 0E1809 A84A 0E180A A84B 0E180B A84C 0E180C

PRTGTR Target torque (2 bytes)

Valid A84D 0E180D A84E 0E180E

PRTM Press time (2 bytes)

Invalid A84E 0E180F A850 0E1810

PRTRW Torque settle width (2 bytes)

Valid A851 0E1811 A852 0E1812

PRWTM Torque settle waiting time (2 bytes)

Valid A853 0E1813 A854 0E1814

PRCA Continuous operation to torque control acceleration time constant (2 bytes)

Valid A855 0E1815 A856 0E1816

PRCD Continuous operation to torque control deceleration time constant (2 bytes)

Valid A857 0E1817 A858 0E1818

PRCOP Continuous operation to torque control operating conditions (2 bytes)

Valid A859 0E1819 A85A 0E181A

Reserved

A85B 0E181B A85C 0E181C A85D 0E181D A85E 0E181E A85F 0E181F

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 20h for each axis.

10 - 79

10. TABLE MAP

10.19 Interpolation group No. being executed table

Address Content

MR-MC2 MR-MC3 E040 0FB400 Interpolation group No. being executed (Axis 1) E041 0FB401 Interpolation group No. being executed (Axis 2) E042 0FB402 Interpolation group No. being executed (Axis 3) E043 0FB403 Interpolation group No. being executed (Axis 4) E044 0FB404 Interpolation group No. being executed (Axis 5) E045 0FB405 Interpolation group No. being executed (Axis 6) E046 0FB406 Interpolation group No. being executed (Axis 7) E047 0FB407 Interpolation group No. being executed (Axis 8) E048 0FB408 Interpolation group No. being executed (Axis 9) E049 0FB409 Interpolation group No. being executed (Axis 10) E04A 0FB40A Interpolation group No. being executed (Axis 11) E04B 0FB40B Interpolation group No. being executed (Axis 12) E04C 0FB40C Interpolation group No. being executed (Axis 13) E04D 0FB40D Interpolation group No. being executed (Axis 14) E04E 0FB40E Interpolation group No. being executed (Axis 15) E04F 0FB40F Interpolation group No. being executed (Axis 16) E050 0FB410 Interpolation group No. being executed (Axis 17) E051 0FB411 Interpolation group No. being executed (Axis 18) E052 0FB412 Interpolation group No. being executed (Axis 19) E053 0FB413 Interpolation group No. being executed (Axis 20) E054 0FB414 Interpolation group No. being executed (Axis 21) E055 0FB415 Interpolation group No. being executed (Axis 22) E056 0FB416 Interpolation group No. being executed (Axis 23) E057 0FB417 Interpolation group No. being executed (Axis 24) E058 0FB418 Interpolation group No. being executed (Axis 25) E059 0FB419 Interpolation group No. being executed (Axis 26) E05A 0FB41A Interpolation group No. being executed (Axis 27) E05B 0FB41B Interpolation group No. being executed (Axis 28) E05C 0FB41C Interpolation group No. being executed (Axis 29) E05D 0FB41D Interpolation group No. being executed (Axis 30) E05E 0FB41E Interpolation group No. being executed (Axis 31) E05F 0FB41F Interpolation group No. being executed (Axis 32) E060 0FB420 Interpolation group No. being executed (Axis 33) (Note)

: : : E06F 0FB42F Interpolation group No. being executed (Axis 48) (Note)

0FB430 Interpolation group No. being executed (Axis 49) : :

0FB43F Interpolation group No. being executed (Axis 64) 0FB440

Reserved : 0FB47F

Note. When using MR-MC2 , E060 to E06F is "Reserved". (1) Interpolation group No. being executed

Stores the linear interpolation group No. in axes that are executing linear interpolation. When linear interpolation operation is completed, the interpolation group No. being executed is cleared and changes to 0.

10 - 80

10. TABLE MAP

MEMO

11 - 1

11

11. PARAMETERS

11. PARAMETERS

Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected movement can occur. The parameters are classified as is shown below.

Classification Parameter No. (Note) Remarks System parameters No. 0001 to 007F Servo amplifier Servo parameters No. 1100 to 137F Each axis

Control parameters No. 0200 to 02FF Each axis Sensing module (axis mode) Servo parameters No. 1100 to 11BF Each axis

Control parameters No.0200 to 02FF Each axis SSCNET /H head module RIO module parameters Each station

RIO control parameters No. 0200 to 023F Each station Sensing module (station mode) RIO module parameters No. 1100 to 13FF Each station

RIO control parameters No. 0200 to 023F Each station Note. Parameter numbers are given in hexadecimal.

11 - 2

11. PARAMETERS

11.1 System parameters

POINT The settings for the parameters with a * mark at the front of the symbol are

validated when the system is started. Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0001 *SYSOP1 System option 1 0000h 0000h to 0002h 0 0

Control cycle setting Set the control cycle. 0: 0.88ms 1: 0.44ms 2: 0.22ms SSCNET communication method Set the SSCNET communication method. 0: SSCNET /H Note. SSCNET communication

method is shared in lines 1 and 2.

0002 *SYSOP2 System option 2 0000h

0000h to 1101h 0

Axis/station No. assignment Set 1 when validating axis/station No. assignment. When axis/station No. assignment is invalid, axis/ station No. is automatically assigned. 0: Invalid 1: Valid

Control mode selection Set the control mode. 0: Standard mode 1: Interface mode

Consistency check selection at system startup Set whether to perform consistency check for controlled axes setting at system startup. 0: Valid 1: Invalid

0003 For manufacturer setting 0 0004 SITM System interrupt conditions 0000h

0000h

to FFFFh Set the interrupt conditions for the system.

0005

For manufacturer setting 0

0006 0 0007 0 0008 0 0009 0 000A 0 000B 0 000C 0 000D 0 000E *EMID External forced stop

disabled 0000h 0000h

to FFFFh Disable the forced stop by EMI signal. 5AE1h : Forced stop disabled Other than 5AE1h : Forced stop enabled

11 - 3

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

000F *IFM0 Interface mode option 0000h 0000h to 0F0Fh

00 Interrupt output cycle When interrupt by interface mode is valid, set the cycle for which the interrupt is output. Interrupt output cycle: Control cycle (setting value+1) Example: When interrupt output

cycle is set to 1 and control cycle is 0.88ms, interrupt is output approximately every 1.77ms.

Command data update cycle Set the cycle for which position command is updated in interface mode. Command data update cycle: Control cycle (setting value+1) Example: When command data

update cycle is set to 2 and control cycle is 0.88ms, position command is updated approximately every 2.66ms.

0010 For manufacturer setting 0 : :

003F 0 0040 LGS1 Log acquiring selection 1

(Note 1) 0000h

0000h to 0001h

Set whether to acquire the log of the system when the log function is used. System (bit 0) 0: Not acquire 1: Acquire

0041 LGS2 Log acquiring selection 2 (Note 1)

0000h 0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 1 (bit 0) to axis 16 (bit 15) 0: Not acquire 1: Acquire

0042 LGS3 Log acquiring selection 3 (Note 1)

0000h

0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 17 (bit 0) to axis 32 (bit 15) 0: Not acquire 1: Acquire

0043 LGS4 Log acquiring selection 4 (Note 1) (Note 2)

0000h 0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 33 (bit 0) to axis 48 (bit 15) 0: Not acquire 1: Acquire

0044 LGS5 Log acquiring selection 5 (Note 1)

0000h

0000h to FFFFh

Set the station No. for which the log is to be acquired. Station 1 (bit 0) to station 4 (bit 3) MC200 Station 1 (bit 0) to station 16 (bit 15) MC300 0: Not acquire 1: Acquire

0045 For manufacturer setting 0

0046 0 0047 0000h 0048 0 0049 0 004A *IOTBL I/O table 0000h 0000h to

0001h MC200

0000h to 0002h MC300

00 0 I/O table selection Set the I/O table to be used. 0: Use digital I/O table 1: Use I/O device table (MR-MC2 method) 2: Use I/O device table (expanded points method)

11 - 4

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

004B LGS6 Log acquiring selection 6 (Note 1) (Note 2)

0000h

0000h to FFFFh

Set the axis No. for which the log is to be acquired. Axis 49 (bit 0) to axis 64 (bit 15) 0: Not acquire 1: Acquire

004C *SYSOP5 System option 5 0000h 0000h to 0001h 00 0

Interpolation axis setting method Specify the interpolation axis setting method. 0: Use control parameter 1: Use point table

004D

For manufacturer setting 0 : :

007F 0 Note 1. When all the system parameters of the log acquiring selection (parameters No. 0040 to 0044, 004B) are set to 0000h (initial value),

log for all axes, stations and systems will be acquired. 2. When using MR-MC2 , "for manufacturer setting".

11 - 5

11. PARAMETERS

11.2 Servo parameters

11.2.1 Servo amplifier MR-J4(W )- B

The parameters described in this section are for using the servo amplifier MR-J4(W )- B. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.

POINT The parameters with a * mark at the front of the symbol are validated according

to the following conditions. *: The setting value for the system startup or the SSCNET reconnection is

valid. The parameter change after the system startup is invalid. **: The setting value for the system startup or the SSCNET reconnection is

valid. However, after the system startup, turn off the power supply of the servo amplifier once, and it is necessary to turn on it again. The parameter change after the system startup is invalid.

11 - 6

11. PARAMETERS

(1) Menu A) Basic settings

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1100 PA01 **STY Operation mode 1000h 1101 PA02 **REG Regenerative option 0000h 1102 PA03 *ABS Absolute position detection system 0000h 1103 PA04 *AOP1 Function selection A-1 2000h 1104 PA05

For manufacturer setting 10000

1105 PA06 1 1106 PA07 1 1107 PA08 ATU Auto tuning mode 0001h 1108 PA09 RSP Auto tuning response 16 1109 PA10 INP In-position range 1600 pulse 110A PA11

For manufacturer setting 10000

110B PA12 10000 110C PA13 0000h 110D PA14 *POL Rotation direction selection/travel direction selection 0 110E PA15 *ENR Encoder output pulses 4000 pulse/rev 110F PA16 *ENR2 Encoder output pulses 2 1 1110 PA17 **MSR Servo motor series setting 0000h 1111 PA18 **MTY Servo motor type setting 0000h 1112 PA19 *BLK Parameter writing inhibit 00ABh 1113 PA20 *TDS Tough drive setting 0000h 1114 PA21 *AOP3 Function selection A-3 0001h 1115 PA22 **PCS Position control composition selection 0000h 1116 PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h 1117 PA24 AOP4 Function selection A-4 0000h 1118 PA25 OTHOV One-touch tuning - Overshoot permissible level 0000h % 1119 PA26 *AOP5 Function selection A-5 (Note) 0000h 111A PA27

For manufacturer setting 0000h 111B PA28 0000h 111C PA29 0000h 111D PA30 0000h 111E PA31 0000h 111F PA32 0000h 1120 PA33 0000h

: : : 113F PA64 0000h

Note. MR-J4- B use.

11 - 7

11. PARAMETERS

(2) Menu B) Gain filter settings

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1140 PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h 1141 PB02 VRFT Vibration suppression control tuning mode

(advanced vibration suppression control ) 0000h

1142 PB03 TFBGN Torque feedback loop gain 18000 rad/s 1143 PB04 FFC Feed forward gain 0 % 1144 PB05 For manufacturer setting 500 1145 PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 700 0.01 times 1146 PB07 PG1 Model loop gain 150 0.1 rad/s 1147 PB08 PG2 Position loop gain 370 0.1 rad/s 1148 PB09 VG2 Speed loop gain 823 rad/s 1149 PB10 VIC Speed integral compensation 337 0.1ms 114A PB11 VDC Speed differential compensation 980 114B PB12 OVA Overshoot amount compensation 0 % 114C PB13 NH1 Machine resonance suppression filter 1 4500 Hz 114D PB14 NHQ1 Notch shape selection 1 0000h 114E PB15 NH2 Machine resonance suppression filter 2 4500 Hz 114F PB16 NHQ2 Notch shape selection 2 0000h 1150 PB17 NHF Shaft resonance suppression filter 0000h 1151 PB18 LPF Low-pass filter setting 3141 rad/s 1152 PB19 VRF11 Vibration suppression control 1 - Vibration frequency 1000 0.1Hz 1153 PB20 VRF12 Vibration suppression control 1 - Resonance frequency 1000 0.1Hz 1154 PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0 0.1 1155 PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0 0.1 1156 PB23 VFBF Low-pass filter selection 0000h 1157 PB24 *MVS Slight vibration suppression control 0000h 1158 PB25 *BOP1 Function selection B-1 0000h 1159 PB26 *CDP Gain switching function 0000h 115A PB27 CDL Gain switching condition 10 kpps, pulse,

r/min 115B PB28 CDT Gain switching time constant 1 ms 115C PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain

switching 700 0.01 times

115D PB30 PG2B Position loop gain after gain switching 0 0.1 rad/s 115E PB31 VG2B Speed loop gain after gain switching 0 rad/s 115F PB32 VICB Speed integral compensation after gain switching 0 0.1ms 1160 PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain

switching 0 0.1Hz

1161 PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

0 0.1Hz

1162 PB35 VRF13B Vibration suppression control 1- Vibration frequency damping after gain switching

0 0.01

1163 PB36 VRF14B Vibration suppression control 1- Resonance frequency damping after gain switching

0 0.01

1164 PB37 For manufacturer setting 1600 1165 PB38 0 1166 PB39 0 1167 PB40 0 1168 PB41 0 1169 PB42 0 116A PB43 0000h

11 - 8

11. PARAMETERS

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

116B PB44 For manufacturer setting 0 116C PB45 CNHF Command notch filter 0000h 116D PB46 NH3 Machine resonance suppression filter 3 4500 Hz 116E PB47 NHQ3 Notch shape selection 3 0000h 116F PB48 NH4 Machine resonance suppression filter 4 4500 Hz 1170 PB49 NHQ4 Notch shape selection 4 0000h 1171 PB50 NH5 Machine resonance suppression filter 5 4500 Hz 1172 PB51 NHQ5 Notch shape selection 5 0000h 1173 PB52 VRF21 Vibration suppression control 2 - Vibration frequency 1000 0.1Hz 1174 PB53 VRF22 Vibration suppression control 2 - Resonance frequency 1000 0.1Hz 1175 PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0 0.01 1176 PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0 0.01 1177 PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain

switching 0 0.1Hz

1178 PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

0 0.1Hz

1179 PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

0 0.01

117A PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

0 0.01

117B PB60 PG1B Model loop gain after gain switching 0 0.1rad/s 117C PB61

For manufacturer setting 0 117D PB62 0000h 117E PB63 0000h 117F PB64 0000h

11 - 9

11. PARAMETERS

(3) Menu C) Expansion settings 1

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1180 PC01 ERZ Error excessive alarm level 0 rev or mm 1181 PC02 MBR Electromagnetic brake sequence output 0 ms 1182 PC03 *ENRS Encoder output pulse selection 0000h 1183 PC04 **COP1 Function selection C-1 0000h 1184 PC05 **COP2 Function selection C-2 0000h 1185 PC06 *COP3 Function selection C-3 0000h 1186 PC07 ZSP Zero speed 50 r/min or

mm/s 1187 PC08 OSL Overspeed alarm detection level 0 r/min or

mm/s 1188 PC09 MOD1 Analog monitor 1 output 0000h 1189 PC10 MOD2 Analog monitor 2 output 0001h 118A PC11 MO1 Analog monitor 1 offset 0 mV 118B PC12 MO2 Analog monitor 2 offset 0 mV 118C PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 pulse 118D PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 10000pulses 118E PC15

For manufacturer setting 0

118F PC16 0000h 1190 PC17 **COP4 Function selection C-4 0000h 1191

PC18 *COP5 Function selection C-5 0000h

(Note 1)

1192 PC19 For manufacturer setting 0000h 1193 PC20 *COP7 Function selection C-7 0000h 1194 PC21 *BPS Alarm history clear 0000h 1195 PC22

For manufacturer setting 0

1196 PC23 0000h 1197 PC24 RSBR Forced stop deceleration time constant 100 ms 1198 PC25 For manufacturer setting 0 1199 PC26 **COP8 Function selection C-8 (Note 2) 0000h 119A PC27 **COP9 Function selection C-9 0000h 119B PC28 For manufacturer setting 0000h 119C PC29 *COPB Function selection C-B 0000h 119D PC30 For manufacturer setting 0 119E PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 0.0001rev

or 0.01mm 119F PC32 For manufacturer setting 0000h 11A0 PC33 0 11A1 PC34 100 11A2 PC35 0000h 11A3 PC36 0000h 11A4 PC37 0000h 11A5 PC38 ERW Error excessive warning level 0 rev or mm 11A6 PC39

For manufacturer setting 0000h

11A7 PC40 0000h 11A8 PC41 0000h

: : : 11BF PC64 0000h

Note 1. For position board, the initial value is "1000h". 2. MR-J4- B use.

11 - 10

11. PARAMETERS

(4) Menu D) I/O settings

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

11C0 PD01 For manufacturer setting 0000h 11C1 PD02 *DIA2 Input signal automatic on selection 2 0000h 11C2 PD03

For manufacturer setting 0020h 11C3 PD04 0021h 11C4 PD05 0022h 11C5 PD06 0000h 11C6 PD07 *DO1 Output device selection 1 0005h 11C7 PD08 *DO2 Output device selection 2 0004h 11C8 PD09 *DO3 Output device selection 3 0003h 11C9 PD10 For manufacturer setting 0000h 11CA PD11 *DIF Input filter setting 0004h ms 11CB PD12 *DOP1 Function selection D-1 0000h 11CC PD13 *DOP2 Function selection D-2 0000h 11CD PD14 *DOP3 Function selection D-3 0000h 11CE PD15

For manufacturer setting 0000h 11CF PD16 0000h 11D0 PD17 0000h 11D1 PD18 0000h 11D2 PD19 0000h 11D3 PD20 0 11D4 PD21 0 11D5 PD22 0 11D6 PD23 0 11D7 PD24 0000h 11D8 PD25 0000h 11D9 PD26 0000h 11DA PD27 0000h 11DB PD28 0000h 11DC PD29 0000h 11DD PD30 0 11DE PD31 0 11DF PD32 0 11E0 PD33 0000h 11E1 PD34 0000h 11E2 PD35 0000h 11E3 PD36 0000h 11E4 PD37 0000h 11E5 PD38 0000h 11E6 PD39 0000h 11E7 PD40 0000h 11E8 PD41 0000h 11E9 PD42 0000h 11EA PD43 0000h 11EB PD44 0000h 11EC PD45 0000h 11ED PD46 0000h 11EE PD47 0000h

: : : 11FF PD64 0000h

11 - 11

11. PARAMETERS

(5) Menu E) Expansion settings 2

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1200 PE01 **FCT1 Fully closed loop function selection 1 0000h 1201 PE02 For manufacturer setting 0000h 1202 PE03 *FCT2 Fully closed loop function selection 2 0003h 1203 PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 -

Numerator 1

1204 PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 2 - Denominator

1

1205 PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 r/min 1206 PE07 BC2 Fully closed loop control - Position deviation error detection level 100 kpulse 1207 PE08 DUF Fully closed loop dual feedback filter 10 rad/s 1208 PE09 For manufacturer setting 0000h 1209 PE10 FCT3 Fully closed loop function selection 3 0000h 120A PE11

For manufacturer setting 0 120B PE12 0 120C PE13 0000h 120D PE14 0111h 120E PE15 20 120F PE16 0000h 1210 PE17 0000h 1211 PE18 0000h 1212 PE19 0000h 1213 PE20 0000h 1214 PE21 0000h 1215 PE22 0000h 1216 PE23 0000h 1217 PE24 0000h 1218 PE25 0000h 1219 PE26 0000h 121A PE27 0000h 121B PE28 0000h 121C PE29 0000h 121D PE30 0000h 121E PE31 0000h 121F PE32 0000h 1220 PE33 0000h 1221 PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 -

Numerator 1

1222 PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator

1

1223 PE36

For manufacturer setting 0

1224 PE37 0 1225 PE38 0 1226 PE39 20 1227 PE40 0000h 1228 PE41 EOP3 Function selection E-3 0000h 1229 PE42

For manufacturer setting 0

122A PE43 0

11 - 12

11. PARAMETERS

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

122B PE44 LMCP Lost motion compensation positive-side compensation value selection (Note)

0 0.01%

122C PE45 LMCN Lost motion compensation negative-side compensation value selection (Note)

0 0.01%

122D PE46 LMFLT Lost motion filter setting (Note) 0 0.1ms 122E PE47 TOF Torque offset 0 0.01% 122F PE48 *LMOP Lost motion compensation function selection (Note) 0000h 1230 PE49 LMCD Lost motion compensation timing (Note) 0 0.1ms 1231 PE50 LMCT Lost motion compensation non-sensitive band (Note) 0 pulse or

kpulse 1232 PE51

For manufacturer setting 0000h

1233 PE52 0000h 1234 PE53 0000h 1235 PE54 0000h 1236 PE55 0000h 1237 PE56 0000h 1238 PE57 0000h 1239 PE58 0000h 123A PE59 0000h 123B PE60 0000h 123C PE61 0 123D PE62 0 123E PE63 0 123F PE64 0

Note. MR-J4- B use.

11 - 13

11. PARAMETERS

(6) Menu F) Expansion settings 3

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1240 PF01 For manufacturer setting 0000h 1241 PF02 *FOP2 Function selection F-2 (Note) 0000h 1242 PF03

For manufacturer setting 0000h

1243 PF04 0 1244 PF05 0000h 1245 PF06 *FOP5 Function selection F-5 0000h 1246 PF07

For manufacturer setting 0000h 1247 PF08 0000h 1248 PF09 0 1249 PF10 0 124A PF11 0 124B PF12 DBT Electronic dynamic brake operating time 2000 ms 124C PF13

For manufacturer setting 0000h 124D PF14 10 124E PF15 0000h 124F PF16 0000h 1250 PF17 0000h 1251 PF18 **STOD STO diagnosis error detection time 0 s 1252 PF19

For manufacturer setting 0000h

1253 PF20 0000h 1254 PF21 DRT Drive recorder switching time setting 0 s 1255 PF22 For manufacturer setting 200 1256 PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 % 1257 PF24 *OSCL2 Vibration tough drive function selection 0000h 1258 PF25 CVAT SEMI-F47 function instantaneous power failure detection time

(instantaneous power failure tough drive - detection time) 200 ms

1259 PF26

For manufacturer setting 0 125A PF27 0 C 125B PF28 0 125C PF29 0000h 125D PF30 0 125E PF31 FRIC Machine diagnosis function - Friction judgment speed 0 r/min or

mm/s 125F PF32

For manufacturer setting 50 1260 PF33 0000h 1261 PF34 0000h 1262 PF35 0000h 1263 PF36 0000h 1264 PF37 0000h 1265 PF38 0000h 1266 PF39 0000h 1267 PF40 0000h 1268 PF41 0000h 1269 PF42 0000h 126A PF43 0000h 126B PF44 0000h 126C PF45 0000h

: : : 127F PF64 0000h

Note. MR-J4W - B use.

11 - 14

11. PARAMETERS

(7) Menu O) Option setting

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1280 Po01

For manufacturer setting 0000h

1281 Po02 0000h 1282 Po03 0000h 1283 Po04 0000h 1284 Po05 0000h 1285 Po06 0 1286 Po07 0 1287 Po08 0 1288 Po09 0 1289 Po10 0000h 128A Po11 0000h 128B Po12 0000h 128C Po13 0000h 128D Po14 0000h 128E Po15 0000h 128F Po16 0000h 1290 Po17 0000h 1291 Po18 0000h 1292 Po19 0000h 1293 Po20 0000h 1294 Po21 0000h 1295 Po22 0000h 1296 Po23 0000h 1297 Po24 0000h 1298 Po25 0000h 1299 Po26 0000h 129A Po27 0000h 129B Po28 0000h 129C Po29 0000h 129D Po30 0000h 129E Po31 0000h 129F Po32 0000h 12A0 Po33 0000h

: : : 12BF Po64 0000h

11 - 15

11. PARAMETERS

(8) Menu S) Special settings

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

12C0 PS01

For manufacturer setting 0000h

12C1 PS02 0000h 12C2 PS03 0000h 12C3 PS04 0000h 12C4 PS05 0000h 12C5 PS06 0000h 12C6 PS07 0000h 12C7 PS08 0000h 12C8 PS09 0000h 12C9 PS10 0000h 12CA PS11 0000h 12CB PS12 0000h 12CC PS13 0000h 12CD PS14 0000h 12CE PS15 0000h 12CF PS16 0000h 12D0 PS17 0000h 12D1 PS18 0000h 12D2 PS19 0000h 12D3 PS20 0000h 12D4 PS21 0000h 12D5 PS22 0000h 12D6 PS23 0000h 12D7 PS24 0000h 12D8 PS25 0000h 12D9 PS26 0000h 12DA PS27 0000h 12DB PS28 0000h 12DC PS29 0000h 12DD PS30 0000h 12DE PS31 0000h 12DF PS32 0000h 12E0 PS33 0000h

: : : 12FF PS64 0000h

11 - 16

11. PARAMETERS

(9) Menu L) Linear servo motor/DD motor settings

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1300 PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h 1301 PL02 **LIM Linear encoder resolution - Numerator 1000 m 1302 PL03 **LID Linear encoder resolution - Denominator 1000 m 1303 PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h 1304 PL05 LB1 Position deviation error detection level 0 mm, 0.01rev 1305 PL06 LB2 Speed deviation error detection level 0 r/min, mm/s 1306 PL07 LB3 Torque/thrust deviation error detection level 100 % 1307 PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010h 1308 PL09 LPWM Magnetic pole detection voltage level 30 % 1309 PL10 For manufacturer setting 5 130A PL11 100 130B PL12 500 130C PL13 0000h 130D PL14 0 130E PL15 20 130F PL16 0 1310 PL17 LTSTS Magnetic pole detection - Minute position detection method -

Function selection 0000h

1311 PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude

0 %

1312 PL19

For manufacturer setting 0

1313 PL20 0 1314 PL21 0 1315 PL22 0 1316 PL23 0000h 1317 PL24 0 1318 PL25 0000h 1319 PL26 0000h 131A PL27 0000h 131B PL28 0000h 131C PL29 0000h 131D PL30 0000h 131E PL31 0000h 131F PL32 0000h 1320 PL33 0000h 1321 PL34 0000h 1322 PL35 0000h 1323 PL36 0000h 1324 PL37 0000h 1325 PL38 0000h 1326 PL39 0000h 1327 PL40 0000h 1328 PL41 0000h 1329 PL42 0000h 132A PL43 0000h 132B PL44 0000h 132C PL45 0000h 132D PL46 0000h

: : : 133F PL64 0000h

11 - 17

11. PARAMETERS

(10) Menu T) Parameter for manufacturer setting

Parameter No. MR-J4-B

Parameter No. Symbol Name Initial Value Units

1340 PT01

For manufacturer setting 0000h

1341 PT02 0000h 1342 PT03 0001h 1343 PT04 500 1344 PT05 10 1345 PT06 100 1346 PT07 100 1347 PT08 0000h 1348 PT09 0000h 1349 PT10 0000h 134A PT11 0000h 134B PT12 0400h 134C PT13 0000h 134D PT14 0000h 134E PT15 100 134F PT16 100 1350 PT17 100 1351 PT18 0 1352 PT19 0 1353 PT20 0000h 1354 PT21 0000h 1355 PT22 0000h 1356 PT23 100 1357 PT24 150 1358 PT25 20 1359 PT26 0000h 135A PT27 0000h 135B PT28 0000h 135C PT29 0000h 135D PT30 0000h 135E PT31 0000h 135F PT32 0000h 1360 PT33 0000h 1361 PT34 0000h 1362 PT35 0000h 1363 PT36 0000h 1364 PT37 0000h 1365 PT38 0000h 1366 PT39 0000h 1367 PT40 0000h 1368 PT41 0000h 1369 PT42 0000h 136A PT43 0000h 136B PT44 0000h 136C PT45 0000h 136D PT46 0000h 136E PT47 0000h 136F PT48 0000h

: : : 137F PT64 0000h

11 - 18

11. PARAMETERS

11.2.2 Sensing module (axis mode)

The parameters described in this section are for using the sensing module (axis mode). For details, refer to the Sensing Module Instruction Manual.

POINT The parameters with a * mark in front of the symbol are validated according to

the following conditions. *: The setting value for the system startup or the SSCNET reconnection is

valid. The parameter change after the system startup is invalid. **: The setting value for the system startup or the SSCNET reconnection is

valid. However, after the system startup, turn off the power supply of the servo amplifier once, and it is necessary to turn on it again. The parameter change after the system startup is invalid.

(1) Menu A) Basic setting

Parameter No. Sensing pulse

I/O module Parameter No.

Symbol Name Initial Value Units

1100 PA01

For manufacturer setting 0000h 1101 PA02 0000h 1102 PA03 0000h 1103 PA04 0000h 1104 PA05 0000h 1105 PA06 *EGM Output-side electronic gear multiplication 1 1106 PA07 *EGS Input-side electronic gear multiplication 1 1107 PA08

For manufacturer setting 0 1108 PA09 0 1109 PA10 0 110A PA11 0 110B PA12 0 110C PA13 0000h 110D PA14 *POL Rotation direction selection 0 110E PA15 *PRL Number of pulses per revolution setting Lower 4000 pulse/rev 110F PA16 *PRH Number of pulses per revolution setting Upper 0 10000pulse

/rev 1110 PA17 *DIL Input signal logic selection 0000h 1111 PA18 *DOL Output signal logic selection 0000h 1112 PA19

For manufacturer setting 000Bh 1113 PA20 0000h 1114 PA21 0000h 1115 PA22 0000h 1116 PA23 0000h 1117 PA24 0000h 1118 PA25 0000h 1119 PA26 0000h 111A PA27 0000h 111B PA28 0000h 111C PA29 0000h 111D PA30 0000h

: : : 113F PA64 0000h

11 - 19

11. PARAMETERS

(2) Menu B) Gain filter settings

Parameter No. Sensing pulse

I/O module Parameter No.

Symbol Name Initial Value Units

1140 PB01 *DEL [AL. 35 I/O pulse frequency error] alarm level selection 0000h 1141 PB02 For manufacturer setting 0000h 1142 PB03 0 1143 PB04 0 1144 PB05 0 1145 PB06 0 1146 PB07 0 1147 PB08 0 1148 PB09 *TOP Motor maximum speed 6000 r/min 1149 PB10 For manufacturer setting 0 114A PB11 RDT Virtual RD signal delay time 0 ms 114B PB12 CRT Clear signal output pulse width time 10 ms 114C PB13 For manufacturer setting 0 114D PB14 *PLSO Command pulse output form 0000h 114E PB15 For manufacturer setting 0 114F PB16 *IOP Input function selection 0000h 1150 PB17 *FPI Feedback pulse input form 0000h 1151 PB18 *BAS Motor rated speed 3000 r/min 1152 PB19 For manufacturer setting 0 1153 PB20 0 1154 PB21 0 1155 PB22 0 1156 PB23 0000h 1157 PB24 0000h 1158 PB25 0000h 1159 PB26 *LIS Home position return input setting 0000h 115A PB27 For manufacturer setting 0 115B PB28 0 115C PB29 0 115D PB30 0 115E PB31 0 115F PB32 0 1160 PB33 0 1161 PB34 0 1162 PB35 0 1163 PB36 0 1164 PB37 0 1165 PB38 0 1166 PB39 0 1167 PB40 0 1168 PB41 0 1169 PB42 0 116A PB43 0004h 116B PB44 0 116C PB45 0000h

: : : 117F PB64 0000h

11 - 20

11. PARAMETERS

(3) Menu C) Expansion settings 1

Parameter No. Sensing pulse

I/O module Parameter No.

Symbol Name Initial Value Units

1180 PC01

For manufacturer setting 0 1181 PC02 0 1182 PC03 0000h 1183 PC04 0000h 1184 PC05 0000h 1185 PC06 0000h 1186 PC07 0 1187 PC08 0 1188 PC09 0000h 1189 PC10 0000h 118A PC11 0 118B PC12 0 118C PC13 0 118D PC14 0 118E PC15 0 118F PC16 0000h 1190 PC17 0000h 1191 PC18 0000h 1192 PC19 0000h 1193 PC20 0000h 1194 PC21 0000h 1195 PC22 0000h 1196 PC23 0000h 1197 PC24 0000h 1198 PC25 0000h 1199 PC26 0000h 119A PC27 0000h 119B PC28 0000h 119C PC29 0000h 119D PC30 0000h 119E PC31 0000h 119F PC32 0000h 11A0 PC33 *HDI1 Head module DI1 (CN2-13) setting 0000h 11A1 PC34 *HDI2 Head module DI2 (CN2-1) setting 0000h 11A2 PC35 *HDI3 Head module DI3 (CN2-14) setting 0000h 11A3 PC36 *HDI4 Head module DI4 (CN2-2) setting 0000h 11A4 PC37 *HDI5 Head module DI5 (CN2-15) setting 0000h 11A5 PC38 *HDI6 Head module DI6 (CN2-3) setting 0000h 11A6 PC39 *HDI7 Head module DI7 (CN2-16) setting 0000h 11A7 PC40 *HDI8 Head module DI8 (CN2-4) setting 0000h 11A8 PC41 *HDI9 Head module DI9 (CN2-17) setting 0000h 11A9 PC42 *HDI10 Head module DI10 (CN2-5) setting 0000h 11AA PC43 *HDI11 Head module DI11 (CN2-18) setting 0000h 11AB PC44 *HDI12 Head module DI12 (CN2-6) setting 0000h 11AC PC45

For manufacturer setting 0000h

11AD PC46 0003h 11AE PC47 *HDO1 Head module DO1 (CN2-20) setting 0000h 11AF PC48 *HDO2 Head module DO2 (CN2-8) setting 0000h

11 - 21

11. PARAMETERS

Parameter No. Sensing pulse

I/O module Parameter No.

Symbol Name Initial Value Units

11B0 PC49 *COP2 Function selection C-2 0000h 11B1 PC50

For manufacturer setting 0000h

11B2 PC51 0000h 11B3 PC52 0000h 11B4 PC53 0000h 11B5 PC54 0000h 11B6 PC55 0000h 11B7 PC56 0000h 11B8 PC57 0000h 11B9 PC58 0000h 11BA PC59 0000h 11BB PC60 0000h 11BC PC61 0000h 11BD PC62 0000h 11BE PC63 0000h 11BF PC64 0000h

Note 1. The setting of parameter No.11A0 and after is only required for axes whose type code (parameter No.021E) is set to 3015h. Set the

initial value for axes whose type code is to be set to 3025h.

11 - 22

11. PARAMETERS

11.3 Control parameters

11.3.1 Servo amplifier MR-J4(W )- B

POINT The settings for the parameters with a * mark at the front of the symbol are

validated when the system is started. The when in tandem drive column in the table is for control parameter setting

classification of the axis for which the tandem drive is performed. Master shows where only the master value are valid, Same value shows both the master/slave axes is set to the same value, and Each axis shows where master/slave axis can be set separately. Refer to "Chapter 8" concerning details for the classification.

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0200 *OPC1 Control option 1 0001h 0000h to

2111h

Speed units Set the units for the speed command. 0: Position command units/min 1: Position command units/sec 2: r/min Note. Always set the same value

for the master axis and slave axis when in tandem drive.

Control Axis Set to 1 for implementing control of servo amplifier 0: Not controlled 1: Controlled Amplifier-less axis function Set to 1 when servo amplifier communication is not implemented. When set to 1 together with the control axis, it is possible to run without a servo amplifier (simulate). 0: Invalid 1: Valid No home position If the position when power is turned on is to be defined as home position set to 1. If home position return is performed, the current position after executing home position return is the home position. 0: Invalid 1: Valid

Same value

11 - 23

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0201 OPC2 Control option 2 0000h 0000h to

0121h 0

Position switch judgment conditions Set the position switch judgment conditions 0: Current command position 1: Current feedback position Continuous operation position over- bound processing Defines processing for when the stop position exceeds the command position during operation. 0: Alarm 1: Return to command position 2: Stop firmly at command position Note. Operates through "2: Stop

firmly at command position" when using circular interpolation.

Change of position over-bound processing Set processing for when the stop position exceeds the command position during position change. 0: Alarm 1: Return to command position

Master

0202 *OPC3 Control option 3 0001h 0000h to 0001h

0 0 0 Interlock signal polarity Set the polarity of the Interlock signal. 0: B-contact 1: A-contact

Master

0203 *AXALC Axis No. assignment

0000h 0000h to 011Fh MC200

0000h to 012Fh MC300

0 Servo amplifier axis No. Set the servo amplifier axis No. to be assigned to the axis Nos. on the position board. 00h: No axis No. assignment 01h to 14h: Axis No. 01h to 20h: Axis No. Example: 0Ah: Axis No. 10 Servo amplifier line No. Set the servo amplifier line No. to be assigned to the axis Nos. on the position board. 0 to 1: Line No.-1

Each axis

0204 ITM1 Interrupt condition 1

0000h 0000h to FFFFh

Set interrupt condition 1. Each axis

0205 ITM2 Interrupt condition 2

0000h 0000h to FFFFh

Set interrupt condition 2. Each axis

11 - 24

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0206 *OPC4 Control option 4 0000h 0000h to

1001h MC200

0000h to 1101h MC300

0

Predwell setting range Set the setting range of predwell. 0: 0 to 3000ms 1: 0 to 65535ms

Re-acceleration setting for position change during deceleration Set the re-acceleration setting for position change during deceleration to enabled/disabled. 0: Disabled 1: Enabled

High-speed update of monitor data Set to enabled for high-speed update of monitor data 1 to 4. 0: Disabled 1: Enabled

Master

0207 For manufacturer setting

0

0208 *BKC Backlash compensation amount

0000h pulse 0 to 65535

Setting for performing compensation of machine backlash.

Same value

0209 For manufacturer setting

0

020A *CMXL Electronic gear numerator (lower)

0001h 1 to 5242879 (32 bit)

Set the numerator for electronic gears. Master

020B *CMXH Electronic gear numerator (upper)

0000h

020C *CDVL Electronic gear denominator (lower)

0001h 1 to 589823 (32 bit)

Set the denominator for electronic gears. Master

020D *CDVH Electronic gear denominator (upper)

0000h

020E SUML Speed units multiplication factor (lower)

2000h

1 to 32768 (32 bit)

Set the multiplication factor for the speed command. Master

020F SUMH Speed units multiplication factor (upper)

0000h

0210 TLP Forward rotation torque limit value

3000 0.1% 0 to 32767

Set for limiting torque generated in the CW direction when the servo motor is exerting in the CCW direction.

Master

0211 TLN Reverse rotation torque limit value

3000 0.1% 0 to 32767

Set for limiting torque generated in the CCW direction when the servo motor is exerting in the CW direction.

Master

0212

For manufacturer setting

0

11 - 25

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0213 *GIOO General I/O

option 0000h 0000h to

0011h 0 0

Servo amplifier general input setting Set whether to use the general input of the servo amplifier. 0: Not used 1: Used Note. When the general input is

used, the limit switch signal and the dog signal cannot be input from the servo amplifier. Set other than "Driver input" to the sensor input method (parameter No.0219).

Servo amplifier general output setting Set whether to use the general output of the servo amplifier. 0: Not used 1: Used

Each axis

11 - 26

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0214 *GDNA General I/O

number assignment

0000h 0000h to FFFFh

Set assignment of the general I/O number. The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

General input assignment Specify the first digital input area number to assign the general input. 00h to 3Fh: Digital input area 0 to 63 Example: When the digital input

area number 01 is specified, assign 16 points of DI_010 to DI_01F. However, DI_013 to DI_01F are unavailable.

General output assignment Specify the first digital output area number to assign the general output. 00h to 3Fh: Digital output area

0 to 63 Example: When the digital output

area number 02 is specified, 16 points are assigned from DO_020 to DO_02F. However, DO_023 to DO_02F are unavailable.

[When using a I/O device table(MR-MC2 method)]

General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 00h to FFh: Input word device

number 0 to FF Example: When the input word

device number 01 is specified, 16 points are assigned from DVI_010 to DVI_01F. However, DVI_013 to DVI_01F are unavailable.

General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 00h to FFh: Output word device

number 00 to FF Example: When the output word

device number 02 is specified, 16 points are assigned from DVO_020 to DVO_02F. However, DVO_023 to DVI_02F are unavailable.

[When using a I/O device table (expanded points method)] MC300 Set in general input No. assignment (parameter No.0215) and general output No. assignment (parameter No.0216).

Each axis

11 - 27

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0215 *GDINA General input No.

assignment MC300

0000h 0000h to 023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)".

0 General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 000h to 23Fh: Input word device

number 000 to 23F Example: When the input word

device number 001 is specified, 16 points are assigned from DVI_0010 to DVI_001F. However, DVI_0013 to DVI_001F are unavailable.

Each axis

0216 *GDONA General output No. assignment MC300

0000h 0000h to 023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)".

0 General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 000h to 23Fh: Output word device

number 000 to 23F Example: When the output word

device number 002 is specified, 16 points are assigned from DVO_0020 to DVO_002F. However, DVO_0023 to DVI_002F are unavailable.

0217 For manufacturer setting

0000h

0218 *SSIA Sensor signal input assignment MC300

0000h 0000h to 0111h

Only valid when the I/O table (parameter No.004A) setting is I/O device table (expanded points method).

0 Input device assignment (LSP) Set the input device assignment connecting LSP to valid/invalid. 0: Assignment not set 1: Assignment valid Input device assignment (LSN) Set the input device assignment connecting LSN to valid/invalid. 0: Assignment not set 1: Assignment valid Input device assignment (DOG) Set the input device assignment connecting DOG to valid/invalid. 0: Assignment not set 1: Assignment valid

Each axis

11 - 28

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0219 *SOP Sensor input

options 0000h 0000h to

0304h 0 0

Sensor input system Set the input system of the sensor (LSP, LSN, DOG). 0: Not use 1: Driver input 2: Digital or input device input 3: Not connected (does not detect LSP, LSN, DOG) 4: Dual port memory input Limit switch signal selection Set valid/invalid of limit switch. 0: LSP/LSN are valid 1: LSP is valid, LSN is invalid 2: LSP is invalid, LSN is valid 3: LSP/LSN are invalid

Each axis

021A *SLSP Sensor signal (LSP) connection specification

0000h 0000 to FFF1h MC200

0000h to FFFFh MC300

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where LSP is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where LSP is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where LSP is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where LSP is connected. 000h to FFFh: DVI_000 to DVI_3FF

[When using a I/O device table (expanded points method)] MC300 Set the input device assignment connecting LSP to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where LSP is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF

Each axis

11 - 29

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 021B *SLSN Sensor signal

(LSN) connection specification

0000h 0000 to FFF1h MC200

0000h to FFFFh MC300

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where LSN is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where LSN is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where LSN is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where LSN is connected. 000h to FFFh: DVI_000 to DVI_3FF

[When using a I/O device table (expanded points method)] MC300 Set the input device assignment connecting LSN to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where LSN is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF

Each axis

11 - 30

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 021C *SDOG Sensor signal

(DOG) connection specification

0000h 0000 to FFF1h MC200

0000h to FFFFh MC300

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where DOG is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where DOG is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where DOG is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where DOG is connected. 000h to FFFh: DVI_000 to DVI_3FF

[When using a I/O device table (expanded points method)] MC300 Set the input device assignment connecting DOG to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where DOG is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF

Each axis

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. (SSCNET /H communication) 0000h: Mitsubishi Electric

Same value

021E *CODE Type code 1000h 0000h to FFFFh

Sets the type code. 1000h: MR-J4(W )- B 1200h: MR-JE- B(F)

Same value

021F For manufacturer setting

0

0220 OPS Speed options 0000h 0000h to 0002h

0 0 0 Acceleration/deceleration method Set the type of acceleration/ deceleration. 0: Linear acceleration/deceleration 1: Smoothing filter 2: Start up speed enable

Master

11 - 31

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0221 SRATE S-curve ratio 0 % 0 to 100 Set the S-curve ratio of the S-curve acceleration/

deceleration (Sine acceleration/deceleration). 0 : S-curve acceleration/deceleration invalid 1 to 100: S-curve acceleration/deceleration Note 1. S-curve acceleration/deceleration is

performed for the acceleration/deceleration selected in speed options (parameter No.0220).

2. The S-curve ratio set by this parameter is used in JOG operation, incremental feed operation and home position return. For automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , set the S-curve ratio in the point

table.

Master

0222 SPLL Speed limit value (lower)

0BB8h Speed units

0000h to FFFFh

Set the value for the moving speed limit. Master

0223 SPLH Speed limit value (upper)

0000h 0000h to 7FFFh

0224 LSPL Start up speed (lower)

0000h Speed units

0000h to FFFFh

Set the start up speed Master

0225 LSPH Start up speed (upper)

0000h 0000h to 7FFFh

0226 STC Smoothing time constant

0 ms 0 to 100 Sets the time constant of the smoothing filter. Master

0227 STE Rapid stop time constant

20 ms 0 to 20000

Set the deceleration time constant for when operation rapid stop or limit switch is input.

Master

0228 SLPL Software limit Upper limit (lower)

0000h Command units

0000h to FFFFh

Set the + side of the software limit. Master

0229 SLPH Software limit Upper limit (upper)

0000h 0000h to FFFFh

022A SLNL Software limit Lower limit (lower)

0000h Command units

0000h to FFFFh

Set the - side of the software limit. Master

022B SLNH Software limit Lower limit (upper)

0000h 0000h to FFFFh

022C PSPL Position switch Upper limit (lower)

0000h Command units

0000h to FFFFh

Set the + end position for turning on the position switch.

Master

022D PSPH Position switch Upper limit (upper)

0000h 0000h to FFFFh

022E PSNL Position switch Lower limit (lower)

0000h Command units

0000h to FFFFh

Set the - end position for turning on the position switch.

Master

022F PSNH Position switch Lower limit (upper)

0000h 0000h to FFFFh

11 - 32

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0230 CRPL Rough match

output limits (lower)

0000h Command units

0000h to FFFFh

Set the remaining distance limits for outputting a command for rough matching.

Master

0231 CRPH Rough match output limits (upper)

0000h 0000h to 7FFFh

0232 For manufacturer setting

0 0233 0

: : 023E 0 023F *IFBN Interface mode

maximum buffer number

0 0 to 63 Set the maximum value for buffer number used during interface mode. Set value + 1 is the number of buffers. Note. When controlling with interrupt output invalid in

interface mode, maximum value of 1 or more must be set.

0240 *OPZ1 Home position return option 1

0000h 0000h to 112Dh

Home position return direction Set the home position return direction with respect to the proximity dog. Or the movement direction for creep speed movement. 0: - direction 1: + direction 2: Shortcut direction (Note 1) Proximity dog input polarity Set the input polarity for the proximity dog 0: Normally closed contact 1: Normally open contact

Home position return method (Note 1), (Note 2) Set the method for home position return. 0: Dog method 2: Data set method 3: Stopper method 4: Dog cradle method 5: Limit switch combined method 6: Scale home position signal detection method 7: Limit switch front end method 8: Dog front end method C: Z-phase detection method D: Scale home position signal detection method 2

Home position signal re-search (Note 2) Set "1" when using an incremental encoder or incremental linear scale. 0: Do not search again 1: Searching again

Note 1. Shortcut direction is available only by Z- phase detection method.

2. Can be changed while system is running. (When using MR-MC2 , compatible with software version A5 or later)

Master

11 - 33

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0241 *OPZ2 Home position

return option 2 0000h 0000h

to 0011h 0 0

Change of absolute position data on home position reset If 1 is set, the home position multiple revolution data and home position within 1 revolution position are renewed when the home position is reset. 0: Invalid 1: Valid

Absolute position data Set the validity/invalidity of restoring the absolute position. 0: Invalid (The position at system

startup is defined to be 0. Home position return must be executed prior to performing automatic operation or linear interpolation operation /interpolation operation .)

1: Valid (absolute position is set at startup based on the home position multiple revolution data and the home position within 1 revolution position.)

Master

0242 ZSPL Home position return speed (lower)

00C8h Speed units

0000h to FFFFh

Set the moving speed for home position return. Master

0243 ZSPH Home position return speed (upper)

0000h 0000h to 7FFFh

0244 ZTCA Home position return acceleration time constant

100 ms 0 to 20000

Set the acceleration time constant for home position return.

Master

0245 ZTCD Home position return deceleration time constant

100 ms 0 to 20000

Set the deceleration time constant for home position return.

Master

0246 ZPSL Home position coordinates (lower)

0000h Command units

0000h to FFFFh

Set the home position coordinates (position after completing home position return).

Master

0247 ZPSH Home position coordinates (upper)

0000h 0000h to FFFFh

0248 ZSTL Amount of home position shift (lower)

0000h Command units

0000h to FFFFh

Set the amount of shift from the Z-phase pulse detection position of the detector.

Master

0249 ZSTH Amount of home position shift (upper)

0000h 0000h to FFFFh

024A ZLL Home position search limit (lower)

0000h Command units

0000h to FFFFh

Set a limit on the movement amount when searching for the home position.

Master

024B ZLH Home position search limit (upper)

0000h 0000h to 7FFFh

024C CRF Creep speed 0014h Speed units

0000h to 7FFFh

Set the creep speed after detecting the proximity dog.

Master

11 - 34

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 024D *LS0 Home position

multiple revolution data

0000h rev 0000h to FFFFh

Set the home position multiple revolution data. (Only using with the absolute position detection system.)

Each axis

024E *CY0L Home position within 1 revolution position (lower)

0000h pulse 0000h to FFFFh

Set the within 1 revolution home position. (Only using with the absolute position detection system.)

Each axis

024F *CY0H Home position within 1 revolution position (upper)

0000h 0000h to FFFFh

0250 ZPML Z-phase mask amount (lower)

0000h Command units

0000h to FFFFh

Set the reference encoder Z-phase mask amount when the home position return method is set to the Z- phase detection method.

Master

0251 ZPMH Z-phase mask amount (upper)

0000h 0000h to 7FFFh

0252

For manufacturer setting

0

0253 0 0254 0 0255 0 0256 0 0257 0 0258 0 0259 0 025A 0 025B 0 025C FREQ Vibration

suppression command filter 1 frequency MC300

0 0.1Hz 0 to 22500

Set the vibration suppression command filter 1 frequency in increments of 0.1Hz. The setting range for each control cycle is shown below. When a frequency outside of the range is set, vibration suppression command filter 1 becomes invalid.

Master

Control cycle

[ms] Minimum value

[Hz] Maximum value [Hz]

0.88 2.2 562.5 0.44 4.4 1125.0 0.22 8.8 2250.0

025D ATT Vibration suppression command filter 1 attenuation MC300

0 0 to 32 Set the attenuation of the vibration component. 0: Maximum filter attenuation

Master

025E EDRP Vibration suppression command filter 1 operation ending droop MC300

0 pulse 0 to 10000

Set the operation ending droop for when operation finishes. When the amount of droop by vibration suppression command filter 1 is equal to or less than the set value, all remaining pulses are output and operation ends. 0: 5[pulse]

Master

025F

For manufacturer setting

0

11 - 35

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0260 *LGRP Linear

interpolation group MC200

0000h 0000h to 0008h

0 0 Group number Set the group number for the linear interpolation /interpolation operation group. 00h : Invalid 01h to 08h: Group number 01h to 10h: Group number Example. 0Ah: Group number 10

Master

Interpolation group MC300

0000h to 0010h

0261 LOP Linear interpolation options MC200

0000h 0000h to 0002h

0 0 Excessive speed processing 0: Speed clamp 1: Alarm and stop 2: No processing Trajectory processing during continuous operation When using continuous operation for interpolation operation, select the trajectory processing to use when the point data is switched. 0: Position adjustment 1: Proximity pass

Master

Interpolation options MC300

0000h to 0102h

0262 LSLL Linear interpolation speed limit value (lower) MC200

0BB8h Speed units

0000h to FFFFh

Set the limit for linear interpolation speed MC200 / interpolation speed MC300 .

Master

Interpolation speed limit value (lower) MC300

0263 LSLH Linear interpolation speed limit value (upper) MC200

0000h 0000h to 7FFFh

Interpolation speed limit value (upper) MC300

0264 *TGRP Tandem drive group

0 0000h to 0008h

0 0 0 Group number Set the group number for the tandem drive group. 0 : Invalid 1 to 8: Group number

Same value

11 - 36

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0265 TOP Tandem drive

options 0000h 0000h to

1011h 0

Method of to home position return Set the operation method when the scale home position signal detection method is used for return to home position. 0: Normal mode 1: Adjustment mode Synchronization setting Set the validity/invalidity of synchronization for turning servo on. 0: Valid 1: Invalid Compensation of home position return deviation Set the validity/invalidity of deviation compensation for home position return. 0: Deviation compensation invalid 1: Deviation compensation valid Note. In home position return using

a scale home positon signal detection method, the deviation compensation becomes valid regardless of this setting.

Master

0266 *TEV Tandem drive synchronous alignment valid width

10000 Command units

0 to 32767

Set the valid width for performing compensation of the deviation between the master axis and slave axis when the servo is turned on. (0: The check with the synchronous alignment valid width is invalid.)

Master

0267 *TES Tandem drive synchronous alignment speed

10000 Speed units

1 to 32767

Set the speed for performing compensation of the deviation between the master axis and slave axis when the servo is turned on.

Master

0268 *TEO Tandem drive excessive deviation width

10000 Command units

0 to 32767

Set the detection level for the excessive deviation alarm for deviation between the master axis and the slave axis. (0: The check with the excessive deviation width is invalid.)

Master

0269 *TMAG Tandem drive unit multiplication factor

1 1 to 32767

Set the multiplication factor for excessive deviation width, synchronization speed, and synchronization valid width for tandem drive axes.

Master

026A *TED Late starting of tandem drive excessive deviation detection

50 ms 0 to 500 Set the delay time for from completion of synchronization for turning servo on until detection of excessive deviation is started.

Master

026B *TOFL Valid width of tandem drive deviation compensation

10000 Command units

0 to 32767

Set the permissible width for performing compensation of the deviation between the master axis and slave axis when home position return is performed while in tandem drive axes mode. (0: The check with the valid width of deviation compensation is invalid.)

Master

026C TZOFL Tandem drive home position signal offset (lower)

0000h Command units

0000h to FFFFh

Set the amount of offset for the home position signal position while in tandem drive axes mode. (Used when performing home position return using the scale home position signal detection method.)

Master

026D TZOFH Tandem drive home position signal offset (upper)

0000h 0000h to FFFFh

11 - 37

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 026E *TOFS Tandem drive

deviation compensation units multiplication

0

0 to 32767

Set the multiplication for valid width of tandem drive deviation compensation. Note. When the setting value is 0, the multiplication is 1 times.

Master

026F For manufacturer setting

0 0270 0

: : 027F 0 0280 0 0281 *IOP Interference

check options 0000h

0000h to 12F1h MC200

0000h to 13F1h MC300 .

Interference check Set validity/invalidity of interference check. 0: Invalid 1: Valid

Interference check coordinate direction Set the direction of the coordinate system for the axis from the perspective of the standard coordinate system. 0: Same direction 1: Opposite direction

Interference check axis Set the opposing axis for performing interference check. 00h to 1Fh: Interference check axis

-1 00h to 3Fh: interference check axis

-1 Example: 0: axis No. 1

Master

0282 *IOP2 Interference check options 2

0000h

0000h to 0011h

00 Interference check direction Set the direction for which interference check is performed. 0: + direction of coordinate system for the axis 1: - direction of coordinate system for the axis Interference check standby Set validity/invalidity of interference check standby. 0: Invalid 1: Valid

Master

0283

For manufacturer setting

0

0284 IOFL Interference check offset (lower)

0000h Command units

0000h to FFFFh

Set the position on the home position standard coordinate system.

Master

0285 IOFH Interference check offset (upper)

0000h 0000h to FFFFh

0286 IWL Interference check width (lower)

0000h Command units

0000h to FFFFh

Set the width from the interference check axis target position of the area where interference check is performed.

Master

0287 IWH Interference check width (upper)

0000h 0000h to 7FFFh

11 - 38

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 0288

For manufacturer setting

0

0289 0 : :

02AF 0 02B0 *MKOP1 Mark detection

option 1 0000h 0000h to

3F23h MC200

0000h to 7F23h MC300

Mark detection signal number specification 1 Set the mark detection signal number to be used. 0 : Invalid 1 to 3: Mark detection signal number (DI1 to DI3) Mark detection mode Set the mark detection mode. 0: Continuous detection 1: Specified number of detection 2: Ring buffer Number of continuous latch data storages (Note) Set the number of data that can be latched continuously. 00h to 3Fh: Number of continuous

latch data storages - 1

00h to 7Fh: Number of continuous latch data storages - 1

Note. The following number of continuous latch data storages can be set in the

whole system. Using MR-MC2 : 64 Using MR-MC3 : 128

Each axis

02B1 MKDS1 Mark detection data setting 1

0000h 0000h to 0111h

0 ON edge detection setting Set enable/disable for detection at ON edge. 0: Disable 1: Enable OFF edge detection setting Set enable/disable for detection at OFF edge. 0: Disable 1: Enable Mark detection data type Set the type of data to be stored as mark detection data. 0: Current feedback position [command units] 1: Current feedback position [pulse]

Each axis

11 - 39

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 02B2 *MKOP2 Mark detection

option 2 0000h 0000h to

3F23h MC200

0000h to 7F23h MC300

Mark detection signal number specification 2 Set the mark detection signal number to be used. 0 : Invalid 1 to 3: Mark detection signal number (DI1 to DI3) Mark detection mode Set the mark detection mode. 0: Continuous detection 1: Specified number of detection 2: Ring buffer Number of continuous latch data storages (Note) Set the number of data that can be latched continuously. 00h to 3Fh: Number of continuous

latch data storages - 1

00h to 7Fh: Number of continuous latch data storages - 1

Note. The following number of continuous latch data storages can be set in the

whole system. Using MR-MC2 : 64 Using MR-MC3 : 128

Each axis

02B3 MKDS2 Mark detection data setting 2

0000h 0000h to 0111h

0 ON edge detection setting Set enable/disable for detection at ON edge. 0: Disable 1: Enable OFF edge detection setting Set enable/disable for detection at OFF edge. 0: Disable 1: Enable Mark detection data type Set the type of data to be stored as mark detection data. 0: Current feedback position [command units] 1: Current feedback position [pulse]

Each axis

02B4 MKNL1 Latch data range lower limit 1 (lower)

0000h 0000h to FFFFh

Specify the range (lower limit) of data to be latched at detection of the mark detection signal of mark detection signal number specification 1. (Note1), (Note 2)

Each axis

02B5 MKNH1 Latch data range lower limit 1 (upper)

0000h 0000h to FFFFh

Each axis

02B6 MKXL1 Latch data range upper limit 1 (lower)

0000h 0000h to FFFFh

Specify the range (upper limit) of data to be latched at detection of the mark detection signal of mark detection signal number specification 1. (Note1), (Note 2)

Each axis

02B7 MKXH1 Latch data range upper limit 1 (upper)

0000h 0000h to FFFFh

Each axis

11 - 40

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function When in

tandem drive 02B8 MKNL2 Latch data range

lower limit 2 (lower)

0000h 0000h to FFFFh

Specify the range (lower limit) of data to be latched at detection of the mark detection signal of mark detection signal number specification 2. (Note1), (Note 2)

Each axis

02B9 MKNH2 Latch data range lower limit 2 (upper)

0000h 0000h to FFFFh

Each axis

02BA MKXL2 Latch data range upper limit 2 (lower)

0000h 0000h to FFFFh

Specify the range (upper limit) of data to be latched at detection of the mark detection signal of mark detection signal number specification 2. (Note1), (Note 2)

Each axis

02BB MKXH2 Latch data range upper limit 2 (upper)

0000h 0000h to FFFFh

Each axis

02BC For manufacturer setting

0

02BD 0 02BE 0 02BF 0 02C0 0 02C1 0

: : 02CB 0 02CC CIERL Allowable error

range for circular interpolation (lower) MC300

0000h Command units

0 to 1000000 (32 bit)

Sets the allowable range for the calculated arc trajectory and the end point coordinate. (Note) When the error between the calculated arc trajectory and end coordinate is within the set range, both circular interpolation to the set end point coordinate and error compensation are executed simultaneously by means of spiral interpolation. For allowable error range for circular interpolation, the primary axis settings are valid. Note. For central point-specified 2-axis circular

interpolation control, the trajectory of the arc calculated from the start and central point coordinates may not coincide with the end point coordinate.

Master

02CD CIERH Allowable error range for circular interpolation (upper) MC300

0000h

02CE For manufacturer setting

0

02CF 0 : :

02FF 0 Note 1. When changed while system is running, changes are enabled when a mark detection settings enable command is input.

2. The set units are regarded as command units, or pulse units (the unit set in mark detection data type (parameter No.02B1)).

11 - 41

11. PARAMETERS

11.3.2 Sensing module (axis mode)

POINT The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0200 *OPC1 Control option 1 0000h 0000h to 2101h

0 Control Axis Set to 1 for implementing control of servo amplifier 0: Not controlled 1: Controlled

Speed units Set the units for the speed command. 0: Position command units/min 1: Position command units/sec 2: r/min

No home position If the position when power is turned on is to be defined as home position set to 1. If home position return is performed, the current position after executing home position return is the home position. 0: Invalid 1: Valid

0201 OPC2 Control option 2 0000h 0000h to

0121h 0

Position switch judgment conditions Set the position switch judgment conditions 0: Current command position 1: Current feedback position Continuous operation position over- bound processing Defines processing for when the stop position exceeds the command position during operation. 0: Alarm 1: Return to command position 2: Stop firmly at command position Note. Operates through "2: Stop

firmly at command position" when using circular interpolation.

Change of position over-bound processing Set processing for when the stop position exceeds the command position during position change. 0: Alarm 1: Return to command position

11 - 42

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0202 *OPC3 Control option 3 0001h 0000h to 1001h 0 0

Interlock signal polarity Set the polarity of the Interlock signal. 0: B-contact 1: A-contact Incompletion of home position return after servo OFF Set 1 to make the home position return incomplete after servo OFF 0: Do not make home position return

incomplete 1: Make home position return

incomplete 0203 *AXALC Axis No. assignment 0000h 0000h to

011Fh MC200

0000h to 012Fh MC300

0 Servo amplifier axis No. Set the servo amplifier axis No. to be assigned to the axis Nos. on the position board. 00h: No axis No. assignment 01h to 14h: Axis No. 01h to 20h: Axis No. Example: 0Ah: Axis No. 10 Servo amplifier line No. Set the servo amplifier line No. to be assigned to the axis Nos. on the position board. 0 to 1: Line No.-1

0204 ITM1 Interrupt condition 1 0000h 0000h to FFFFh

Set interrupt condition 1.

0205 ITM2 Interrupt condition 2 0000h 0000h to FFFFh

Set interrupt condition 2.

0206 *OPC4 Control option 4 0000h 0000h to 1001h MC200

0000h to 1101h MC300

0

Predwell setting range Set the setting range of predwell. 0: 0 to 3000ms 1: 0 to 65535ms

Re-acceleration setting for position change during deceleration Set the re-acceleration setting for position change during deceleration to enabled/disabled. 0: Disabled 1: Enabled

High-speed update of monitor data Set to enabled for high-speed update of monitor data 1 to 4. 0: Disabled 1: Enabled

0207 For manufacturer setting 0 0208 *BKC Backlash compensation

amount 0000h pulse 0 to 65535 Setting for performing compensation of machine

backlash. 0209 For manufacturer setting 0 020A *CMXL Electronic gear numerator

(lower) 0001h 1 to

5242879 (32 bit)

Set the numerator for electronic gears.

020B *CMXH Electronic gear numerator (upper)

0000h

11 - 43

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

020C *CDVL Electronic gear denominator (lower)

0001h 1 to 589823 (32 bit)

Set the denominator for electronic gears.

020D *CDVH Electronic gear denominator (upper)

0000h

020E SUML Speed units multiplication factor (lower)

2000h

1 to 32768 (32 bit)

Set the multiplication factor for the speed command.

020F SUMH Speed units multiplication factor (upper)

0000h

0210 For manufacturer setting 3000

0211 3000 0212 0 0213 *GIOO General I/O option 0000h 0000h to

0011h 0 0

Servo amplifier general input setting Set whether to use the general input of the servo amplifier. 0: Not used 1: Used Servo amplifier general output setting Set whether to use the general output of the servo amplifier. 0: Not used 1: Used

11 - 44

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0214 *GDNA General I/O number assignment

0000h 0000h to FFFFh

Set assignment of the general I/O number. The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

General input assignment Specify the first digital input area number to assign the general input. 00h to 3Fh: Digital input area 0 to 63 Example: When the digital input

area number 01 is specified, assign 16 points of DI_010 to DI_01F. However, DI_013 to DI_01F are unavailable.

General output assignment Specify the first digital output area number to assign the general output. 00h to 3Fh: Digital output area

0 to 63 Example: When the digital output

area number 02 is specified, 16 points are assigned from DO_020 to DO_02F. However, DO_023 to DO_02F are unavailable.

[When using a I/O device table(MR-MC2 method)]

General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 00h to FFh: Input word device

number 0 to FF Example: When the input word

device number 01 is specified, 16 points are assigned from DVI_010 to DVI_01F. However, DVI_013 to DVI_01F are unavailable.

General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 00h to FFh: Output word device

number 00 to FF Example: When the output word

device number 02 is specified, 16 points are assigned from DVO_020 to DVO_02F. However, DVO_023 to DVI_02F are unavailable.

[When using a I/O device table (expanded points method)] MC300 Set in general input No. assignment (parameter No.0215) and general output No. assignment (parameter No.0216).

11 - 45

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0215 *GDINA General input No. assignment MC300

0000h 0000h to 023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)".

0 General input assignment Specify the first input word device number that corresponds with the input bit device number to assign the general input. 000h to 23Fh: Input word device

number 000 to 23F Example: When the input word

device number 001 is specified, 16 points are assigned from DVI_0010 to DVI_001F. However, DVI_0013 to DVI_001F are unavailable.

0216 *GDONA General output No. assignment MC300

0000h 0000h to 023Fh

Only valid when the I/O table (parameter No.004A) setting is "Use I/O device table (expanded points method)".

0 General output assignment Specify the first output word device number that corresponds with the output bit device number to assign the general input. 000h to 23Fh: Output word device

number 000 to 23F Example: When the output word

device number 002 is specified, 16 points are assigned from DVO_0020 to DVO_002F. However, DVO_0023 to DVI_002F are unavailable.

0217 For manufacturer setting 0000h 0218 *SSIA Sensor signal input

assignment MC300 0000h 0000h to

0111h Only valid when the I/O table (parameter No.004A) setting is I/O device table (expanded points method).

0 Input device assignment (LSP) Set the input device assignment connecting LSP to valid/invalid. 0: Assignment not set 1: Assignment valid Input device assignment (LSN) Set the input device assignment connecting LSN to valid/invalid. 0: Assignment not set 1: Assignment valid Input device assignment (DOG) Set the input device assignment connecting DOG to valid/invalid. 0: Assignment not set 1: Assignment valid

11 - 46

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0219 *SOP Sensor input options 0000h 0000h to 0304h

0 0 Sensor input system Set the input system of the sensor (LSP, LSN, DOG). 0: Not use 1: Driver input 2: Digital or input device input 3: Not connected (does not detect LSP, LSN, DOG) 4: Dual port memory input Limit switch signal selection Set valid/invalid of limit switch. 0: LSP/LSN are valid 1: LSP is valid, LSN is invalid 2: LSP is invalid, LSN is valid 3: LSP/LSN are invalid

021A *SLSP Sensor signal (LSP) connection specification

0000h 0000 to FFF1h MC200

0000h to FFFFh MC300

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where LSP is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where LSP is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where LSP is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where LSP is connected. 000h to FFFh: DVI_000 to DVI_3FF

[When using a I/O device table (expanded points method)] MC300 Set the input device assignment connecting LSP to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where LSP is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF

11 - 47

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

021B *SLSN Sensor signal (LSN) connection specification

0000h 0000 to FFF1h

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where LSN is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where LSN is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where LSN is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where LSN is connected. 000h to FFFh: DVI_000 to DVI_3FF

[When using a I/O device table (expanded points method)] MC300 Set the input device assignment connecting LSN to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where LSN is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF

11 - 48

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

021C *SDOG Sensor signal (DOG) connection specification

0000h 0000 to FFF1h

The setting target differs depending on the I/O table (parameter No.004A) setting. [When using a digital I/O table]

Digital input assignment Set valid/invalid for the digital input assignment where DOG is connected. 0: Not assigned 1: Assigned Digital input number assignment Set the digital input number where DOG is connected. 000h to 3FFh: DI_000 to DI_3FF

[When using a I/O device table (MR-MC2 method)]

Input device assignment Set valid/invalid for the input device assignment where DOG is connected. 0: Not assigned 1: Assigned Input device number assignment Set the input device number where DOG is connected. 000h to FFFh: DVI_000 to DVI_3FF

[When using a I/O device table (expanded points method)] MC300 Set the input device assignment connecting DOG to valid/invalid in sensor signal input assignment (parameter No.0218).

Input device number assignment Set the input device number where DOG is connected. 0000h to 23FFh: DVI_0000 to

DVI_23FF 021D *VEND Vendor ID 0000h 0000h to

FFFFh Set the vendor ID. (SSCNET /H communication) 0000h: Mitsubishi Electric

021E *CODE Type code 1000h 0000h to FFFFh

Sets the type code. 3015h: Sensing SSCNET /H head module +

Sensing pulse I/O module (axis mode) 3025h: Sensing pulse I/O module (axis mode)

021F For manufacturer setting 0 0220 OPS Speed options 0000h 0000h to

0002h 0 0 0

Acceleration/deceleration method Set the type of acceleration/ deceleration. 0: Linear acceleration/deceleration 1: Smoothing filter 2: Start up speed enable

11 - 49

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0221 SRATE S-curve ratio 0 % 0 to 100 Set the S-curve ratio of the S-curve acceleration/ deceleration (Sine acceleration/deceleration). 0 : S-curve acceleration/deceleration invalid 1 to 100: S-curve acceleration/deceleration Note 1. S-curve acceleration/deceleration is

performed for the acceleration/deceleration selected in speed options (parameter No.0220).

2. The S-curve ratio set by this parameter is used in JOG operation, incremental feed operation and home position return. For automatic operation and linear interpolation operation MC200 /interpolation operation MC300 , set the S-curve ratio in the point

table. 0222 SPLL Speed limit value (lower) 0BB8h Speed

units 0000h to FFFFh

Set the value for the moving speed limit.

0223 SPLH Speed limit value (upper) 0000h 0000h to 7FFFh

0224 LSPL Start up speed (lower) 0000h Speed units

0000h to FFFFh

Set the start up speed

0225 LSPH Start up speed (upper) 0000h 0000h to 7FFFh

0226 STC Smoothing time constant 0 ms 0 to 100 Sets the time constant of the smoothing filter. 0227 STE Rapid stop time constant 20 ms 0 to 20000 Set the deceleration time constant for when operation

rapid stop or limit switch is input. 0228 SLPL Software limit

Upper limit (lower) 0000h Command

units 0000h to FFFFh

Set the + side of the software limit.

0229 SLPH Software limit Upper limit (upper)

0000h 0000h to FFFFh

022A SLNL Software limit Lower limit (lower)

0000h Command units

0000h to FFFFh

Set the - side of the software limit.

022B SLNH Software limit Lower limit (upper)

0000h 0000h to FFFFh

022C PSPL Position switch Upper limit (lower)

0000h Command units

0000h to FFFFh

Set the + end position for turning on the position switch.

022D PSPH Position switch Upper limit (upper)

0000h 0000h to FFFFh

022E PSNL Position switch Lower limit (lower)

0000h Command units

0000h to FFFFh

Set the - end position for turning on the position switch.

022F PSNH Position switch Lower limit (upper)

0000h 0000h to FFFFh

0230 CRPL Rough match output limits (lower)

0000h Command units

0000h to FFFFh

Set the remaining distance limits for outputting a command for rough matching.

0231 CRPH Rough match output limits (upper)

0000h 0000h to 7FFFh

0232 INPC In-position range (controller)

0 pulse 0 to 65535 Set the in-position range to be determined by the position board.

0233 For manufacturer setting 0 0234 0

: : 023E 0

11 - 50

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

023F *IFBN Interface mode maximum buffer number

0 0 to 63 Set the maximum value for buffer number used during interface mode. Set value + 1 is the number of buffers. Note. When controlling with interrupt output invalid in

interface mode, maximum value of 1 or more must be set.

0240 *OPZ1 Home position return option 1

0000h 0000h to 011Ch

0

Home position return direction Set the home position return direction with respect to the proximity dog. Or the movement direction for creep speed movement. 0: - direction 1: + direction Proximity dog input polarity Set the input polarity for the proximity dog 0: Normally closed contact 1: Normally open contact

Home position return method Set the method for home position return. 0: Dog method 2: Data set method 4: Dog cradle method 5: Limit switch combined method 7: Limit switch front end method 8: Dog front end method C: Z-phase detection method

0241 For manufacturer setting 0000h 0242 ZSPL Home position return

speed (lower) 00C8h Speed

units 0000h to FFFFh

Set the moving speed for home position return.

0243 ZSPH Home position return speed (upper)

0000h 0000h to 7FFFh

0244 ZTCA Home position return acceleration time constant

100 ms 0 to 20000 Set the acceleration time constant for home position return.

0245 ZTCD Home position return deceleration time constant

100 ms 0 to 20000 Set the deceleration time constant for home position return.

0246 ZPSL Home position coordinates (lower)

0000h Command units

0000h to FFFFh

Set the home position coordinates (position after completing home position return).

0247 ZPSH Home position coordinates (upper)

0000h 0000h to FFFFh

0248 ZSTL Amount of home position shift (lower)

0000h Command units

0000h to FFFFh

Set the amount of shift from the Z-phase pulse detection position of the detector.

0249 ZSTH Amount of home position shift (upper)

0000h 0000h to FFFFh

024A ZLL Home position search limit (lower)

0000h Command units

0000h to FFFFh

Set a limit on the movement amount when searching for the home position.

024B ZLH Home position search limit (upper)

0000h 0000h to 7FFFh

024C CRF Creep speed 0014h Speed units

0000h to 7FFFh

Set the creep speed after detecting the proximity dog.

024D For manufacturer setting 0000h 024E 0000h 024F 0000h 0250 0000h 0251 0000h

11 - 51

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0252 COW Standby time after clear signal output

0 ms 0 to 1000 Set the standby time from the clear signal output until position settling is completed during home position return. 0 : 100ms 1 to 1000: 1 to 1000ms

0253

For manufacturer setting 0

0254 0 0255 0 0256 0 0257 0 0258 0 0259 0 025A 0 025B 0 025C FREQ Vibration suppression

command filter 1 frequency MC300

0 0.1Hz 0 to 22500 Set the vibration suppression command filter 1 frequency in increments of 0.1Hz. The setting range for each control cycle is shown below. When a frequency outside of the range is set, vibration suppression command filter 1 becomes invalid.

Control cycle

[ms] Minimum value

[Hz] Maximum value [Hz]

0.88 2.2 562.5 0.44 4.4 1125.0 0.22 8.8 2250.0

025D ATT Vibration suppression command filter 1 attenuation MC300

0

0 to 32 Set the attenuation of the vibration component. 0: Maximum filter attenuation

025E EDRP Vibration suppression command filter 1 operation ending droop MC300

0 pulse 0 to 10000 Set the operation ending droop for when operation finishes. When the amount of droop by vibration suppression command filter 1 is equal to or less than the set value, all remaining pulses are output and operation ends. 0: 5[pulse]

025F For manufacturer setting 0

0260 *LGRP Linear interpolation group MC200

0000h 0000h to 0008h

0 0 Group number Set the group number for the linear interpolation /interpolation operation group. 00h : Invalid 01h to 08h: Group number 01h to 10h: Group number Example. 0Ah: Group number 10

Interpolation group MC300

0000h to 0010h

11 - 52

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0261 LOP Linear interpolation options MC200

0000h 0000h to 0002h

0 0 Excessive speed processing 0: Speed clamp 1: Alarm and stop 2: No processing Trajectory processing during continuous operation When using continuous operation for interpolation operation, select the trajectory processing to use when the point data is switched. 0: Position adjustment 1: Proximity pass

Interpolation options MC300

0000h to 0102h

0262 LSLL Linear interpolation speed limit value (lower) MC200

0BB8h Speed units

0000h to FFFFh

Set the limit for linear interpolation speed MC200 / interpolation speed MC300 .

Interpolation speed limit value (lower) MC300

0263 LSLH Linear interpolation speed limit value (upper) MC200

0000h 0000h to 7FFFh

Interpolation speed limit value (upper) MC300

0264 For manufacturer setting 0 0265 0000h 0266 10000 0267 10000 0268 10000 0269 1 026A 50 026B 10000 026C 0000h 026D 0000h 026E 0 026F 0 0270 0

: : 027F 0 0280 0 0281 *IOP Interference check

options 0000h

0000h to 12F1h MC200

0000h to 13F1h MC300 .

Interference check Set validity/invalidity of interference check. 0: Invalid 1: Valid

Interference check coordinate direction Set the direction of the coordinate system for the axis from the perspective of the standard coordinate system. 0: Same direction 1: Opposite direction

Interference check axis Set the opposing axis for performing interference check. 00h to 1Fh: Interference check axis

-1 00h to 3Fh: interference check axis

-1 Example: 0: axis No. 1

11 - 53

11. PARAMETERS

Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0282 *IOP2 Interference check options 2

0000h

0000h to 0011h

00 Interference check direction Set the direction for which interference check is performed. 0: + direction of coordinate system for the axis 1: - direction of coordinate system for the axis Interference check standby Set validity/invalidity of interference check standby. 0: Invalid 1: Valid

0283 For manufacturer setting 0 0284 IOFL Interference check offset

(lower) 0000h Command

units 0000h to FFFFh

Set the position on the home position standard coordinate system.

0285 IOFH Interference check offset (upper)

0000h 0000h to FFFFh

0286 IWL Interference check width (lower)

0000h Command units

0000h to FFFFh

Set the width from the interference check axis target position of the area where interference check is performed. 0287 IWH Interference check width

(upper) 0000h 0000h to

7FFFh 0288

For manufacturer setting 0

: : 02AF 0 02B0 0000h

: : 02BB 0000h 02BC 0 02BD 0

: : 02CB 0 02CC CIERL Allowable error range for

circular interpolation (lower) MC300

0000h Command units

0 to 1000000 (32 bit)

Sets the allowable range for the calculated arc trajectory and the end point coordinate. (Note) When the error between the calculated arc trajectory and end coordinate is within the set range, both circular interpolation to the set end point coordinate and error compensation are executed simultaneously by means of spiral interpolation. For allowable error range for circular interpolation, the primary axis settings are valid. Note. For central point-specified 2-axis circular

interpolation control, the trajectory of the arc calculated from the start and central point coordinates may not coincide with the end point coordinate.

02CD CIERH Allowable error range for circular interpolation (upper) MC300

0000h

02CE For manufacturer setting 0 02CF 0

: : 02FF 0

11 - 54

11. PARAMETERS

11.4 RIO module parameters

11.4.1 SSCNET /H head module

Refer to "MELSEC-L SSCNET /H Head Module User's Manual" for the RIO module parameters of the SSCNET /H head module. 11.4.2 Sensing module (station mode)

The RIO module parameters of the sensing module are shown below. Refer to Sensing Module Instruction Manual for details of the sensing module.

POINT The parameters with a * mark at the front of the symbol are validated according

to the following conditions. *: The setting value for the system startup or the SSCNET reconnection is

valid. The parameter change after the system startup is invalid. **: The setting value for the system startup or the SSCNET reconnection is

valid. However, after the system startup, turn off the power supply of the servo amplifier once, and it is necessary to turn on it again. The parameter change after the system startup is invalid.

11 - 55

11. PARAMETERS

(1) Sensing SSCNET /H head module parameters

Parameter No. Sensing module Parameter No.

Symbol Name Initial Value Units

1100 PTA001 *HDI11 DI1 (CN2-13) setting 1 0000h 1101 PTA002 *HDI12 DI1 (CN2-13) setting 2 0000h 1102 PTA003 *HDI21 DI2 (CN2-1) setting 1 0000h 1103 PTA004 *HDI22 DI2 (CN2-1) setting 2 0000h 1104 PTA005 *HDI31 DI3 (CN2-14) setting 1 0000h 1105 PTA006 *HDI32 DI3 (CN2-14) setting 2 0000h 1106 PTA007 *HDI41 DI4 (CN2-2) setting 1 0000h 1107 PTA008 *HDI42 DI4 (CN2-2) setting 2 0000h 1108 PTA009 *HDI51 DI5 (CN2-15) setting 1 0000h 1109 PTA010 *HDI52 DI5 (CN2-15) setting 2 0000h 110A PTA011 *HDI61 DI6 (CN2-3) setting 1 0000h 110B PTA012 *HDI62 DI6 (CN2-3) setting 2 0000h 110C PTA013 *HDI71 DI7 (CN2-16) setting 1 0000h 110D PTA014 *HDI72 DI7 (CN2-16) setting 2 0000h 110E PTA015 *HDI81 DI8 (CN2-4) setting 1 0000h 110F PTA016 *HDI82 DI8 (CN2-4) setting 2 0000h 1110 PTA017 *HDI91 DI9 (CN2-17) setting 1 0000h 1111 PTA018 *HDI92 DI9 (CN2-17) setting 2 0000h 1112 PTA019 *HDIA1 DI10 (CN2-5) setting 1 0000h 1113 PTA020 *HDIA2 DI10 (CN2-5) setting 2 0000h 1114 PTA021 *HDIB1 DI11 (CN2-18) setting 1 0000h 1115 PTA022 *HDIB2 DI11 (CN2-18) setting 2 0000h 1116 PTA023 *HDIC1 DI12 (CN2-6) setting 1 0000h 1117 PTA024 *HDIC2 DI12 (CN2-6) setting 2 0000h 1118 PTA025

For manufacturer setting 0000h

1119 PTA026 0003h 111A PTA027 *HDO11 DO1 (CN2-20) setting 1 0000h 111B PTA028 *HDO12 DO1 (CN2-20) setting 2 0000h 111C PTA029 *HDO21 DO2 (CN2-8) setting 1 0000h 111D PTA030 *HDO22 DO2 (CN2-8) setting 2 0000h 111E PTA031 For manufacturer setting 0000h 111F PTA032 *AOP1 Function selection A-1 0000h 1120 PTA033 *LO1 Level output function - Setting group 1 - Detailed setting 1 0000h 1121 PTA034 LONL1 Level output function - Setting group 1 - Lower limit setting - Lower 0000h 1122 PTA035 LONH1 Level output function - Setting group 1 - Lower limit setting - Upper 0000h 1123 PTA036 LOFL1 Level output function - Setting group 1 - Upper limit setting - Lower 0000h 1124 PTA037 LOFH1 Level output function - Setting group 1 - Upper limit setting - Upper 0000h 1125 PTA038 *LO2 Level output function - Setting group 2 - Detailed setting 1 0000h 1126 PTA039 LONL2 Level output function - Setting group 2 - Lower limit setting - Lower 0000h 1127 PTA040 LONH2 Level output function - Setting group 2 - Lower limit setting - Upper 0000h 1128 PTA041 LOFL2 Level output function - Setting group 2 - Upper limit setting - Lower 0000h 1129 PTA042 LOFH2 Level output function - Setting group 2 - Upper limit setting - Upper 0000h 112A PTA043

For manufacturer setting 0000h

112B PTA044 0000h

: : : 117F PTA128 0000h

11 - 56

11. PARAMETERS

(2) Sensing I/O module parameters

Parameter No. Sensing module Parameter No.

Symbol Name Initial Value Units

1180 PTB001 *IDI11 DI1 (CN1-10) setting 1 0000h 1181 PTB002 *IDI12 DI1 (CN1-10) setting 2 0000h 1182 PTB003 *IDI21 DI2 (CN1-1) setting 1 0000h 1183 PTB004 *IDI22 DI2 (CN1-1) setting 2 0000h 1184 PTB005 *IDI31 DI3 (CN1-11) setting 1 0000h 1185 PTB006 *IDI32 DI3 (CN1-11) setting 2 0000h 1186 PTB007 *IDI41 DI4 (CN1-2) setting 1 0000h 1187 PTB008 *IDI42 DI4 (CN1-2) setting 2 0000h 1188 PTB009 *IDI51 DI5 (CN1-12) setting 1 0000h 1189 PTB010 *IDI52 DI5 (CN1-12) setting 2 0000h 118A PTB011 *IDI61 DI6 (CN1-3) setting 1 0000h 118B PTB012 *IDI62 DI6 (CN1-3) setting 2 0000h 118C PTB013 *IDI71 DI7 (CN1-13) setting 1 0000h 118D PTB014 *IDI72 DI7 (CN1-13) setting 2 0000h 118E PTB015 *IDI81 DI8 (CN1-4) setting 1 0000h 118F PTB016 *IDI82 DI8 (CN1-4) setting 2 0000h 1190 PTB017 *IDI91 DI9 (CN1-14) setting 1 0000h 1191 PTB018 *IDI92 DI9 (CN1-14) setting 2 0000h 1192 PTB019 *IDIA1 DI10 (CN1-5) setting 1 0000h 1193 PTB020 *IDIA2 DI10 (CN1-5) setting 2 0000h 1194 PTB021 *IDIB1 DI11 (CN1-15) setting 1 0000h 1195 PTB022 *IDIB2 DI11 (CN1-15) setting 2 0000h 1196 PTB023 *IDIC1 DI12 (CN1-6) setting 1 0000h 1197 PTB024 *IDIC2 DI12 (CN1-6) setting 2 0000h 1198 PTB025 *IDID1 DI13 (CN1-16) setting 1 0000h 1199 PTB026 *IDID2 DI13 (CN1-16) setting 2 0000h 119A PTB027 *IDIE1 DI14 (CN1-7) setting 1 0000h 119B PTB028 *IDIE2 DI14 (CN1-7) setting 2 0000h 119C PTB029 *IDIF1 DI15 (CN1-17) setting 1 0000h 119D PTB030 *IDIF2 DI15 (CN1-17) setting 2 0000h 119E PTB031 *IDIG1 DI16 (CN1-8) setting 1 0000h 119F PTB032 *IDIG2 DI16 (CN1-8) setting 2 0000h 11A0 PTB033

For manufacturer setting 0000h 11A1 PTB034 0003h 11A2 PTB035 0000h 11A3 PTB036 0000h 11A4 PTB037 *IDO11 DO1 (CN2-11) setting 1 0000h 11A5 PTB038 *IDO12 DO1 (CN2-11) setting 2 0000h 11A6 PTB039 *IDO21 DO2 (CN2-1) setting 1 0000h 11A7 PTB040 *IDO22 DO2 (CN2-1) setting 2 0000h 11A8 PTB041 *IDO31 DO3 (CN2-12) setting 1 0000h 11A9 PTB042 *IDO32 DO3 (CN2-12) setting 2 0000h 11AA PTB043 *IDO41 DO4 (CN2-2) setting 1 0000h 11AB PTB044 *IDO42 DO4 (CN2-2) setting 2 0000h 11AC PTB045 *IDO51 DO5 (CN2-13) setting 1 0000h 11AD PTB046 *IDO52 DO5 (CN2-13) setting 2 0000h 11AE PTB047 *IDO61 DO6 (CN2-3) setting 1 0000h 11AF PTB048 *IDO62 DO6 (CN2-3) setting 2 0000h

11 - 57

11. PARAMETERS

Parameter

No. Sensing module Parameter No.

Symbol Name Initial Value Units

11B0 PTB049 *IDO71 DO7 (CN2-14) setting 1 0000h 11B1 PTB050 *IDO72 DO7 (CN2-14) setting 2 0000h 11B2 PTB051 *IDO81 DO8 (CN2-4) setting 1 0000h 11B3 PTB052 *IDO82 DO8 (CN2-4) setting 2 0000h 11B4 PTB053 *IDO91 DO9 (CN2-15) setting 1 0000h 11B5 PTB054 *IDO92 DO9 (CN2-15) setting 2 0000h 11B6 PTB055 *IDOA1 DO10 (CN2-5) setting 1 0000h 11B7 PTB056 *IDOA2 DO10 (CN2-5) setting 2 0000h 11B8 PTB057 *IDOB1 DO11 (CN2-16) setting 1 0000h 11B9 PTB058 *IDOB2 DO11 (CN2-16) setting 2 0000h 11BA PTB059 *IDOC1 DO12 (CN2-6) setting 1 0000h 11BB PTB060 *IDOC2 DO12 (CN2-6) setting 2 0000h 11BC PTB061 *IDOD1 DO13 (CN2-17) setting 1 0000h 11BD PTB062 *IDOD2 DO13 (CN2-17) setting 2 0000h 11BE PTB063 *IDOE1 DO14 (CN2-7) setting 1 0000h 11BF PTB064 *IDOE2 DO14 (CN2-7) setting 2 0000h 11C0 PTB065 *IDOF1 DO15 (CN2-18) setting 1 0000h 11C1 PTB066 *IDOF2 DO15 (CN2-18) setting 2 0000h 11C2 PTB067 *IDOG1 DO16 (CN2-8) setting 1 0000h 11C3 PTB068 *IDOG2 DO16 (CN2-8) setting 2 0000h 11C4 PTB069 *IDO Digital output connection setting 0000h 11C5 PTB070

For manufacturer setting 0000h

11C6 PTB071 0000h 11C7 PTB072 0000h 11C8 PTB073 *ILO1 Level output function - Setting group 1 - Detailed setting 1 0000h 11C9 PTB074 ILONL1 Level output function - Setting group 1 - Lower limit setting - Lower 0000h 11CA PTB075 ILONH1 Level output function - Setting group 1 - Lower limit setting - Upper 0000h 11CB PTB076 ILOFL1 Level output function - Setting group 1 - Upper limit setting - Lower 0000h 11CC PTB077 ILOFH1 Level output function - Setting group 1 - Upper limit setting - Upper 0000h 11CD PTB078 *ILO2 Level output function - Setting group 2 - Detailed setting 1 0000h 11CE PTB079 ILONL2 Level output function - Setting group 2 - Lower limit setting - Lower 0000h 11CF PTB080 ILONH2 Level output function - Setting group 2 - Lower limit setting - Upper 0000h 11D0 PTB081 ILOFL2 Level output function - Setting group 2 - Upper limit setting - Lower 0000h 11D1 PTB082 ILOFH2 Level output function - Setting group 2 - Upper limit setting - Upper 0000h 11D2 PTB083 *ILO3 Level output function - Setting group 3 - Detailed setting 1 0000h 11D3 PTB084 ILONL3 Level output function - Setting group 3 - Lower limit setting - Lower 0000h 11D4 PTB085 ILONH3 Level output function - Setting group 3 - Lower limit setting - Upper 0000h 11D5 PTB086 ILOFL3 Level output function - Setting group 3 - Upper limit setting - Lower 0000h 11D6 PTB087 ILOFH3 Level output function - Setting group 3 - Upper limit setting - Upper 0000h 11D7 PTB088 *ILO4 Level output function - Setting group 4 - Detailed setting 1 0000h 11D8 PTB089 ILONL4 Level output function - Setting group 4 - Lower limit setting - Lower 0000h 11D9 PTB090 ILONH4 Level output function - Setting group 4 - Lower limit setting - Upper 0000h 11DA PTB091 ILOFL4 Level output function - Setting group 4 - Upper limit setting - Lower 0000h 11DB PTB092 ILOFH4 Level output function - Setting group 4 - Upper limit setting - Upper 0000h 11DC PTB093 *ILO5 Level output function - Setting group 5 - Detailed setting 1 0000h 11DD PTB094 ILONL5 Level output function - Setting group 5 - Lower limit setting - Lower 0000h 11DE PTB095 ILONH5 Level output function - Setting group 5 - Lower limit setting - Upper 0000h 11DF PTB096 ILOFL5 Level output function - Setting group 5 - Upper limit setting - Lower 0000h 11E0 PTB097 ILOFH5 Level output function - Setting group 5 - Upper limit setting - Upper 0000h

11 - 58

11. PARAMETERS

Parameter

No. Sensing module Parameter No.

Symbol Name Initial Value Units

11E1 PTB098 *ILO6 Level output function - Setting group 6 - Detailed setting 1 0000h 11E2 PTB099 ILONL6 Level output function - Setting group 6 - Lower limit setting - Lower 0000h 11E3 PTB100 ILONH6 Level output function - Setting group 6 - Lower limit setting - Upper 0000h 11E4 PTB101 ILOFL6 Level output function - Setting group 6 - Upper limit setting - Lower 0000h 11E5 PTB102 ILOFH6 Level output function - Setting group 6 - Upper limit setting - Upper 0000h 11E6 PTB103 *ILO7 Level output function - Setting group 7 - Detailed setting 1 0000h 11E7 PTB104 ILONL7 Level output function - Setting group 7 - Lower limit setting - Lower 0000h 11E8 PTB105 ILONH7 Level output function - Setting group 7 - Lower limit setting - Upper 0000h 11E9 PTB106 ILOFL7 Level output function - Setting group 7 - Upper limit setting - Lower 0000h 11EA PTB107 ILOFH7 Level output function - Setting group 7 - Upper limit setting - Upper 0000h 11EB PTB108 *ILO8 Level output function - Setting group 8 - Detailed setting 1 0000h 11EC PTB109 ILONL8 Level output function - Setting group 8 - Lower limit setting - Lower 0000h 11ED PTB110 ILONH8 Level output function - Setting group 8 - Lower limit setting - Upper 0000h 11EE PTB111 ILOFL8 Level output function - Setting group 8 - Upper limit setting - Lower 0000h 11EF PTB112 ILOFH8 Level output function - Setting group 8 - Upper limit setting - Upper 0000h 11F0 PTB113

For manufacturer setting 0000h 11F1 PTB114 0000h

: : : 127F PTB256 0000h

11 - 59

11. PARAMETERS

(3) Sensing pulse I/O module parameters

Parameter No.

Sensing module Parameter No.

Symbol Name Initial Value Units

1280 PTC001 *PSFA A-axis setting 0000h 1281 PTC002 *PIFA1 A-axis input function setting 1 0000h 1282 PTC003 *PIFA2 A-axis input function setting 2 0000h 1283 PTC004 *POFA1 A-axis output function selection 1 0000h 1284 PTC005 *POFA2 A-axis output function selection 2 0000h 1285 PTC006 For manufacturer setting 0000h 1286 PTC007 *CMXA A-axis input-side electronic gear setting 0000h 1287 PTC008 *CDVA A-axis output-side electronic gear setting 0000h 1288 PTC009

For manufacturer setting 0000h 1289 PTC010 0000h 128A PTC011 0000h 128B PTC012 0000h 128C PTC013 0000h 128D PTC014 0000h 128E PTC015 0000h 128F PTC016 0000h 1290 PTC017 *PFSB B-axis setting 0000h 1291 PTC018 *PIFB1 B-axis input function setting 1 0000h 1292 PTC019 *PIFB2 B-axis input function setting 2 0000h 1293 PTC020 *POFB1 B-axis output function selection 1 0000h 1294 PTC021 *POFB2 B-axis output function selection 2 0000h 1295 PTC022 For manufacturer setting 0000h 1296 PTC023 *CMXB B-axis input-side electronic gear setting 0000h 1297 PTC024 *CDVB B-axis output-side electronic gear setting 0000h 1298 PTC025

For manufacturer setting 0000h 1299 PTC026 0000h 129A PTC027 0000h 129B PTC028 0000h 129C PTC029 0000h 129D PTC030 0000h 129E PTC031 0000h 129F PTC032 0000h 12A0 PTC033 *IDI1A1 DI1A (CN1-8) setting 1 0000h 12A1 PTC034 For manufacturer setting 0000h 12A2 PTC035 *IDI2A1 DI2A (CN1-10) setting 1 0000h 12A3 PTC036 For manufacturer setting 0000h 12A4 PTC037 *IDI3A1 DI3A (CN1-7) setting 1 0000h 12A5 PTC038 For manufacturer setting 0000h 12A6 PTC039 *IDI4A1 DI4A (CN1-9) setting 1 0000h 12A7 PTC040 For manufacturer setting 0000h 12A8 PTC041 *IDI5A1 DI5A (CN1-19) setting 1 0000h 12A9 PTC042 For manufacturer setting 0000h 12AA PTC043 *IDI6A1 DI6A (CN1-20) setting 1 0000h 12AB PTC044 For manufacturer setting 0000h 12AC PTC045 *IDI7A1 DI7A (CN1-21) setting 1 0000h 12AD PTC046 For manufacturer setting 0000h 12AE PTC047 *IDI1B1 DI1B (CN2-8) setting 1 0000h 12AF PTC048 For manufacturer setting 0000h

11 - 60

11. PARAMETERS

Parameter

No. Sensing module Parameter No.

Symbol Name Initial Value Units

12B0 PTC049 *IDI2B1 DI2B (CN2-10) setting 1 0000h 12B1 PTC050 For manufacturer setting 0000h 12B2 PTC051 *IDI3B1 DI3B (CN2-7) setting 1 0000h 12B3 PTC052 For manufacturer setting 0000h 12B4 PTC053 *IDI4B1 DI4B (CN2-9) setting 1 0000h 12B5 PTC054 For manufacturer setting 0000h 12B6 PTC055 *IDI5B1 DI5B (CN2-19) setting 1 0000h 12B7 PTC056 For manufacturer setting 0000h 12B8 PTC057 *IDI6B1 DI6B (CN2-20) setting 1 0000h 12B9 PTC058 For manufacturer setting 0000h 12BA PTC059 *IDI7B1 DI7B (CN2-21) setting 1 0000h 12BB PTC060

For manufacturer setting 0000h 12BC PTC061 0000h 12BD PTC062 0003h 12BE PTC063 0000h 12BF PTC064 0000h 12C0 PTC065 *IDO1A1 DO1A (CN1-11) setting 1 0000h 12C1 PTC066 *IDO1A2 DO1A (CN1-11) setting 2 0000h 12C2 PTC067 *IDO2A1 DO2A (CN1-12) setting 1 0000h 12C3 PTC068 *IDO2A2 DO2A (CN1-12) setting 2 0000h 12C4 PTC069 *IDO3A1 DO3A (CN1-23) setting 1 0000h 12C5 PTC070 *IDO3A2 DO3A (CN1-23) setting 2 0000h 12C6 PTC071 *IDO4A1 DO4A (CN1-1) setting 1 0000h 12C7 PTC072 *IDO4A2 DO4A (CN1-1) setting 2 0000h 12C8 PTC073 *IDO5A1 DO5A (CN1-13) setting 1 0000h 12C9 PTC074 *IDO5A2 DO5A (CN1-13) setting 2 0000h 12CA PTC075 *IDO1B1 DO1B (CN2-11) setting 1 0000h 12CB PTC076 *IDO1B2 DO1B (CN2-11) setting 2 0000h 12CC PTC077 *IDO2B1 DO2B (CN2-12) setting 1 0000h 12CD PTC078 *IDO2B2 DO2B (CN2-12) setting 2 0000h 12CE PTC079 *IDO3B1 DO3B (CN2-23) setting 1 0000h 12CF PTC080 *IDO3B2 DO3B (CN2-23) setting 2 0000h 12D0 PTC081 *IDO4B1 DO4B (CN2-1) setting 1 0000h 12D1 PTC082 *IDO4B2 DO4B (CN2-1) setting 2 0000h 12D2 PTC083 *IDO5B1 DO5B (CN2-13) setting 1 0000h 12D3 PTC084 *IDO5B2 DO5B (CN2-13) setting 2 0000h 12D4 PTC085

For manufacturer setting 0000h

12D5 PTC086 0000h

: : : 12FF PTC128 0000h

11 - 61

11. PARAMETERS

(4) Sensing analog I/O module parameters

Parameter No.

Sensing module Parameter No.

Symbol Name Initial Value Units

1300 PTD001 *AIF1 Analog input function selection 1 0000h 1301 PTD002 *AI1F2 Analog input ch. 1 - Function selection 2 0000h 1302 PTD003 *AI1FT Analog input ch. 1 - Primary delay filter time constant 0 ms 1303 PTD004 AI1OF Analog input ch. 1 - Offset voltage setting 0 mV 1304 PTD005 *AI1SH Analog input ch. 1 - Scaling function - Upper limit setting 20000 1305 PTD006 *AI1SL Analog input ch. 1 - Scaling function - Lower limit setting -20000 1306 PTD007 *AI1SF Analog input ch. 1 - Scaling function - Shift amount setting 0 1307 PTD008

For manufacturer setting 0000h

1308 PTD009 0000h 1309 PTD010 *AI2F2 Analog input ch. 2 - Function selection 2 0000h 130A PTD011 *AI2FT Analog input ch. 2 - Primary delay filter time constant 0 ms 130B PTD012 AI2OF Analog input ch. 2 - Offset voltage setting 0 mV 130C PTD013 *AI2SH Analog input ch. 2 - Scaling function - Upper limit setting 20000 130D PTD014 *AI2SL Analog input ch. 2 - Scaling function - Lower limit setting -20000 130E PTD015 *AI2SF Analog input ch. 2 - Scaling function - Shift amount setting 0 130F PTD016

For manufacturer setting 0000h

1310 PTD017 0000h 1311 PTD018 *AI3F2 Analog input ch. 3 - Function selection 2 0000h 1312 PTD019 *AI3FT Analog input ch. 3 - Primary delay filter time constant 0 ms 1313 PTD020 AI3OF Analog input ch. 3 - Offset voltage setting 0 mV 1314 PTD021 *AI3SH Analog input ch. 3 - Scaling function - Upper limit setting 20000 1315 PTD022 *AI3SL Analog input ch. 3 - Scaling function - Lower limit setting -20000 1316 PTD023 *AI3SF Analog input ch. 3 - Scaling function - Shift amount setting 0 1317 PTD024

For manufacturer setting 0000h

1318 PTD025 0000h 1319 PTD026 *AI4F2 Analog input ch. 4 - Function selection 2 0000h 131A PTD027 *AI4FT Analog input ch. 4 - Primary delay filter time constant 0 ms 131B PTD028 AI4OF Analog input ch. 4 - Offset voltage setting 0 mV 131C PTD029 *AI4SH Analog input ch. 4 - Scaling function - Upper limit setting 20000 131D PTD030 *AI4SL Analog input ch. 4 - Scaling function - Lower limit setting -20000 131E PTD031 *AI4SF Analog input ch. 4 - Scaling function - Shift amount setting 0 131F PTD032

For manufacturer setting 0000h

1320 PTD033 0000h 1321 PTD034 AO1OF Analog output ch. 1 - Offset 0 mV 1322 PTD035 *AO1SH Analog output ch. 1 - Scaling function - Upper limit setting 20000 1323 PTD036 *AO1SL Analog output ch. 1 - Scaling function - Lower limit setting -20000 1324 PTD037 *AO1SF Analog output ch. 1 - Scaling function - Shift amount setting 0 1325 PTD038

For manufacturer setting 0000h 1326 PTD039 0000h 1327 PTD040 0000h 1328 PTD041 0000h 1329 PTD042 AO2OF Analog output ch. 2 - Offset 0 mV 132A PTD043 *AO2SH Analog output ch. 2 - Scaling function - Upper limit setting 20000 132B PTD044 *AO2SL Analog output ch. 2 - Scaling function - Lower limit setting -20000 132C PTD045 *AO2SF Analog output ch. 2 - Scaling function - Shift amount setting 0 132D PTD046

For manufacturer setting 0000h

132E PTD047 0000h 132F PTD048 0000h 1330 PTD049 0000h

11 - 62

11. PARAMETERS

Parameter

No. Sensing module Parameter No.

Symbol Name Initial Value Units

1331 PTD050 AO3OF Analog output ch. 3 - Offset 0 mV 1332 PTD051 *AO3SH Analog output ch. 3 - Scaling function - Upper limit setting 20000 1333 PTD052 *AO3SL Analog output ch. 3 - Scaling function - Lower limit setting -20000 1334 PTD053 *AO3SF Analog output ch. 3 - Scaling function - Shift amount setting 0 1335 PTD054

For manufacturer setting 0000h 1336 PTD055 0000h 1337 PTD056 0000h 1338 PTD057 0000h 1339 PTD058 AO4OF Analog output ch. 4 - Offset 0 mV 133A PTD059 *AO4SH Analog output ch. 4 - Scaling function - Upper limit setting 20000 133B PTD060 *AO4SL Analog output ch. 4 - Scaling function - Lower limit setting -20000 133C PTD061 *AO4SF Analog output ch. 4 - Scaling function - Shift amount setting 0 133D PTD062

For manufacturer setting 0000h

133E PTD063 0000h 133F PTD064 0000h 1340 PTD065 *AIAVF Analog input averaging - Signal selection 0000h 1341 PTD066 For manufacturer setting 0000h 1342 PTD067 *AIAV1C1 Analog input average 1 - Ch. 1 weighting 1 1343 PTD068 *AIAV1C2 Analog input average 1 - Ch. 2 weighting 1 1344 PTD069 *AIAV1C3 Analog input average 1 - Ch. 3 weighting 1 1345 PTD070 *AIAV1C4 Analog input average 1 - Ch. 4 weighting 1 1346 PTD071 *AIAV2C1 Analog input average 2 - Ch. 1 weighting 1 1347 PTD072 *AIAV2C2 Analog input average 2 - Ch. 2 weighting 1 1348 PTD073 *AIAV2C3 Analog input average 2 - Ch. 3 weighting 1 1349 PTD074 *AIAV2C4 Analog input average 2 - Ch. 4 weighting 1 134A PTD075

For manufacturer setting 0000h 134B PTD076 0000h

: : : 137F PTD128 0000h

11 - 63

11. PARAMETERS

(5) Sensing encoder I/F module parameters

Parameter No.

Sensing module Parameter No.

Symbol Name Initial Value Units

1380 PTE001

For manufacturer setting 0003h 1381 PTE002 0000h 1382 PTE003 0000h 1383 PTE004 0000h 1384 PTE005 0000h 1385 PTE006 0000h 1386 PTE007 0000h 1387 PTE008 0000h 1388 PTE009 **ENCA Ch. A function selection 0000h 1389 PTE010

For manufacturer setting 0000h 138A PTE011 0000h 138B PTE012 0000h 138C PTE013 0000h 138D PTE014 0000h 138E PTE015 0000h 138F PTE016 0000h 1390 PTE017 0000h 1391 PTE018 0000h 1392 PTE019 0000h 1393 PTE020 0000h 1394 PTE021 0000h 1395 PTE022 0000h 1396 PTE023 0000h 1397 PTE024 0000h 1398 PTE025 0000h 1399 PTE026 0000h 139A PTE027 0000h 139B PTE028 0000h 139C PTE029 0000h 139D PTE030 0000h 139E PTE031 0000h 139F PTE032 0000h 13A0 PTE033 0000h 13A1 PTE034 0000h 13A2 PTE035 0000h 13A3 PTE036 0000h 13A4 PTE037 **SECA1 SSI - Ch. A function setting 1 2000h 13A5 PTE038 **SECA2 SSI - Ch. A function setting 2 0000h 13A6 PTE039 **SECA3 SSI - Ch. A function setting 3 0000h 13A7 PTE040 **SECA4 SSI - Ch. A function setting 4 0000h 13A8 PTE041 **SECA5 SSI - Ch. A function setting 5 0000h 13A9 PTE042 **SECA6 SSI - Ch. A function setting 6 0000h 13AA PTE043 **SDPLA Ch. A position variation error threshold - Lower 0000h 13AB PTE044 **SDPHA Ch. A position variation error threshold - Upper 0000h 13AC PTE045

For manufacturer setting 0000h

13AD PTE046 0000h 13AE PTE047 0000h 13AF PTE048 0000h 13B0 PTE049 0000h

11 - 64

11. PARAMETERS

Parameter

No. Sensing module Parameter No.

Symbol Name Initial Value Units

13B1 PTE050

For manufacturer setting 0000h 13B2 PTE051 0000h 13B3 PTE052 0000h 13B4 PTE053 0000h 13B5 PTE054 0000h 13B6 PTE055 0000h 13B7 PTE056 0000h 13B8 PTE057 0000h 13B9 PTE058 0000h 13BA PTE059 0000h 13BB PTE060 0000h 13BC PTE061 0000h 13BD PTE062 0000h 13BE PTE063 0000h 13BF PTE064 0000h 13C0 PTE065 **ENCB Ch. B function selection 0000h 13C1 PTE066

For manufacturer setting 0000h 13C2 PTE067 0000h 13C3 PTE068 0000h 13C4 PTE069 0000h 13C5 PTE070 0000h 13C6 PTE071 0000h 13C7 PTE072 0000h 13C8 PTE073 0000h 13C9 PTE074 0000h 13CA PTE075 0000h 13CB PTE076 0000h 13CC PTE077 0000h 13CD PTE078 0000h 13CE PTE079 0000h 13CF PTE080 0000h 13D0 PTE081 0000h 13D1 PTE082 0000h 13D2 PTE083 0000h 13D3 PTE084 0000h 13D4 PTE085 0000h 13D5 PTE086 0000h 13D6 PTE087 0000h 13D7 PTE088 0000h 13D8 PTE089 0000h 13D9 PTE090 0000h 13DA PTE091 0000h 13DB PTE092 0000h 13DC PTE093 **SECB1 SSI - Ch. B function setting 1 2000h 13DD PTE094 **SECB2 SSI - Ch. B function setting 2 0000h 13DE PTE095 **SECB3 SSI - Ch. B function setting 3 0000h 13DF PTE096 **SECB4 SSI - Ch. B function setting 4 0000h 13E0 PTE097 **SECB5 SSI - Ch. B function setting 5 0000h 13E1 PTE098 **SECB6 SSI - Ch. B function setting 6 0000h 13E2 PTE099 **SDPLB Ch. B position variation error threshold - Lower 0000h 13E3 PTE100 **SDPHB Ch. B position variation error threshold - Upper 0000h

11 - 65

11. PARAMETERS

Parameter

No. Sensing module Parameter No.

Symbol Name Initial Value Units

13E4 PTE101

For manufacturer setting 0000h 13E5 PTE102 0000h

: : : 13FF PTE128 0000h

11 - 66

11. PARAMETERS

11.5 RIO control parameters

Parameter No.

Symbol Name Initial value

Units Setting range

Function

0200 *OPC1 Control option 1 0000h 0000h to 0011h

0 0 Control station Set to 1 for implementing control of a remote I/O module. 0: Not controlled 1: Controlled Remote I/O disconnect Set to 1 when remote I/O communication is not implemented. When set to 1 together with the control station, it is possible to run without a remote I/O (simulate). 0: Invalid 1: Valid

0201 OPC2 Control option 2 0000h 0000h to 0001h

0 0 0 RI control at communication error Set input device control at communication error (system error E401 to E407). 0: All points OFF 1: Maintain status

0202 *UTALC Station No. assignment 0000h 0000h to 011Fh MC200

0000h to 013Fh MC300

0 Remote I/O station No. Set the remote I/O station No. to be assigned to the station No. on the position board. 00h : No station No. assignment 15h to 18h: Station No. 31h to 38h: Station No. Example) 16h: Remote I/O No. 22 Remote I/O line No. Set the remote I/O line No. to be assigned to the station No.on the position board. 0 to 1: Line No. - 1

0203 ITM Interrupt condition 0000h 0000h to FFFFh

Set interrupt condition.

0204 For manufacturer setting 0 0205 0 0206 0 0207 0 0208 0 0209 0 020A 0 020B 0 020C 0 020D 0 020E 0 020F 0

11 - 67

11. PARAMETERS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0210 *BDIO Input bit device points 0000h 0000h to 0200h

Set the points used for input bit device. 0000h to 0200h: 0 to 512 Note. Only a multiple of 16 can be selected.

0211 *BDINA Input bit device start number

0000h 0000h to 0FF0h MC200

0000h to 2FF0h MC300

Set the start of the input bit device number assigned to RX. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set] 0000h to 0FF0h: DVI_000 to DVI_FF0 [When use I/O device table (expanded points method) is set] MC300 0000h to 23F0h: DVI_000 to DVI_23F0 Note. Only a multiple of 16 can be selected. Example: When the input points are 64, and input bit

device 020 is specified as the start, assign the 64 points of DVI_020 to DVI_05F.

0212 *WDIO Input word device points 0000h 0000h to 0020h

Set the points used for input word device. 0000h to 0020h: 0 to 32 Note. The size used is 1 word set value.

0213 *WDINA Input word device start number

0000h 0000h to 00FFh MC200

0000h to 02FFh MC300

Set the start of the input word device number assigned to RWr. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set] 0000h to 0FF0h: Input word device 00 to input word

device FF [When use I/O device table (expanded points method) is set] MC300 0000h to 023Fh: Input word device 00 to input word

device 23F Example: When the input points are 2, and input word

device 06 is specified as the start, assign input word devices 06 to 07.

0214 *BDOO Output bit device points 0000h 0000h to 0200h

Set the points used for output bit device. 0000h to 0200h: 0 to 512 Note. Only a multiple of 16 can be selected.

0215 *BDONA Output bit device start number

0000h 0000h to 0FF0h MC200

0000h to 2FF0h MC300

Set the start of the output bit device number assigned to RY. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set] 0000h to 0FF0h: DVO_000 to DVO_FF0 [When use I/O device table (expanded points method) is set] MC300 0000h to 23F0h: DVO_000 to DVO_23F0 Note. Only a multiple of 16 can be selected. Example: When the output points are 64, and output

bit device 040 is specified as the start, assign the 64 points of DV0_040 to DVO_07F.

11 - 68

11. PARAMETERS

Parameter

No. Symbol Name

Initial value

Units Setting range

Function

0216 *WDOO Output word device points 0000h 0000h to 0020h

Set the points used for output word device. 0000h to 0020h: 0 to 32 Note. The size used is 1 word set value.

0217 *WDONA Output word device start number

0000h 0000h to 00FFh MC200

0000h to 02FFh MC300

Set the start of the output word device number assigned to RWw. The setting varies according to the I/O table (parameter No.004A) setting. [When use I/O device table (MR-MC2 method) is set] 0000h to 0FF0h: Output word device 00 to output

word device FF [When use I/O device table (expanded points method) is set] MC300 0000h to 023Fh: Output word device 00 to output

word device 23F Example: When the output points are 2, and output

word device 08 is specified as the start, assign output word devices 08 to 09.

0218 For manufacturer setting 0 0219 0 021A 0 021B 0 021C 0 021D *VEND Vendor ID 0000h 0000h to

FFFFh Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code 3000h 0000h to FFFFh

Set the type code. 3000h: SSCNET /H head module 3010h: Sensing SSCNET /H head module 3011h: Sensing SSCNET /H head module +

Sensing I/O module 3012h: Sensing SSCNET /H head module +

Sensing pulse I/O module 3013h: Sensing SSCNET /H head module +

Sensing analog I/O module 3014h: Sensing SSCNET /H head module +

Sensing encoder I/F module 3021h: Sensing I/O module 3022h: Sensing pulse I/O module 3023h: Sensing analog I/O module 3024h: Sensing encoder I/F module

021F For manufacturer setting 0 0220 0 0221 0 0222 0 0223 0 0224 0 0225 0 0226 0

: : 023F 0

Note. When a value other than a multiple of 16 is set to parameters where only a multiple of 16 can be set, a parameter error (RIO control alarm 37, detail 01) occurs at system startup.

12 - 1

12

12. MONITOR NUMBER

12. MONITOR NUMBER

12.1 Servo information (1)

Monitor No. Content Units Remarks 0100

Unit type name Hexadecimal ASCII character string (2 Characters per monitor number)

0101 0102 0103 0104 0105 0106 0107 0108

Software number Hexadecimal ASCII character string (2 Characters per monitor number)

0109 010A 010B 010C 010D 010E 010F

0110 Type code

1000h: MR-J4(W )- B 1200h: MR-JE- B(F) 3015h: Sensing SSCNET /H head module + Sensing pulse

I/O module (axis mode) 3025h: Sensing pulse I/O module (axis mode)

0111 Vendor ID 0000h: Mitsubishi Electric 0112 Motor rated revolution speed r/min 0113 Motor rated current 0.1% 0114 Motor maximum revolution speed r/min 0115 Motor maximum torque 0.1%

0116 Number of encoder pulses per revolution (lower)

pulse 0117

Number of encoder pulses per revolution (upper)

0118 Reserved 0119 Initial within 1 revolution position (lower)

pulse 011A Initial within 1 revolution position (upper) 011B Initial multiple revolution data rev 011C

Reserved 011D 011E 011F 0120 Motor permissible pulse rate (lower)

kpps Pulse rate of operation at the motor maximum revolution speed. 0121 Motor permissible pulse rate (upper)

0122 Maximum output pulse rate (lower) kpps Maximum pulse rate that can be output by the position board.

0123 Maximum output pulse rate (upper) 0124

Reserved 0125 0126

12 - 2

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0127 Station No. in order of connection

Station No. in order of connection on line Indicates the place where the station is connected from the position board. Axes and stations are both included in the connection order. Line No. 0: Line 1 1: Line 2 Example. Monitor value for the axis connected

fifth on line 2: 1005h 0128

Reserved

0129 012A 012B 012C 012D 012E 012F

12 - 3

12. MONITOR NUMBER

12.2 Servo information (2)

Monitor No. Content Units Remarks 0200 Position feedback (lower)

pulse When using a sensing pulse I/O module, when there is no feedback pulse input, the position output to the driver by the sensing pulse I/O module is returned.

0201 Position feedback (upper)

0202 Reserved

0203 0204 Position droop (lower)

pulse 0205 Position droop (upper) 0206

Reserved 0207 0208 Speed feedback (lower)

0.01r/min 0209 Speed feedback (upper) 020A Electrical current command 0.1% 020B Electrical current feedback 0.1% 020C

Reserved 020D

020E Detector within 1 revolution position (lower)

pulse 020F

Detector within 1 revolution position (upper)

0210 Home position within 1 revolution position (lower)

pulse 0211

Home position within 1 revolution position (upper)

0212 ZCT (lower) pulse

0213 ZCT (upper) 0214 Multiple revolution counter rev 0215 Home position multiple revolution data rev 0216 Speed command (lower)

0.01r/min 0.01mm/s for linear servo motor 0217 Speed command (upper) 0218

Reserved

0219 021A 021B 021C 021D 021E 021F 0220

: 023F 0240 Selected droop pulse (lower)

pulse Select in the parameter when using the fully closed loop control (motor side/load side/motor side - load side) 0241 Selected droop pulse (upper)

0242 Reserved

0243 0244 Selected cumulative feed pulses (lower)

pulse Select in the parameter when using the fully closed loop control (motor side/load side) 0245 Selected cumulative feed pulses (upper)

0246 Load side encoder information data 1 (lower)

pulse When using the linear servo/fully closed loop control 0247

Load side encoder information data 1 (upper)

12 - 4

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0248 Load side encoder information data 2 (lower)

pulse When using the linear servo/fully closed loop control 0249

Load side encoder information data 2 (upper)

024A Speed feedback (lower) 0.01mm/s When using a linear servo

024B Speed feedback (upper) 024C Voltage of generating line V 024D Regenerative load factor % 024E Effective load factor % 024F Peak load factor % 0250 Estimated load inertial ratio 0.1 times 0251 Position gain (model position gain) rad/s 0252 Motor thermistor temperature C When using a motor with thermistor attached. 0253

Reserved

0254 0255 0256 0257 0258 0259 025A 025B 025C 025D 025E 025F 0260 0261 Alarm/warning number 0262 Alarm detailed bits 0263 Reserved 0264 Alarm status AL-1

is 0 (bit 0) to F (bit 15) Bit corresponding to alarm number is turned on. Review the alarms when multiple alarms occurs simultaneously etc.

0265 Alarm status AL-2 0266 Alarm status AL-3 0267 Alarm status AL-4 0268 Alarm status AL-5 0269 Alarm status AL-6 026A Alarm status AL-7 026B Alarm status AL-8 026C Alarm status AL-9 026D Alarm status AL-E 026E Alarm status AL-F 026F Alarm status AL-A 0270

Reserved : 029F 02A0 Module power consumption W 02A1 Reserved

02A2 Module cumulative power consumption (lower)

Wh 02A3

Module cumulative power consumption (upper)

12 - 5

12. MONITOR NUMBER

Monitor No. Content Units Remarks

02A4 Reserved 02A5

02A6 02A7 Internal temperature of encoder C 02A8 Torques corresponding to disturbance 0.1% Thrust corresponding to disturbance when using the linear 02A9 Instantaneous torque 0.1% Instantaneous thrust when using the linear 02AA Overload alarm margin 0.1% 02AB Error excessive alarm margin 16pulse 02AC Settle time ms 02AD Overshoot amount pulse

02AE Motor side/load side position deviation (lower)

pulse When using the fully closed loop control 02AF

Motor side/load side position deviation (upper)

02B0 Motor side/load side speed deviation (lower)

0.01r/min When using the fully closed loop control 02B1

Motor side/load side speed deviation (upper)

02B2 Module power consumption (double word) (lower)

W 02B3

Module power consumption (double word) (upper)

02B4

Reserved

02B5 02B6 02B7 02B8 02B9 02BA 02BB 02BC 02BD 02BE 02BF 02C0

: 02CF

12 - 6

12. MONITOR NUMBER

12.3 RIO information

Monitor No. Content Units Remarks 0100

Reserved : 010F

0110 Type code

3000h: SSCNET /H head module 3010h: Sensing SSCNET /H head module 3011h: Sensing SSCNET /H head module+Sensing I/O

module 3012h: Sensing SSCNET /H head module+Sensing pulse I/O

module 3013h: Sensing SSCNET /H head module+Sensing analog

I/O module 3014h: Sensing SSCNET /H head module+Sensing encoder

I/F module 3021h: Sensing I/O module 3022h: Sensing pulse I/O module 3023h: Sensing analog I/O module 3024h: Sensing encoder I/F module

0111 Vendor ID 0000h: Mitsubishi Electric 0112

Reserved

0113 0114 0115 0116 0117 0118 0119 011A 011B 011C 011D 011E 011F 0120 0121 0122 0123 0124 0125 0126

0127 Station No. in order of connection

Station No. in order of connection on line Indicates the place where the station is connected from the position board. Axes and stations are both included in the connection order. Line No. 0: Line 1 1: Line 2 Example. Monitor value for the axis connected

fifth on line 2: 1005h

12 - 7

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0128

Reserved

0129 012A 012B 012C 012D 012E 012F 0130

: 013F 0140 0141 0142 0143

0144 Number of pulses per revolution CH1 (lower)

pulse

0145 Number of pulses per revolution CH1 (upper)

0146 Multiple revolution counter maximum value CH1 (lower)

rev

0147 Multiple revolution counter maximum value CH1 (upper)

0148

Reserved 0149 014A 014B

014C Number of pulses per revolution CH2 (lower)

pulse 014D

Number of pulses per revolution CH2 (upper)

014E Multiple revolution counter maximum value CH2 (lower)

rev 014F

Multiple revolution counter maximum value CH2 (upper)

0150 Cycle counter at power supply ON CH1 rev 0151

Reserved 0152

0153 Multiple revolution counter at power supply ON CH1

rev

0154 Reserved 0155 Cycle counter at power supply ON CH2 rev 0156

Reserved 0157

0158 Multiple revolution counter at power supply ON CH2

rev

0159

Reserved

015A 015B 015C 015D 015E 015F

12 - 8

12. MONITOR NUMBER

12.4 Operation information

Monitor No. Content Units Remarks 0300 Current command position (lower) Command

units Current command position prior to electronic gear processing

0301 Current command position (upper) 0302 Current feedback position (lower) Command

units Current feedback position prior to electronic gear processing

0303 Current feedback position (upper) 0304 Moving speed (lower)

Speed units Current speed output to servo amplifier 0305 Moving speed (upper) 0306 Remaining distance to move (lower) Command

units Distance from current command position to end point when in automatic operation 0307 Remaining distance to move (upper)

0308 Grid size (lower)

pulse

Distance from standard position of return to home position (end of dog etc.) to the Z-phase For the home position return method which does not use the Z- phase, 0 is displayed.

0309 Grid size (upper)

030A Operation point No. Value equal to operation point number 1 is displayed. 0 is displayed while stopped.

030B Remaining dwell time ms 030C

Reserved 030D 030E 030F 0310 Current command position (lower)

pulse Current command position after electronic gear processing 0311 Current command position (upper) 0312 Current feedback position (lower)

pulse Current feedback position after electronic gear processing 0313 Current feedback position (upper) 0314 F T (lower)

pulse Movement amount per control cycle 0315 F T (upper) 0316 Feedback moving speed (lower)

Speed units The feedback speed converted from the difference of the current feedback position (after electronic gear processing) 0317 Feedback moving speed (upper)

0318

Reserved

0319 031A 031B 031C 031D 031E 031F 0320 External signal status bit0: LSP - bit1: LSN - bit2: DOG (Note) 0321

Reserved 0322 0323 0324 Speed command (lower) 0.01r/min

Notifies the speed command during speed control. 0325 Speed command (upper) 0.01r/min 0326 Torque command 0.1% Notifies the torque command during torque control. 0327

Reserved

0328 0329 032A 032B 032C 032D 032E 032F

Note. 0: I/O input signal OFF, 1: I/O input signal ON is indicated.

12 - 9

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0330 Control parameter error number No. 0200 to 020F

Bit corresponding to parameter number is turned on. bit is No. 0200 (bit 0) to 020F (bit 15).

0331 Control parameter error number No. 0210 to 021F

Bit corresponding to parameter number is turned on. bit is No. 0210 (bit 0) to 021F (bit 15).

0332 Control parameter error number No. 0220 to 022F

Bit corresponding to parameter number is turned on. bit is No. 0220 (bit 0) to 022F (bit 15).

0333 Control parameter error number No. 0230 to 023F

Bit corresponding to parameter number is turned on. bit is No. 0230 (bit 0) to 023F (bit 15).

0334 Control parameter error number No. 0240 to 024F

Bit corresponding to parameter number is turned on. bit is No. 0240 (bit 0) to 024F (bit 15).

0335 Control parameter error number No. 0250 to 025F

Bit corresponding to parameter number is turned on. bit is No. 0250 (bit 0) to 025F (bit 15).

0336 Control parameter error number No. 0260 to 026F

Bit corresponding to parameter number is turned on. bit is No. 0260 (bit 0) to 026F (bit 15).

0337 Control parameter error number No. 0270 to 027F

Bit corresponding to parameter number is turned on. bit is No. 0270 (bit 0) to 027F (bit 15).

0338 Control parameter error number No. 0280 to 028F

Bit corresponding to parameter number is turned on. bit is No. 0280 (bit 0) to 028F (bit 15).

0339 Control parameter error number No. 0290 to 029F

Bit corresponding to parameter number is turned on. bit is No. 0290 (bit 0) to 029F (bit 15).

033A Control parameter error number No. 02A0 to 02AF

Bit corresponding to parameter number is turned on. bit is No. 02A0 (bit 0) to 02AF (bit 15).

033B Control parameter error number No. 02B0 to 02BF

Bit corresponding to parameter number is turned on. bit is No. 02B0 (bit 0) to 02BF (bit 15).

033C Control parameter error number No. 02C0 to 02CF

Bit corresponding to parameter number is turned on. bit is No. 02C0 (bit 0) to 02CF (bit 15).

033D Control parameter error number No. 02D0 to 02DF

Bit corresponding to parameter number is turned on. bit is No. 02D0 (bit 0) to 02DF (bit 15).

033E Control parameter error number No. 02E0 to 02EF

Bit corresponding to parameter number is turned on. bit is No. 02E0 (bit 0) to 02EF (bit 15).

033F Control parameter error number No. 02F0 to 02FF

Bit corresponding to parameter number is turned on. bit is No. 02F0 (bit 0) to 02FF (bit 15).

0340 Reserved :

037F 0380 Axis data command bit 1

Use these when sampling the axis data command bit. For details, refer to Section 7.12.7.

0381 Axis data command bit 2 0382 Axis data command bit 3 0383 Axis data command bit 4 0384 Axis data command bit 5 0385 Axis data command bit 6 0386 Axis data command bit 7 0387 Axis data command bit 8 0388

Reserved

0389 038A 038B 038C 038D 038E 038F

12 - 10

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0390 Reserved :

039F 03A0 Axis data status bit 1

Use these when sampling the axis data status bit. For details, refer to Section 7.12.7.

03A1 Axis data status bit 2 03A2 Axis data status bit 3 03A3 Axis data status bit 4 03A4 Axis data status bit 5 03A5 Axis data status bit 6 03A6 Axis data status bit 7 03A7 Axis data status bit 8 03A8

Reserved

03A9 03AA 03AB 03AC 03AD 03AE 03AF 03B0

: 03BF

12 - 11

12. MONITOR NUMBER

12.5 Operation information (double word)

Monitor No. Content Units Remarks

1300 Current command position Command

units Command position prior to electronic gear processing

1302 Current feedback position Command

units Current feedback position prior to electronic gear processing

1304 Moving speed Speed units Command speed output to servo amplifier

1306 Remaining distance to move Command

units Distance from current command position to end point when in automatic operation

1308 Grid size pulse

Distance from standard position of return to home position (end of dog etc.) to the Z-phase. For the home position return method which does not use the Z-phase, 0 is displayed.

130A Reserved 130C

130E 1310 Current command position pulse Command position after electronic gear processing 1312 Current feedback position pulse Current feedback position after electronic gear processing 1314 F T pulse Movement amount per control cycle

1316 Feedback moving speed Speed units The feedback speed converted from the difference of the current feedback position (after electronic gear processing)

1318

Reserved

131A 131C 131E 1320 1322 1324 Speed command 0.01r/min Notifies the speed command during speed control. 1326

Reserved

1328 132A 132C 132E 1330 1332 1334 1336 1338 133A 133C 133E 1340 1342 1344 1346 1348 134A 134C 134E

12 - 12

12. MONITOR NUMBER

12.6 RIO control information

Monitor No. Content Units Remarks 0300

Reserved : 032F

0330 RIO control parameter error number No. 0200 to 020F

Bit corresponding to parameter error number is turned on. bit is No. 0200 (bit 0) to 020F (bit 15).

0331 RIO control parameter error number No. 0210 to 021F

Bit corresponding to parameter error number is turned on. bit is No. 0210 (bit 0) to 021F (bit 15).

0332 RIO control parameter error number No. 0220 to 022F

Bit corresponding to parameter error number is turned on. bit is No. 0220 (bit 0) to 022F (bit 15).

0333 RIO control parameter error number No. 0230 to 023F

Bit corresponding to parameter error number is turned on. bit is No. 0230 (bit 0) to 023F (bit 15).

0334

Reserved

0335 0336 0337 0338 0339 033A 033B 033C 033D 033E 033F

Note. Information concerning parameter error (RIO control alarm 37, detail 01) that has occurred at system startup can be monitored.

12 - 13

12. MONITOR NUMBER

12.7 System information

Monitor No. Content Units Remarks 0400 Reserved

0401 Cause of forced stop (Note)

bit 0: External forced stop bit 1: Software forced stop bit 2: User watchdog bit 3: Communication error bit 4: An axis that has not been mounted exists bit 5: During reboot preparation bit 6: System error E5 occurrence

0402

Reserved

0403 0404 0405 0406 0407 0408 0409

040A Parameter backup times Times Displays the times of write accesses to flash ROM by the parameter backups after system preparation is completed.

040B

Reserved 040C 040D 040E 040F

0410 System parameter error number No. 0001 to 000F

Bit corresponding to parameter number is turned on. bit is No. 0001 (bit 1) to 000F (bit 15).

0411 System parameter error number No. 0010 to 001F

Bit corresponding to parameter number is turned on. bit is No. 0010 (bit 0) to 001F (bit 15).

0412 System parameter error number No. 0020 to 002F

Bit corresponding to parameter number is turned on. bit is No. 0020 (bit 0) to 002F (bit 15).

0413 System parameter error number No. 0030 to 003F

Bit corresponding to parameter number is turned on. bit is No. 0030 (bit 0) to 003F (bit 15).

0414 System parameter error number No. 0040 to 004F

Bit corresponding to parameter number is turned on. bit is No. 0040 (bit 0) to 004F (bit 15).

0415 System parameter error number No. 0050 to 005F

Bit corresponding to parameter number is turned on. bit is No. 0050 (bit 0) to 005F (bit 15).

0416 System parameter error number No. 0060 to 006F

Bit corresponding to parameter number is turned on. bit is No. 0060 (bit 0) to 006F (bit 15).

0417 System parameter error number No. 0070 to 007F

Bit corresponding to parameter number is turned on. bit is No. 0070 (bit 0) to 007F (bit 15).

0418 Reserved :

047F Note. The bit for the corresponding forced stop factor is turned on.

12 - 14

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0480 Information concerning axis that is not mounted 1 (For driver)

When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on. Axis 1 (bit 0) to axis 16 (bit 15)

0481 Information concerning axis that is not mounted 2 (For driver)

When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on. Axis 17 (bit 0) to axis 32 (bit 15)

0482 Information concerning axis that is not mounted 3 (For driver) MC300

When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on. Axis 33 (bit 0) to axis 48 (bit 15)

0483 Information concerning axis that is not mounted 4 (For driver) MC300

When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on. Axis 49 (bit 0) to axis 64 (bit 15)

0484 Type code erroneous axis information 1 (For driver)

When system error E405: Driver type code error is set, this bit is turned on. Axis 1 (bit 0) to axis 16 (bit 15)

0485 Type code erroneous axis information 2 (For driver)

When system error E405: Driver type code error is set, this bit is turned on. Axis 17 (bit 0) to axis 32 (bit 15)

0486 Type code erroneous axis information 3 (For driver) MC300

When system error E405: Driver type code error is set, this bit is turned on. Axis 33 (bit 0) to axis 48 (bit 15)

0487 Type code erroneous axis information 4 (For driver) MC300

When system error E405: Driver type code error is set, this bit is turned on. Axis 49 (bit 0) to axis 64 (bit 15)

0488 Electronic gear setting error axis information 1

When an electronic gear setting error (system error E500) is set, this bit is turned on. Axis 1 (bit 0) to axis 16 (bit 15)

0489 Electronic gear setting error axis information 2

When an electronic gear setting error (system error E500) is set, this bit is turned on. Axis 17 (bit 0) axis 32 (bit 15)

048A Electronic gear setting error axis information 3 MC300

When an electronic gear setting error (system error E500) is set, this bit is turned on. Axis 33 (bit 0) to axis 48 (bit 15)

048B Electronic gear setting error axis information 4 MC300

When an electronic gear setting error (system error E500) is set, this bit is turned on. Axis 49 (bit 0) to axis 64 (bit 15)

048C Reserved :

04BF

04C0 Information concerning station that is not mounted (For module)

When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on. Station 1 (bit 0) to station 4 (bit 3) MC200 Station 1 (bit 0) to station 16 (bit 15) MC300

04C1 Type code erroneous station information (For module)

When system error E405: Driver type code error is set, this bit is turned on. Station 1 (bit 0) to station 4 (bit 3) MC200 Station 1 (bit 0) to station 16 (bit 15) MC300

04C2 Reserved :

04BF

12 - 15

12. MONITOR NUMBER

12.8 Servo parameter information

Monitor No. Content Units Remarks 0500

Reserved : 050F

0510 Servo parameter error number (Note) No. 1100 to 110F

Bit corresponding to parameter number is turned on. bit is No. 1100 (bit 0) to 110F (bit 15).

0511 Servo parameter error number (Note) No. 1110 to 111F

Bit corresponding to parameter number is turned on. bit is No. 1110 (bit 0) to 111F (bit 15).

0512 Servo parameter error number (Note) No. 1120 to 112F

Bit corresponding to parameter number is turned on. bit is No. 1120 (bit 0) to 112F (bit 15).

0513 Servo parameter error number (Note) No. 1130 to 113F

Bit corresponding to parameter number is turned on. bit is No. 1130 (bit 0) to 113F (bit 15).

0514 Servo parameter error number (Note) No. 1140 to 114F

Bit corresponding to parameter number is turned on. bit is No. 1140 (bit 0) to 114F (bit 15).

0515 Servo parameter error number (Note) No. 1150 to 115F

Bit corresponding to parameter number is turned on. bit is No. 1150 (bit 0) to 115F (bit 15).

0516 Servo parameter error number (Note) No. 1160 to 116F

Bit corresponding to parameter number is turned on. bit is No. 1160 (bit 0) to 116F (bit 15).

0517 Servo parameter error number (Note) No. 1170 to 117F

Bit corresponding to parameter number is turned on. bit is No. 1170 (bit 0) to 117F (bit 15).

0518 Servo parameter error number (Note) No. 1180 to 118F

Bit corresponding to parameter number is turned on. bit is No. 1180 (bit 0) to 118F (bit 15).

0519 Servo parameter error number (Note) No. 1190 to 119F

Bit corresponding to parameter number is turned on. bit is No. 1190 (bit 0) to 119F (bit 15).

051A Servo parameter error number (Note) No. 11A0 to 11AF

Bit corresponding to parameter number is turned on. bit is No. 11A0 (bit 0) to 11AF (bit 15).

051B Servo parameter error number (Note) No. 11B0 to 11BF

Bit corresponding to parameter number is turned on. bit is No. 11B0 (bit 0) to 11BF (bit 15).

051C Servo parameter error number (Note) No. 11C0 to 11CF

Bit corresponding to parameter number is turned on. bit is No. 11C0 (bit 0) to 11CF (bit 15).

051D Servo parameter error number (Note) No. 11D0 to 11DF

Bit corresponding to parameter number is turned on. bit is No. 11D0 (bit 0) to 11DF (bit 15).

051E Servo parameter error number (Note) No. 11E0 to 11EF

Bit corresponding to parameter number is turned on. bit is No. 11E0 (bit 0) to 11EF (bit 15).

051F Servo parameter error number (Note) No. 11F0 to 11FF

Bit corresponding to parameter number is turned on. bit is No. 11F0 (bit 0) to 11FF (bit 15).

Note. Information concerning parameter error (servo alarm 37) that has occurred at system startup can be monitored. If a parameter warning (servo alarm E4) occurs while system is running, it is not reflected in this information.

12 - 16

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0520 Servo parameter error number (Note) No. 1200 to 120F

Bit corresponding to parameter number is turned on. bit is No. 1200 (bit 0) to 120F (bit 15).

0521 Servo parameter error number (Note) No. 1210 to 121F

Bit corresponding to parameter number is turned on. bit is No. 1210 (bit 0) to 121F (bit 15).

0522 Servo parameter error number (Note) No. 1220 to 122F

Bit corresponding to parameter number is turned on. bit is No. 1220 (bit 0) to 122F (bit 15).

0523 Servo parameter error number (Note) No. 1230 to 123F

Bit corresponding to parameter number is turned on. bit is No. 1230 (bit 0) to 123F (bit 15).

0524 Servo parameter error number (Note) No. 1240 to 124F

Bit corresponding to parameter number is turned on. bit is No. 1240 (bit 0) to 124F (bit 15).

0525 Servo parameter error number (Note) No. 1250 to 125F

Bit corresponding to parameter number is turned on. bit is No. 1250 (bit 0) to 125F (bit 15).

0526 Servo parameter error number (Note) No. 1260 to 126F

Bit corresponding to parameter number is turned on. bit is No. 1260 (bit 0) to 126F (bit 15).

0527 Servo parameter error number (Note) No. 1270 to 127F

Bit corresponding to parameter number is turned on. bit is No. 1270 (bit 0) to 127F (bit 15).

0528 Servo parameter error number (Note) No. 1280 to 128F

Bit corresponding to parameter number is turned on. bit is No. 1280 (bit 0) to 128F (bit 15).

0529 Servo parameter error number (Note) No. 1290 to 129F

Bit corresponding to parameter number is turned on. bit is No. 1290 (bit 0) to 129F (bit 15).

052A Servo parameter error number (Note) No. 12A0 to 12AF

Bit corresponding to parameter number is turned on. bit is No. 12A0 (bit 0) to 12AF (bit 15).

052B Servo parameter error number (Note) No. 12B0 to 12BF

Bit corresponding to parameter number is turned on. bit is No. 12B0 (bit 0) to 12BF (bit 15).

052C Servo parameter error number (Note) No. 12C0 to 12CF

Bit corresponding to parameter number is turned on. bit is No. 12C0 (bit 0) to 12CF (bit 15).

052D Servo parameter error number (Note) No. 12D0 to 12DF

Bit corresponding to parameter number is turned on. bit is No. 12D0 (bit 0) to 12DF (bit 15).

052E Servo parameter error number (Note) No. 12E0 to 12EF

Bit corresponding to parameter number is turned on. bit is No. 12E0 (bit 0) to 12EF (bit 15).

052F Servo parameter error number (Note) No. 12F0 to 12FF

Bit corresponding to parameter number is turned on. bit is No. 12F0 (bit 0) to 12FF (bit 15).

0530 Servo parameter error number (Note) No. 1300 to 130F

Bit corresponding to parameter number is turned on. bit is No. 1300 (bit 0) to 130F (bit 15).

0531 Servo parameter error number (Note) No. 1310 to 131F

Bit corresponding to parameter number is turned on. bit is No. 1310 (bit 0) to 131F (bit 15).

0532 Servo parameter error number (Note) No. 1320 to 132F

Bit corresponding to parameter number is turned on. bit is No. 1320 (bit 0) to 132F (bit 15).

0533 Servo parameter error number (Note) No. 1330 to 133F

Bit corresponding to parameter number is turned on. bit is No. 1330 (bit 0) to 133F (bit 15).

0534 Servo parameter error number (Note) No. 1340 to 134F

Bit corresponding to parameter number is turned on. bit is No. 1340 (bit 0) to 134F (bit 15).

0535 Servo parameter error number (Note) No. 1350 to 135F

Bit corresponding to parameter number is turned on. bit is No. 1350 (bit 0) to 135F (bit 15).

0536 Servo parameter error number (Note) No. 1360 to 136F

Bit corresponding to parameter number is turned on. bit is No. 1360 (bit 0) to 136F (bit 15).

0537 Servo parameter error number (Note) No. 1370 to 137F

Bit corresponding to parameter number is turned on. bit is No. 1370 (bit 0) to 137F (bit 15).

0538 Reserved :

054F Note. Information concerning parameter error (servo alarm 37) that has occurred at system startup can be monitored. If a parameter

warning (servo alarm E4) occurs while system is running, it is not reflected in this information.

12 - 17

12. MONITOR NUMBER

Monitor No. Content Units Remarks

0580 Reserved :

058F

0590 Servo parameter change number No. 1100 to 110F

Bit corresponding to parameter number is turned on. bit is No. 1100 (bit 0) to 110F (bit 15).

0591 Servo parameter change number No. 1110 to 111F

Bit corresponding to parameter number is turned on. bit is No. 1110 (bit 0) to 111F (bit 15).

0592 Servo parameter change number No. 1120 to 112F

Bit corresponding to parameter number is turned on. bit is No. 1120 (bit 0) to 112F (bit 15).

0593 Servo parameter change number No. 1130 to 113F

Bit corresponding to parameter number is turned on. bit is No. 1130 (bit 0) to 113F (bit 15).

0594 Servo parameter change number No. 1140 to 114F

Bit corresponding to parameter number is turned on. bit is No. 1140 (bit 0) to 114F (bit 15).

0595 Servo parameter change number No. 1150 to 115F

Bit corresponding to parameter number is turned on. bit is No. 1150 (bit 0) to 115F (bit 15).

0596 Servo parameter change number No. 1160 to 116F

Bit corresponding to parameter number is turned on. bit is No. 1160 (bit 0) to 116F (bit 15).

0597 Servo parameter change number No. 1170 to 117F

Bit corresponding to parameter number is turned on. bit is No. 1170 (bit 0) to 117F (bit 15).

0598 Servo parameter change number No. 1180 to 118F

Bit corresponding to parameter number is turned on. bit is No. 1180 (bit 0) to 118F (bit 15).

0599 Servo parameter change number No. 1190 to 119F

Bit corresponding to parameter number is turned on. bit is No. 1190 (bit 0) to 119F (bit 15).

059A Servo parameter change number No. 11A0 to 11AF

Bit corresponding to parameter number is turned on. bit is No. 11A0 (bit 0) to 11AF (bit 15).

059B Servo parameter change number No. 11B0 to 11BF

Bit corresponding to parameter number is turned on. bit is No. 11B0 (bit 0) to 11BF (bit 15).

059C Servo parameter change number No. 11C0 to 11CF

Bit corresponding to parameter number is turned on. bit is No. 11C0 (bit 0) to 11CF (bit 15).

059D Servo parameter change number No. 11D0 to 11DF

Bit corresponding to parameter number is turned on. bit is No. 11D0 (bit 0) to 11DF (bit 15).

059E Servo parameter change number No. 11E0 to 11EF

Bit corresponding to parameter number is turned on. bit is No. 11E0 (bit 0) to 11EF (bit 15).

059F Servo parameter change number No. 11F0 to 11FF

Bit corresponding to parameter number is turned on. bit is No. 11F0 (bit 0) to 11FF (bit 15).

12 - 18

12. MONITOR NUMBER

Monitor No. Content Units Remarks

05A0 Servo parameter change number No. 1200 to 120F

Bit corresponding to parameter number is turned on. bit is No. 1200 (bit 0) to 120F (bit 15).

05A1 Servo parameter change number No. 1210 to 121F

Bit corresponding to parameter number is turned on. bit is No. 1210 (bit 0) to 121F (bit 15).

05A2 Servo parameter change number No. 1220 to 122F

Bit corresponding to parameter number is turned on. bit is No. 1220 (bit 0) to 122F (bit 15).

05A3 Servo parameter change number No. 1230 to 123F

Bit corresponding to parameter number is turned on. bit is No. 1230 (bit 0) to 123F (bit 15).

05A4 Servo parameter change number No. 1240 to 124F

Bit corresponding to parameter number is turned on. bit is No. 1240 (bit 0) to 124F (bit 15).

05A5 Servo parameter change number No. 1250 to 125F

Bit corresponding to parameter number is turned on. bit is No. 1250 (bit 0) to 125F (bit 15).

05A6 Servo parameter change number No. 1260 to 126F

Bit corresponding to parameter number is turned on. bit is No. 1260 (bit 0) to 126F (bit 15).

05A7 Servo parameter change number No. 1270 to 127F

Bit corresponding to parameter number is turned on. bit is No. 1270 (bit 0) to 127F (bit 15).

05A8 Servo parameter change number No. 1280 to 128F

Bit corresponding to parameter number is turned on. bit is No. 1280 (bit 0) to 128F (bit 15).

05A9 Servo parameter change number No. 1290 to 129F

Bit corresponding to parameter number is turned on. bit is No. 1290 (bit 0) to 129F (bit 15).

05AA Servo parameter change number No. 12A0 to 12AF

Bit corresponding to parameter number is turned on. bit is No. 12A0 (bit 0) to 12AF (bit 15).

05AB Servo parameter change number No. 12B0 to 12BF

Bit corresponding to parameter number is turned on. bit is No. 12B0 (bit 0) to 12BF (bit 15).

05AC Servo parameter change number No. 12C0 to 12CF

Bit corresponding to parameter number is turned on. bit is No. 12C0 (bit 0) to 12CF (bit 15).

05AD Servo parameter change number No. 12D0 to 12DF

Bit corresponding to parameter number is turned on. bit is No. 12D0 (bit 0) to 12DF (bit 15).

05AE Servo parameter change number No. 12E0 to 12EF

Bit corresponding to parameter number is turned on. bit is No. 12E0 (bit 0) to 12EF (bit 15).

05AF Servo parameter change number No. 12F0 to 12FF

Bit corresponding to parameter number is turned on. bit is No. 12F0 (bit 0) to 12FF (bit 15).

05B0 Servo parameter change number No. 1300 to 130F

Bit corresponding to parameter number is turned on. bit is No. 1300 (bit 0) to 130F (bit 15).

05B1 Servo parameter change number No. 1310 to 131F

Bit corresponding to parameter number is turned on. bit is No. 1310 (bit 0) to 131F (bit 15).

05B2 Servo parameter change number No. 1320 to 132F

Bit corresponding to parameter number is turned on. bit is No. 1320 (bit 0) to 132F (bit 15).

05B3 Servo parameter change number No. 1330 to 133F

Bit corresponding to parameter number is turned on. bit is No. 1330 (bit 0) to 133F (bit 15).

05B4 Servo parameter change number No. 1340 to 134F

Bit corresponding to parameter number is turned on. bit is No. 1340 (bit 0) to 134F (bit 15).

05B5 Servo parameter change number No. 1350 to 135F

Bit corresponding to parameter number is turned on. bit is No. 1350 (bit 0) to 135F (bit 15).

05B6 Servo parameter change number No. 1360 to 136F

Bit corresponding to parameter number is turned on. bit is No. 1360 (bit 0) to 136F (bit 15).

05B7 Servo parameter change number No. 1370 to 137F

Bit corresponding to parameter number is turned on. bit is No. 1370 (bit 0) to 137F (bit 15).

05B8 Reserved :

05CF

13 - 1

13

13. ALARM NUMBER

13. ALARM NUMBER

The position board can raise the following four alarms: system alarm, servo alarm, operation alarm, and system error. The alarm numbers are represented in hexadecimal numbers.

API LIBRARY Use the sscGetAlarm/sscResetAlarm functions to get/reset the alarm number.

Specify the following in the argument for the alarm type. System alarm : SSC_ALARM_SYSTEM Servo alarm : SSC_ALARM_SERVO RIO module alarm : SSC_ALARM_UNIT Operation alarm : SSC_ALARM_OPERATION RIO control alarm : SSC_ALARM_UNIT_CTRL

Use the sscGetSystemStatusCode function to get the system error. 13.1 System alarm

Alarm No.

Content Detail No.

Cause of occurrence Procedure

35 Operation cycle alarm

01 An operation cycle alarm occurred.

Reexamine the following. (1) Make the control cycle setting longer.

(Example. When control cycle is 0.44ms, change to 0.88ms)

(2) Decrease the number of control axes. (3) Reexamine the operation pattern so that the

timing of the operation startup of each axis does not overlap.

02 An operation cycle alarm occurred. (Such as SSCNET communication) MC300

36 Number of write accesses to flash ROM error

01 The number of write accesses to flash ROM by parameter backups exceeds 100,000 times.

Data cannot be written to the flash ROM because the flash ROM is expected to reach its service life.

03

The number of write accesses to flash ROM by parameter backups exceeds 25 times after system preparation completion.

Check for unnecessary parameter backups. To perform the parameter backup again, reset the system alarm.

37 (Note)

Parameter error 01 Parameter setting is erroneous. Set the setting to a correct value within the parameter limits.

39 CPU temperature warning MC300

01 The CPU temperature exceeded the warning temperature.

If not stopped, a CPU temperature error (system error E504) may occur. Check the conditions in the general specifications.

3B (Note)

Mark detection setting error

01

When mark detection is enabled, the total number of continuous latch data storages (parameter No.02B0, 02B2) for the whole system exceeds 64 MC200 / 128 MC300 .

Revise the total number of continuous latch data storages (parameter No.02B0, 02B2) for the whole system.

Note. The system alarm cannot be reset.

13 - 2

13. ALARM NUMBER

13.2 Servo alarm

13.2.1 Servo amplifier MR-J4(W )- B

The servo alarms of MR-J4(W )- B are shown in the following table. For details, refer to the Servo Amplifier Instruction Manual. (1) Alarm

Alarm No. Name Alarm No. Name 10 Undervoltage 61 Operation error 11 Switch setting error 63 STO timing error 12 Memory error 1 (RAM) 64 Functional safety unit setting error 13 Clock error 65 Functional safety unit connection error 14 Control process error 66 Encoder initial communication error 15 Memory error 2 (EEP-ROM) 67 Encoder normal communication error 1 16 Encoder initial communication error 1 68 STO diagnosis error 17 Board error 69 Command error 19 Memory error 3 (FLASH-ROM) 70 Load-side encoder initial communication error 1 1A Servo motor combination error 71 Load-side encoder normal communication error 1 1B Converter error 72 Load-side encoder normal communication error 2 1E Encoder initial communication error 2 74 Option card error 1 1F Encoder initial communication error 3 75 Option card error 2 20 Encoder normal communication error 1 79 Functional safety unit diagnosis error 21 Encoder normal communication error 2 7A Parameter setting error 24 Main circuit error 7B Encoder diagnosis error 25 Absolute position erased

7C Functional safety unit communication diagnosis error 27 Initial magnetic pole detection error

28 Linear encoder error 2 7D Safety observation error 2A Linear encoder error 1 82 Master-slave operation error 1 2B Encoder counter error 84 Network module initialization error 30 Regenerative error 85 Network module error 31 Overspeed 86 Network communication error 32 Overcurrent

8A USB communication time-out/ serial communication time-out error/ Modbus-RTU communication time-out error

33 Overvoltage 34 SSCNET receive error 1 35 Command frequency error 8D CC-Link IE communication error 36 SSCNET receive error 2

8E USB communication error/ serial communication error/ Modbus-RTU communication error

37 Parameter error 39 Program error 3A Inrush current suppression circuit error 88888 Watchdog 3D Parameter setting error for driver communication 3E Operation mode error 42 Servo control error 45 Main circuit device overheat 46 Servo motor overheat 47 Cooling fan error 50 Overload 1 51 Overload 2 52 Error excessive 54 Oscillation detection 56 Forced stop error

13 - 3

13. ALARM NUMBER

(2) Warning

Alarm No. Name 90 Home position return incomplete warning 91 Servo amplifier overheat warning 92 Battery cable disconnection warning 93 ABS data transfer warning 95 STO warning 96 Home position setting warning 97 Positioning specification warning 98 Software limit warning 99 Stroke limit warning 9A Optional unit input data error warning 9B Error excessive warning 9C Converter error 9D CC-Link IE warning 1 9E CC-Link IE warning 2 9F Battery warning E0 Excessive regeneration warning E1 Overload warning 1 E2 Servo motor overheat warning E3 Absolute position counter warning E4 Parameter warning E6 Servo forced stop warning E7 Controller forced stop warning E8 Cooling fan speed reduction warning E9 Main circuit off warning EA ABS servo-on warning EB Other axes error warning EC Overload warning 2 ED Output watt excess warning F0 Tough drive warning F2 Drive recorder Miswriting warning F3 Oscillation detection warning F4 Positioning warning

F5 Simple cam function - Cam data miswriting warning

F6 Simple cam function - Cam control warning Note. For the specific servo alarm numbers, refer to the Servo Amplifier Instruction Manual.

13.2.2 Sensing module (axis mode)

The alarms for sensing module (axis mode), are the same as the alarms for sensing module (station mode). Refer to Section 13.3.2.

13 - 4

13. ALARM NUMBER

13.3 RIO module alarm

13.3.1 SSCNET /H head module

Refer to "MELSEC-L SSCNET /H Head Module User's Manual" for SSCNET /H head module RIO module alarms. 13.3.2 Sensing module (station mode)

The RIO module alarms of the sensing module are shown in the following table. For details, refer to the Sensing Module Instruction Manual. (1) Alarm

Alarm No. Name 10 Undervoltage 11 Switch setting error 12 Memory error 1 (RAM) 13 Clock error 14 Control process error 15 Memory error 2 (EEP-ROM) 17 Board error 19 Memory error 3 (Flash-ROM) 1A Incorrect combination of extension modules 1B Driver error 1E Encoder I/F module - Initial communication error 2 1F Encoder I/F module - Initial communication error 3

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

21 Encoder I/F module - Ch. A Normal communication error 2

28 Encoder I/F module - Linear encoder error 2 2A Encoder I/F module - Ch. A Linear encoder error 1 34 SSCNET receive error 1 35 I/O pulse frequency error 36 SSCNET receive error 2 37 Parameter error

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

72 Encoder I/F module - Ch. B Normal communication error 2

75 Extension module error 76 Encoder I/F module - Ch. B Linear encoder error 1 8E Serial communication error Watchdog

(2) Warning

Alarm No. Name E4 Parameter warning E7 Controller forced stop warning

Note. For the specific servo alarm numbers, refer to the Sensing Module Instruction Manual.

13 - 5

13. ALARM NUMBER

13.4 Operation alarm

Alarm No.

Content Detail No.

Cause of occurrence Procedure

10 Stop command on 01 The stop operation signal (STP) is on. Turn off the stop operation signal (STP). 02 The rapid stop signal (RSTP) is on. Turn off the rapid stop signal (RSTP).

12 During forced stop 01 A forced stop is present. Cancel the forced stop. 13 Interlock is on 01 An Interlock is present. Cancel the interlock.

16 Group error 01 An alarm occurred on an axis that is part of a group. (Not the axis)

Remove the cause for the alarm from the axis where the alarm occurred.

1A In test mode 01 Currently in test mode.

If test mode was selected using MR Configurator2 (set up software), operation (automatic operation etc.) can not be performed using the position board. For performing operations using the position board, perform a restart.

20 Operation mode error

01 Operation modes overlap. Set up the operation modes correctly.

02 Operation modes are not set up.

21 Command speed zero

01 The command speed is zero or less.

Set the command speed to 1 or more. Note. Depending on parameter settings, a setting

of 1 or more may be treated as 0 by internal calculations.

02 The speed limit is zero or less. Set the speed limit to 1 or more.

03 The command speed is zero or less. MC300

Make the command speed higher. Note. This occurs when the command speed is

treated as 0 by the internal operation of the jerk ratio acceleration/deceleration.

22 Point number error

01 The start point No. or end point No. is a negative value. Set up the point numbers correctly.

02 Start point No. is greater than end point No.

03 Start point No. or end point No. exceeds the point table area of the dual port memory.

Set up the point numbers and point number offset correctly.

23 Mode change during operation

01 Operation mode was changed during operation.

Do not attempt to change operation modes during operation.

24 Position exceeded during positioning

01

Stopping of end point or changing position for continuous operation, when the deceleration stop point exceeds the command position.

Perform command position taking into account the minimum distance needed to stop.

13 - 6

13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

25 Point table setting error

01 The position command system setting is erroneous.

Set up the position command system correctly.

02 The deceleration check system setting is erroneous.

Set up the deceleration check system correctly.

06 The S-curve ratio setting is erroneous. Set up the S-curve ratio correctly.

07 The speed switching point specification setting is erroneous.

Set up the help command correctly.

08

The point data setting of the next point is erroneous. Note. Only when "1: Before point switching"

is set in the speed switching point specification

Reexamine the setting value of the next point in the point table.

09 The other axes start specification setting is erroneous.

Set up the other axes start specification correctly.

0A The predwell setting is erroneous. Set up the predwell correctly.

0C The setting of pass position interrupt specification is erroneous.

Set only the start point for the pass position interrupt specification.

11 The interpolation method setting is erroneous. MC300

Set the interpolation method correctly.

12 The setting for acceleration/deceleration method is outside of the setting range. MC300

Set the acceleration/deceleration method correctly.

13 A value for acceleration/deceleration data 1 to 4 is outside of the setting range. MC300

Set acceleration/deceleration data 1 to 4 correctly.

14

The total of the values of acceleration/deceleration data 1 and 2, or acceleration/deceleration data 3 and 4 exceed 1000. MC300

Set acceleration/deceleration data 1 and 2, or acceleration/deceleration data 3 and 4 correctly.

15 The acceleration/deceleration method was set to jerk ratio acceleration/deceleration during interpolation operation. MC300

Reexamine the acceleration/deceleration method.

26 Incremental feed movement amount error

01 The setting for incremental feed movement amount is a negative number.

Set the incremental feed movement amount using natural numbers including 0. Movement direction is designated by the movement direction signal (DIR).

2D Latest command buffer number setting error

01 A value outside of range is set to the latest buffer number.

Set a value inside the range to the latest buffer number.

13 - 7

13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

2E Control mode switch error

01 Control mode was changed during operation.

When changing from position control mode to speed control mode/torque control mode, or changing from speed control mode/torque control mode to position control mode, perform the control mode change while stopped.

02 A control mode outside of setting range was set.

Reexamine the value of the control mode command.

03 (Note)

Without the control mode changing, a time out occurred.

(1) If the control mode change was conducted on an axis that does not support control mode change, check that control mode change is possible before performing a control mode change.

(2) An error occurred in communication processing between the position board and the servo amplifier. Make contact with and explain the failure symptoms to an agency or branch office.

04 During standard mode, a switch command to a control mode that cannot be switched to was input.

Reexamine the value of the control mode command. (a value that is not speed control mode, torque control mode, or outside of range)

2F Torque control setting error

01 A value outside of range is set to the torque control speed limit value.

Reexamine the value of the torque control speed limit value.

37 (Note)

Parameter error 01 Parameter setting is erroneous. Set the setting to correct value within the parameter limits.

38 (Note)

System setting error

01 The setting for the control axis exceeds the maximum number of control axes.

Reexamine the structure of the system.

02 When Axis No. assignment is valid, the servo amplifier axis No. (parameter No.0203) is set to 0.

Set the axis No. to the servo amplifier axis No. (parameter No.0203).

03

When Axis No. assignment is valid, the setting value of the servo amplifier axis No. (parameter No.0203) is out of range of the valid axis No.

Set the axis No. within the valid range to the servo amplifier axis No. (parameter No.0203).

04

When Axis No. assignment is valid, the setting value of the servo amplifier axis No. (parameter No.0203) is the same as other axes.

Reexamine of the setting of the servo amplifier axis No. (parameter No.0203).

39 (Note)

I/O No. assignment setting error

01

The general input number assigned to the digital input table or input device table is the same as the setting for other servo amplifiers/remote I/O modules. Or, the assignment exceeds its allowable range.

Reexamine the general I/O number assignment setting (parameter No.0214) for the servo amplifier.

02

The general output number assigned to the digital output table or output device table is the same as the setting for other servo amplifiers/remote I/O modules. Or, the assignment exceeds its allowable range.

Reexamine the general I/O number assignment setting (parameter No.0214) for the servo amplifier.

Note. The operation alarm cannot be reset.

13 - 8

13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

3B (Note)

Mark detection setting error

01 Mark detection was enabled in a communication mode that is not compatible.

Use mark detection in a SSCNET /H system.

02 Mark detection function is set to enabled for an axis that does not support mark detection function.

(1) Change the servo amplifier being used to an axis with a mark detection signal function.

(2) Disable the mark detection settings.

03 When the mark detection mode is ring buffer, the number of continuous latch storages was set to 0.

Reexamine the value of number of continuous latch data storages (parameter No.02B0, 02B2).

04 Mark detection function was set to enabled for an axis that is set to get sensor input from driver.

(1) Reexamine the setting of sensor input option (parameter No.0219).

(2) Disable the mark detection settings.

40

Linear interpolation start up error MC200

Interpolation start up error MC300

01

Axes that have been set to something besides linear interpolation mode MC200 / interpolation operation mode MC300 (LIP) are included in the same group.

Designate all of the axes in the group as linear interpolation mode MC200 /interpolation operation mode MC300 (LIP).

02

There are 5 or more axes in the group formation during linear interpolation; alternatively, a group formation consists of either 1 axis or 3 or more axes during circular interpolation. MC300

Reexamine the group formation.

03

Start operation was performed for linear interpolation MC200 /interpolation operation MC300 with the invalid linear interpolation group number MC200 / interpolation group number MC300 .

Reexamine the linear interpolation group MC200 / interpolation group MC300 (parameter No.0260). Refer to Section 5.6 (linear interpolation) or Section 5.7 (circular interpolation) for details concerning valid group number.

04 The number of points defined for axes in the group is different.

Set the same number of points for all axes.

05 The speed unit for the primary axis (parameter No.0200) is defined to be r/min.

Change the speed units.

41

Linear interpolation point data error MC200

Interpolation point data error MC300

01 During linear control, the movement amount in the group exceeds the maximum value "999999999".

Set it to the correct data.

02

With excessive speed processing (parameter No.0261) set to "1: alarm stop", the group formation axis exceeds the speed limit.

Reexamine feed speed and speed limit values.

03 The axis No. for interpolation axis No. is outside the valid range.

Reexamine the interpolation axis No. setting value.

04

The number of linear interpolation or circular interpolation MC300 groups operating simultaneously exceeds the valid number of linear interpolation MC200 / interpolation operation MC300 groups.

Reexamine the operation pattern so that the number of linear interpolation or circular interpolation MC300 groups operating simultaneously does not exceed the valid number of interpolation groups.

05 The axis No. for the auxiliary axis specified by the point table overlaps with the primary axis or another auxiliary axis.

Reexamine the auxiliary axis No. so that it is not the same as another axis No.

Note. The operation alarm cannot be reset.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

41

Linear interpolation point data error MC200

Interpolation point data error MC300

10

When executing central point-specified circular interpolation, the difference between the radius of the start/central points and the radius of the end/central points exceeds the allowable error range for circular interpolation (parameter No.02CC, 02CD). MC300

Reexamine the central point (arc coordinate), the end point (position data), and the allowable error range value.

11 During auxiliary point-specified circular interpolation, the start point = auxiliary point. MC300

Reexamine the auxiliary point (arc coordinate).

12 During auxiliary point-specified circular interpolation, the end point = auxiliary point. MC300

Reexamine the auxiliary point (arc coordinate).

13 During auxiliary point-specified circular interpolation, the start point, end point, and auxiliary point form a straight line. MC300

Reexamine the auxiliary point (arc coordinate).

14

During auxiliary point-specified circular interpolation, the auxiliary point coordinate is outside the range of -2147483648 to 2147483647. MC300

Reexamine the auxiliary point (arc coordinate).

15 During auxiliary point-specified circular interpolation, the start point = end point MC300

Reexamine the end point (position data).

16

During either auxiliary point- or central point-specified circular interpolation, the end point position is outside the range of -2147483648 to 2147483647. MC300

Reexamine the end point (position data).

17 During central point-specified circular interpolation, the start point = central point MC300

Reexamine the central point (arc coordinate).

18 During central point-specified circular interpolation, the end point = central point MC300

Reexamine the central point (arc coordinate).

19

During central point-specified circular interpolation, the central point position is outside the range of -2147483648 to 2147483647. MC300

Reexamine the central point (arc coordinate).

1A The arc radius exceeds 536870912. MC300 Reexamine the auxiliary point (arc coordinate), the central point (arc coordinate), and the end point (position data).

42

Can't start linear interpolation auxiliary axis error MC200

Can't start interpolation auxiliary axis error MC300

01 The auxiliary axis is in operation.

Perform start operation for linear interpolation MC200 /interpolation operation MC300 after making sure all axes in the group are stopped.

02 The auxiliary axis has an alarm set. Remove the cause for the alarm on the auxiliary axis.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

43 Interference check axis setting error

01 The axis is set up as the interference check axis.

Set it to the correct data. 02

The axis in the same linear interpolation group as the axis is set up as the interference check axis.

0F An operation that is not compatible with the interference check was started. MC300

Check again to make sure that you are not using the following operations. Circular interpolation

44 Command error in interference area

01 Commanded to move into interference area.

Perform a commanded to move out of the interference area.

45 Entering interference area error

01 Entered interference area during operation.

(1) Confirm that the parameter settings related to interference check are correct.

(2) Change the operation pattern so that the interference area is not entered.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

4D Other axes start setting error

01 The start condition setting is erroneous. Set correct data.

02 The operation setting is erroneous.

10 The axis judgment condition of the other axes start condition is outside limits. MC300

Set correct data.

11 The axis remaining distance data of other axes start condition is a negative value. MC300

Set correct data.

12 The position specified in the axis pass position data of other axes start condition cannot be passed. MC300

Set correct data.

13 The axis judgment coordinates of other axes start condition is outside limits. MC300

Set correct data.

14 The observed axis specification of other axes start condition is outside limits. MC300

Set correct data.

15 The observe judgment condition of other axes start condition is outside limits. MC300

Set correct data.

16 The observed axis judgment coordinates of other axes start condition is outside limits. MC300

Set correct data.

17 The specified position pass judgment condition of observed axis of other axes start condition is outside limits. MC300

Set correct data.

18 The observed axis No. of other axes start condition is outside limits. MC300

Set correct data.

19 A non-existent axis is set in the observed axis No. of other axes start condition. MC300

Set the axis specified by observed axis No. to control with control option 1 (parameter No.0200). Or, establish SSCNET communication with the observed axis.

20 A self-axis or non-existent axis was set in the start axis designation of the other axes operation content. MC300

Set the axis specified as start axis No. to control with control option 1 (parameter No.0200). Or, establish SSCNET communication with the start axis

21 The start axis starting point No. and start axis end point No. settings of other axes operation content are outside limits. MC300

Set correct data.

22 The digital output signal control/output device signal control of other axes operation content is outside limits. MC300

Set correct data.

23 The output device signal No. of other axes operation content is outside limits. MC300

Set correct data.

24

The digital output signal/digital device signal of other axes operation content designated by digital output signal selection/output device signal selection have not been assigned a servo amplifier general output or remote I/O module output. MC300

Assign a servo amplifier general output or remote I/O module output to the digital output signal/digital device signal.

50 Tandem drive mode change error

01 Drive mode change was attempted while tandem drive axis mode toggling was prohibited.

Only attempt to change drive mode when change conditions are satisfied. Refer to Section 8.1.3.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

51 While in tandem drive non- synchronous mode

01

Home position return, automatic operation, or linear interpolation operation MC200 /interpolation operation MC300 was attempted while in non-synchronous micro adjustment mode of tandem drive axes.

Perform home position return, automatic operation as well as linear interpolation operation MC200 /interpolation operation MC300 while in synchronous mode.

52 Tandem drive axis setting error

01

A home position return method other than dog method, dog cradle method, data set method, scale home position signal detection method, or dog front end method was attempted for home position return while in tandem drive axis mode.

Set the home position return option 1 to one of the return to home position methods listed to the left.

02

A second axis is not set for the tandem drive axis group. Or 3 or more axes are set up with the same tandem drive group number.

Set up the tandem drive axis group number in pairs.

53 Tandem drive excessive deviation

01

The deviation between the master axis and slave axis for tandem drive axes exceeds the tandem drive excessive deviation width of the parameter.

Make adjustments so that the deviation between the master axis and slave axis is reduced. And reexamine excessive deviation width and delay of start detection for excessive deviation, defined in the parameters.

54

Tandem drive synchronous alignment valid width error

01

When deviation exceeds the synchronous alignment valid width during calculation error correction performed for servo on, while in tandem drive synchronous mode.

Reexamine the parameter synchronous alignment valid width. As the home position return is incomplete (home position return request (ZREQ) is ON), execute home position return again.

55 Tandem drive while performing synchronization

01

When start of operation is executed during calculation error correction performed for turning on of the servo, while in tandem drive synchronous mode.

Do not perform start up while the "synchronizing" signal (SYEO ) is on.

56 Tandem drive slave axis error

01 There is a servo alarm for the tandem drive slave axis (including servo warning E6, E7, E9).

Cancel the servo alarm. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.

02 A communication error or a power outage on the servo amplifier occurred.

Confirm that the connection to the servo amplifier is intact. Refer to Section 13.6 for details concerning communication errors. 03

The tandem drive slave axis entered servo ready off mode.

57

Exceeding of valid width of tandem drive deviation compensation error

01

The deviation between the master axis and the slave axis exceeded the valid width when home position return was performed while in tandem drive mode.

(1) Adjust the mechanical deviation between the master axis and the slave axis so that it is within the valid width.

(2) Set the tandem drive home position signal offset (parameter No.026C, 026D) to a correct value.

58 Tandem drive synchronous alignment error

01

When a stop command is input during calculation error correction performed for turning on the servo, while in tandem drive synchronous mode.

To correct the error between the master axis and the slave axis, turn the servo off and then on to perform synchronization again.

02 In tandem drive synchronous mode, the start operation is performed without completion of synchronization.

5B Using other axes start data

01 Other axes start data is being used (the other axes start notice signal (OSOP ) is on).

Check the other axes start data is not being used (the other axes start notice signal (OSOP ) is off).

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

5C Pass position interrupt error

01 The setting to the start number of the pass interrupt condition is out of range.

Check the start number setting of the pass interrupt condition.

02 The setting to the end number of the pass interrupt condition is out of range.

Check the end number setting of the pass interrupt condition.

03 The start number of the pass interrupt condition exceeds the end number.

Check the start number setting and the end number setting of the pass interrupt condition.

04 The setting of the pass interrupt condition is out of range.

Check the pass interrupt condition setting.

05 The specified pass interrupt condition is used for other axes.

Do not overlap the pass interrupt condition numbers for each axis.

06 The operation is started during the pass position output interrupt.

Do not start the operation until the pass position output interruption is completed.

07

During the pass position output interrupt cancel signal (PPISTP) is on, the operation is started with setting valid to the pass position specification for auxiliary command of point table.

Start the operation after turning off the pass position output interrupt cancel signal (PPISTP).

5D Continuous operation to torque control error

01 Continuous operation to torque control valid was specified to a tandem drive axis.

Specify continuous operation to torque control invalid to the tandem drive axis.

02

When operating at a continuous operation to torque control point, the operation was completed without conducting a switch to continuous operation to torque control.

(1) For automatic switch, reexamine the setting of the continuous operation to torque control switching position.

(2) For manual switch, conduct a switch to continuous operation to torque control mode before position control mode operation is completed.

03 The press limit position was reached. Reexamine the positions of the pressing position in continuous operation to torque control and the press limit position.

04 Interlock command (ITL) turned ON during the operation of a point set to continuous operation to torque control valid.

Do not input an interlock command during the operation of a continuous operation to torque control point.

05 The travel direction and press limit position were incorrect.

(1) Reexamine the set values of the point table. (2) Travel in the opposite direction, and start

operation before the press limit position.

5D Continuous operation to torque control error

06

A continuous operation to torque control point was specified for a connected module that does not support continuous operation to torque control.

(1) Reexamine the set values of the point table. (2) Use a servo amplifier that supports continuous

operation to torque control mode.

07

The control mode switch command (CTLMC) turned ON during movement in continuous operation to torque control mode (before reaching target torque).

Turn ON control mode switch command after completion of continuous operation to torque control. (Switch to position control mode)

08 The press limit position was set to a position before the position data of the point table.

Set the press limit position to a position after the position data of the point table.

09 The software limit was set to a position before the press limit position.

Set the press limit position to a position before the software limit.

0A Continuous operation to torque control valid was specified to a linear interpolation axis or circular interpolation axis MC300 .

Specify continuous operation to torque control invalid to a linear interpolation axis or circular interpolation axis MC300 .

0B Continuous operation to torque control was specified as valid for a point where travel amount is 0.

Set the required travel amount in order to conduct continuous operation to torque control.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

5E Continuous operation to torque control setting error

01 Continuous operation to torque control speed limit value is outside of range.

Reexamine the setting of the continuous operation to torque control speed limit value.

02 Target torque is outside of range. Reexamine the setting of the target torque.

03 Continuous operation to torque control acceleration time constant is outside of range.

Reexamine the setting of continuous operation to torque control acceleration time constant.

04 Continuous operation to torque control deceleration time constant is outside of range.

Reexamine the setting of continuous operation to torque control deceleration time constant.

05 Continuous operation to torque control operating conditions is out of range.

Reexamine the setting of continuous operation to torque control operating conditions.

5F Point table loop error

01 The loop start point is specified but the latest command point No. is 0.

After updating the point table, set the latest command point No.

02 The loop start point is specified but the number of points used is 1.

When specifying the point table loop, set more than one point.

03 A value smaller than the start point No. or a value larger than the end point No. was input to the latest command point No.

Input a number within the range of start point No. and end point No. to the latest command point No.

04 The next point for a point that specifies continuous operation has not been updated.

(1) Increase the number of points to be used in loop method so that update is complete at the time of operation start for the next point.

(2) Increase the updating speed so that update is complete at the time of operation start for the next point.

(3) After updating the point table, set the latest command point No.

05 Loop end point was specified while not in point table loop.

Specify loop end point while using point table loop method.

90 Home position return not complete

01

Automatic operation, linear interpolation operation MC200 /interpolation operation MC300 , or home position reset were performed without executing return to home position.

Execute home position return. Or validate no home position (parameter No.0200).

91 Z-phase not passed 01 The Z-phase has not been passed. Turn the motor more than 1 revolution in the + / - direction and then perform home position return.

92 The proximity dog is short

01

When using dog method home position return, after the dog turned on and decelerating to a stop, the position is not above the dog.

Lengthen the proximity dog. Or in order to stop on top of the dog, reduce the home position return speed.

94 Home position return direction error

01

The home position return direction and stopper method direction are opposite when using a stopper method for return to home position.

Set the home position return direction to be the same as the push direction.

95 Not limiting torque 01 "Torque limit effective" has not been turned on when stopper method is being used for return to home position.

Perform push, and after torque limitation effective state, perform start operation for home position return.

96 Home position setting error

01 Home position setting was performed prior to motor being stabilized.

Adjust the servo so that it stabilizes quickly upon stopping at the home position.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

97 Home position stop error

01 Upon stopping at home position, even after 1800ms passed, in-position was not achieved.

(1) Reduce home position return speed and creep speed.

(2) Lengthen the home position return time constant.

(3) Broaden the in-position boundaries. (4) Confirm that it is not contacting the machine

when return to home position is being performed.

98 Home position search limit error

01

The movement amount moved to detect the home position signal or dog signal while performing return to home position exceeded the home position search limit (parameter No.024A, 024B)

Confirm the input status of the dog signal etc.

9C Z-phase mask amount setting error

01

The value calculated by Z-phase mask amount electronic gear numerator (CMX)

electronic gear denominator (CDV) exceeds 32 bits.

Reexamine the setting value of the Z-phase mask amount.

The Z-phase mask amount the travel distance to the Z-phase exceeds 32 bits.

9D Home position return parameter setting error

01

For a home position return method that requires the Z-phase being passed, "Not need to pass motor Z phase after the power supply is switched on" is set.

Reexamine the home position return method (parameter No.0240) or the home position setting condition selection (parameter No.1190).

02

In the Z-phase detection method home position return, "Search again" is set in the setting of the home position signal re- search.

Set "Do not search again" to the home position signal re-search (parameter No.0240).

03

In the home position return using other than a Z-phase detection method, a shortcut direction is set as the home position return direction.

Set the - or + direction to the home position return direction (parameter No.0240).

04 The setting for home position return method (parameter No.0240) is incorrect.

Reexamine the setting of home position return method (parameter No.0240).

A0 Limit switch

01 The upper limit switch (LSP) turned off while moving in the + direction.

Using JOG operation etc. move in the opposite direction to return to within the limit switch boundaries.

02 The lower limit switch (LSN) turned off while moving in the - direction.

Using JOG operation etc. move in the opposite direction to return to within the limit switch boundaries.

A1 Out of software limit boundaries

01 Position outside of software limit boundaries is being designated.

Set the movement command to within the software limit boundaries.

A2 Reached software limit

01 The software limit has been reached. Using JOG operation etc. move in the opposite direction to return to within the software limit boundaries.

A4 Software limit Parameter error

01 The parameter settings for the software limits has the upper limit < lower limit.

Set the parameter settings for the software limits such that the upper limit > lower limit.

A5 Position switch parameter error

01 The parameter settings for the position switch has the upper limit < lower limit.

Set the parameter settings for the position switch such that the upper limit > lower limit.

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13. ALARM NUMBER

Alarm No.

Content Detail No.

Cause of occurrence Procedure

A6 Mark detection write/read error

01 During mark detection, it is not possible to write to the target buffer.

The reading speed of the host controller for a mark detection occurrence is too slow. Perform the following. (1) Increase the number of continuous latch data

storages (parameter No.02B0, 02B2) for the applicable mark sensor.

(2) Increase the reading speed.

02

After the input of a value to the read complete buffer number that exceeds the mark detection count, a mark sensor was detected.

Reexamine the input value for the read complete buffer number.

A7 Command data error

01 A value outside of range was input to the speed command buffer.

Reexamine the speed command data.

02 A value outside of range was input to the torque command buffer.

Reexamine the torque command data.

03

Position command data that exceeds the allowable difference between the position command data of the previous command data update cycle was input.

Reexamine the position command data.

B0 Servo is not controllable

01 Axis is not a control axis. Validate control axes (parameter No.0200).

02 A communication error or a power outage on the servo amplifier occurred.

Confirm that the connection to the servo amplifier is intact. Refer to Section 13.6 for further details concerning communication errors.

03 A servo alarm was set and servo ready off mode was entered.

Cancel the servo alarm. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.

The main circuit is in off status. Turn on the main circuit.

B1 Servo alarm occurrence

01 A servo alarm occurs (including servo warning E6, E7, E9).

Cancel the servo alarm. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.

B2 Servo is off 01 Servo is in off status. Turn on the servo.

B3 Servo off command 01 Servo on signal (SON) was turned off during operation.

Turn on the servo.

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13. ALARM NUMBER

13.5 RIO control alarm

Alarm No.

Content Detail No.

Cause of occurrence Procedure

37 (Note)

Parameter error 01 Parameter setting is erroneous. Set the setting to correct value within the parameter limits.

38 (Note)

System setting error

01 The setting for the control station exceeds the maximum number of control stations.

Reexamine the structure of the system.

02 When station No. assignment is valid, the remote I/O module station No. (parameter No.0202) is set to 0.

Set the station No. to the remote I/O module station No. (parameter No.0202).

03

When station No. assignment is valid, the setting value of the remote I/O module station No. (parameter No.0202) is out of range of the valid station No.

Set the station No. within the valid range to remote I/O module station No. (parameter No.0202).

04

When station No. assignment is valid, the setting value of remote I/O module station No. (parameter No.0202) is the same as other stations.

Reexamine the setting of the remote I/O module station No. (parameter No.0202).

05 The used points were set to an input table that is not being used.

Review the settings for I/O table selection (parameter No.004A), input bit device points (parameter No.0210) and input word device points (parameter No.0212) for remote I/O module

06 The used points were set to an output table that is not being used.

Review the settings for I/O table selection (parameter No.004A), output bit device points (parameter No.0214) and output word device points (parameter No.0216) for remote I/O module

39 (Note)

I/O No. assignment setting error

01

The number assigned to the digital input table or input device table is the same as the setting for other servo amplifiers/remote I/O modules. Or, the assignment exceeds its allowable range.

Reexamine the input bit device start No. (parameter No.0211), and input word device start No. (parameter No.0213) for the remote I/O module.

02

The number assigned to the digital output table or output device table is the same as the setting for other servo amplifiers/remote I/O modules. Or, the assignment exceeds its allowable range.

Reexamine the output bit device start No. (parameter No.0215), and output word device start No. (parameter No.0217) for the remote I/O module.

Note. The RIO control alarm cannot be reset.

13 - 18

13. ALARM NUMBER

13.6 System error

The error code for system errors can be confirmed using system status codes (address 01D0). When the status code is E h, this corresponds to a system error.

Error code Content Cause of occurrence Procedure E001 ROM error

Component failure inside position board. Replace the position board. E002 RAM error 1

E003 Dual port memory error

Component (dual port memory) failure inside position board. (Note 1)

If the conditions described in (Note 1) are not applicable, replace the position board.

E004 RAM error 2

Component error inside position board. Replace the position board.

E006 SSCNET communication IC error 1

E007 SSCNET communication IC error 2

E008 Board error E1 CPU error

E200 Interrupt error

E301 Watchdog error (Note 2)

E302 DC FAIL The + 5VDC being supplied to the position board was reduced.

Check the + 5VDC of the bus connected to the position board.

E310 PCIe bus connection error MC300

PCIe communication with the host controller was disconnected.

Check the connection status of the PCIe bus connecting the position board.

E400 An axis that has not been mounted exists

The control option 1 (parameter No.0200) control axis ( ) setting and the servo amplifier connection status are different.

Check the following details. (1) That the control option 1 setting and the servo

amplifier connection status, setting (rotary switch) match.

(2) Power supply status to servo amplifier. (3) SSCNET cable connection status. (4) For disconnection of SSCNET cable.

Communication was cut off by power outage of servo amplifier etc.

Check the following details. (1) Power supply status to servo amplifier. (2) SSCNET cable connection status. (3) For disconnection of SSCNET cable.

Turn on the control power supplies for the communication route servo amplifiers.

The disconnection command is sent to the second or later axis in the module of the multi-axis amplifier.

Make sure the all axes in the module of the multi-axis amplifier are simultaneously disconnected.

E401 CRC error SSCNET communication error

Check the following details. (1) SSCNET cable connection status. (2) For disconnection of SSCNET cable.

E403 Data ID error

E405 Driver type code error

Type code (parameter No.021E) is different from actual drivers.

Check the respective parameters.

The vendor ID (parameter No.021D) is different from the actual driver.

Check the respective parameters.

E407 SSCNET time out No response from the servo amplifier and a communication time out occurred.

An error occurred in communication processing between the position board and the servo amplifier. Make contact with and explain the failure symptoms to an agency or branch office.

Note 1. There are cases where this occurs when data is written to the dual port memory from the host controller prior to system status code

becoming "system preparation completion" after turning on the power for the position board (or after reboot). 2. Not user watchdog. Watchdog error on the position board side.

13 - 19

13. ALARM NUMBER

Error code Content Cause of occurrence Procedure

E40B Uncontrollable driver

The position board failed to shift to the status where the driver is controllable since an error occurred in initial communication between the position board and the servo amplifier.

Check the following details. (1) The setting value of the control option 1 should

correspond to the servo amplifier connection status. (2) The setting of multi-axis amplifier and the control

option 1 or axis/station No. assignment should correspond.

E40E Communication cycle error

A servo amplifier that does not support the set communication cycle is connected.

Check that all servo amplifiers support the set control cycle (communication cycle.)

E500 Electronic gear setting error

A value out of the setting range was input.

Check the following details. (1) The settings of the electronic gear numerator

(CMX) and the electronic gear denominator (CDV) are within the setting range.

(2) The settings of the electronic gears (CMX/CDV) are within the setting range.

E503 Exclusive control error

The invalid value is set to the exclusive control data area.

Reexamine the setting process for the exclusive control data.

E504 CPU temperature error MC300

The CPU temperature exceeded the error temperature.

Turn off the power supply of the host controller. Check the conditions in the general specifications.

E510 I/O No. assignment error

The digital I/O table or I/O table assignment is erroneous.

Check the axis or station in which the I/O No. assignment setting error (Operation alarm No. 39, RIO control alarm 39) is occurring and reexamine the setting.

E511 I/O table select error The used points were set to an I/O table that is not being used.

Check the station in which the system setting error (RIO control alarm 38) is occurring and reexamine the setting.

E5E0 SSCNET communication system error An error occurred in initial communication

with the servo amplifier.

An error occurred in initial communication between the position board and the servo amplifier. Make contact with and explain the failure symptoms to an agency or branch office. E5E1

SSCNET communication system error 2

EF01 System command code error

An erroneous system command code was set.

Do not set any values other than those listed in Section 10.3.

13 - 20

13. ALARM NUMBER

MEMO

14 - 1

14

14. EMC AND LOW VOLTAGE DIRECTIVES

14. EMC AND LOW VOLTAGE DIRECTIVES

Compliance to the EMC Directive, which is one of the EU Directives, has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997. Manufacturers who recognize their products are compliant to the EMC and Low Voltage Directives are required to declare that print a "CE mark" on their products. (1) Authorized representative in Europe

Authorized representative in Europe is shown below. Name : Mitsubishi Electric Europe B.V. Address : Gothaer strase 8, 40880 Ratingen, Germany

14.1 Requirements for compliance with the EMC directive

The EMC Directive specifies that products placed on the market must be so constructed that they do not cause excessive electromagnetic interference (emissions) and are not unduly affected by electromagnetic interference (immunity)". Section 14.1.1 through Section 14.1.3 summarize the precautions on compliance with the EMC Directive of the machinery constructed with the position board. These precautions are based on the requirements and the standards of the regulation, however, it does not guarantee that the entire machinery constructed according to the descriptions will comply with above- mentioned directive. The method and judgment for complying with the EMC Directive must be determined by the person who construct the entire machinery. 14.1.1 Standards relevant to the EMC directive

For all test items, the test has been done with a position board installed in a computer that is compatible to CE mark. The test does not cover USB because only the test tool "MRZJW3-MC2-UTL" (sold separately) uses it. The standards relevant to the EMC Directive are listed below.

14 - 2

14. EMC AND LOW VOLTAGE DIRECTIVES

(1) Standards relevant to the EMC directive that apply when using MR-MC2

Certification Test item Test details Standard value

EN61000-6-4:2007+A1:2011

CISPR16-2-3 Radiated emission (Note 1)

Radio waves from the product are measured.

30M-230MHz QP (Note 2) : 40dBV/m (10m (32.81ft.) in measurement range)

230M-1000MHz QP: 47dBV/m (10m (32.81ft.) in measurement range)

1GHz-2GHz QP: 76dBV/m (3m (9.84ft.) in measurement range)

AV: 56dBV/m (3m (9.84ft.) in measurement range)

CISPR16-2-1 Conducted emission

Noise from the product to the power line is measured.

AC power line 0.15M-0.5MHz QP: 79dBV AV (Note 3) : 66dBV 0.5M-30MHz QP: 73dBV AV: 60dBV

EN61000-6-2:2005

EN61000-4-2 Electrostatic discharge immunity

Immunity test in which electrostatic discharge is applied to the product.

8kV: 10 times at 1 second interval, Air discharge

4kV: 10 times at 1 second interval, Contact discharge

EN61000-4-3 Radiated immunity (Note 1)

Immunity test in which electric fields are radiated to the product.

80%AM modulation @1kHz, 80-1000MHz 10V/m, 1400M-2000MHz 3V/m, 2000M-2700MHz 1V/m

EN61000-4-4 Electrical fast transient/ burst (EFT/B) immunity

Immunity test in which burst noise is applied to the power cable and signal line.

AC power line : 2kV/5kHz DC power line : 2kV/5kHz I/O, communication line : 1kV/5kHz

EN61000-4-5 Surge immunity

Immunity test in which surge is applied to the power line and signal line.

AC power line Common mode: 2.0kV Differential mode: 1.0kV

DC power line Common mode: 0.5kV Differential mode: 0.5kV

I/O, communication line Common mode: 1kV

EN61000-4-6 Conducted immunity

Immunity test in which high frequency noise is applied to the power line and signal line.

0.15-80MHz, 80%AM modulation @1kHz, 10Vrms

EN61000-4-11 Voltage dip and short interruptions immunity

Immunity test in which short interruptions are applied to the power supply voltage.

0% of rated voltage, 1cycle 0% of rated voltage, 250/300cycle

(50Hz/60Hz) 40% of rated voltage, 10/12cycle

(50Hz/60Hz) 70% of rated voltage, 25/30cycle

(50Hz/60Hz) Note 1. This product is an open type device (a device designed to be housed inside other equipment) and must be installed inside a

conductive control panel. 2. QP: Quasi-peak value 3. AV: Average value

14 - 3

14. EMC AND LOW VOLTAGE DIRECTIVES

(2) Standards relevant to the EMC directive that apply when using MR-MC3

Certification Test item Test details Standard value

EN61131-2:2007

CISPR16-2-3 Radiated emission (Note 1)

Radio waves from the product are measured.

30M-230MHz QP (Note 2) : 40dBV/m (10m (32.81ft.) in measurement range)

230M-1000MHz QP: 47dBV/m (10m (32.81ft.) in measurement range)

1GHz-2GHz QP: 76dBV/m (3m (9.84ft.) in measurement range)

AV: 56dBV/m (3m (9.84ft.) in measurement range)

CISPR16-2-1 Conducted emission

Noise from the product to the power line is measured.

AC power line 0.15M-0.5MHz QP: 79dBV AV (Note 3) : 66dBV 0.5M-30MHz QP: 73dBV AV: 60dBV

EN61000-4-2 Electrostatic discharge immunity

Immunity test in which electrostatic discharge is applied to the product.

8kV: 10 times at 1 second interval, Air discharge

4kV: 10 times at 1 second interval, Contact discharge

EN61000-4-3 Radiated immunity (Note 1)

Immunity test in which electric fields are radiated to the product.

80%AM modulation @1kHz, 80-1000MHz 10V/m, 1400M-2000MHz 3V/m, 2000M-2700MHz 1V/m

EN61000-4-4 Electrical fast transient/ burst (EFT/B) immunity

Immunity test in which burst noise is applied to the power cable and signal line.

AC power line : 2kV/5kHz DC power line : 2kV/5kHz I/O, communication line : 1kV/5kHz

EN61000-4-5 Surge immunity

Immunity test in which surge is applied to the power line and signal line.

AC power line Common mode: 2.0kV Differential mode: 1.0kV

DC power line Common mode: 0.5kV Differential mode: 0.5kV

I/O, communication line Common mode: 1kV

EN61000-4-6 Conducted immunity

Immunity test in which high frequency noise is applied to the power line and signal line.

0.15-80MHz, 80%AM modulation @1kHz, 10Vrms

EN61000-4-11 Voltage dip and short interruptions immunity

Immunity test in which short interruptions are applied to the power supply voltage.

0% of rated voltage, 0.5cycle 0% of rated voltage, 250/300cycle

(50Hz/60Hz) 40% of rated voltage, 10/12cycle

(50Hz/60Hz) 70% of rated voltage, 25/30cycle

(50Hz/60Hz) Note 1. This product is an open type device (a device designed to be housed inside other equipment) and must be installed inside a

conductive control panel. 2. QP: Quasi-peak value 3. AV: Average value

14 - 4

14. EMC AND LOW VOLTAGE DIRECTIVES

14.1.2 Installation instructions for EMC directive

(1) Installation Installing inside a control panel not only ensures safety but also ensures effective shielding of position board-generated electromagnetic noise. (a) Control panel

1) Use a conductive control panel. 2) When attaching the control panel's top plate or base plate, expose bare metal surface and weld so

that good surface contact can be made between the panel and plate. 3) To ensure good electrical contact with the control panel, mask the paint on the installation bolts of the

inner plate in the control panel so that contact between surfaces can be ensured over the widest possible area.

4) Ground the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high frequencies.

5) Holes made in the control panel must be 10cm (3.94inch) diameter or less. If the holes are 10cm (3.94 inch) or larger, radio frequency noise may be emitted. In addition, because radio waves leak through a clearance between the control panel door and the main unit, reduce the clearance as much as practicable. The leakage of radio waves can be suppressed by the direct application of an EMI gasket on the paint surface.

(2) Connection of power line and ground wire

Ground wire and power supply cable for the host controller must be connected as described below. (a) Provide a grounding point near the FG terminal. Ground the FG terminals (Frame Ground) with the

thickest and shortest wire possible. (The wire length must be 30cm (11.81inch) or shorter.) The FG terminals function is to pass the noise generated in the position board to the ground, so the ground wire ensures a low impedance as possible. Because the wire does the role to transfer the noise, the wire itself carries a large noise content and thus short wiring means that the wire is prevented from acting as an antenna.

(b) Twist the ground wire drawn out from grounding point with the power line. By twisting the power line with

ground wire, it can transfer the noise more from power line to the ground. However, if the noise filter is attached to the power line, it might be unnecessary to twist with the ground wire.

(3) Forced stop input cable

The forced stop input cable length must be within 30m (98.43ft.).

14 - 5

14. EMC AND LOW VOLTAGE DIRECTIVES

(4) Cables

The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables extracted to the outside of the control panel. The use of a shielded cable also increases noise resistance.

(a) Grounding of shield section of shield cable

1) When the grounded cables and the not yet grounded cables are bundled in grounding point of shielded cable back, the cables might be induced to electromagnetic and generated high frequency noise outside of the control panel.

2) Ground the exposed shield section to spacious area on the control panel. A clamp can be used as shown in Figure 14.2. In this case, mask the inner wall surface when coating the control panel, and contact the exposed shield section with the clamp at the exposed bare metal surface.

Shield section

Screw

Clamp fitting

Shield cable

Exposed bare metal surface

Figure 14.1 Part to be exposed Figure 14.2 Shield grounding (Correct example)

Shield cable

Wire

Solderless terminal, crimp contact

Figure 14.3 Shield grounding (Incorrect example) Note. The method of grounding with a vinyl-coated wire soldered onto the shielded section of the shielded cable as in shown Figure 14.3 is

not recommended. Doing so will raise the high frequency impedance, resulting in loss of the shielding effect. (5) Precautions relevant to the electrostatic discharge

Before touching the position board, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the position board to fail or malfunction. Do not directly touch the conductive parts of position board and electronic components. Touching them could cause an operation failure or damage the position board.

14 - 6

14. EMC AND LOW VOLTAGE DIRECTIVES

14.1.3 Parts of measure against noise

(1) Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band. It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects. Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure. If the fitting position is improper, the ferrite core will not produce any effect.

Ferrite core (Recommended product)

Manufacturer Model name TDK ZCAT3035-1330

(2) Noise filter (power supply line filter)

A noise filter is a component which has an effect on conducted noise. The attachment of the noise filter to the power supply line of the servo amplifier and system's power supply is effective for the reducing noise. (The noise filter has the effect of reducing conducted noise of 10 MHz or less.)

Recommended noise filters

Manufacturer Model name Rated current (A) Rated voltage (V)

SCHAFFNER FN343-3/01 3

250 FN660-6/06 6 TDK ZHC2203-11 3

The precautions required when installing a noise filter are described below. (a) Do not bundle the wires on the input side and output side of the noise filter. When bundled, the output

side noise will be induced into the input side wires from which the noise was filtered.

Noise filter

The noise will be included when the input and output wires are bundled.

Input side (power supply side)

Induction

Output side (device side)

Separate and lay the input and output wires.

Output side (device side)

Input side (power supply side)

Noise filter

Figure 14.4 Precautions on noise filter

(b) Ground the noise filter grounding terminal to the control panel with the shortest wire possible (approx. 10cm (3.94 inch)).

14.2 Requirements for compliance with the low voltage directive

This board does not use the power supply of 50VAC to 1000VAC and 75VDC to 1500VDC, so it is a product outside the object range of Low Voltage Directive.

App. - 1

APP.

APPENDIX

APPENDIX

App. 1 Supplementary explanation for the use of linear servo system

App. 1.1 Position board

There are no restrictions in the software versions of the position board that can set up the linear servo system. App. 1.2 Position board utility software

There are no restrictions in the Position Board Utility2 versions supporting position board. App. 1.3 Servo amplifier

The servo amplifier MR-J4(W )- B can set linear servo system with the position board. For detailed specifications of the servo amplifier, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 2

APPENDIX

App. 1.4 Operations and functions of the linear servo system

(1) Startup procedure Linear servo system startup procedures are as follows.

Incremental linear encoder

Execution of installation and wiring

Settings of the linear encoder direction and the linear servo motor direction

Setting of the linear encoder resolution

Change to the setting not requiring the magnetic pole detection

What is the type of linear encoder?

Execution of the magnetic pole detection (Refer to App. 1.4(2))

Positioning operation check

Positioning operation check using the position board (Refer to App. 1.4(3))

Home position return (Refer to App. 1.4(3) (b))

Positioning operation

Absolute position linear encoder

Refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 3

APPENDIX

(2) Magnetic pole detection

For magnetic pole detection methods, refer to the Servo Amplifier Instruction Manual for your servo amplifier. When an incremental scale is used, magnetic pole detection is performed at every power on. The magnetic pole detection is started when the first servo-on command following power on is received. Completion of the magnetic pole detection turns the servo on.

(a) For a single axis

ON OFF

ON OFF

ON OFF

(95ms) Servo-on (SON)

Base circuit

Servo ready (RDY)

Initial magnetic pole detection time (Performed after the first servo-on after power on or position board reboot)

15s or less

Timing chart

The axis moves in opposite direction when hitting a limit switch.

Position at the time of power on

Axis movement in magnetic pole detection

App. - 4

APPENDIX

(b) For tandem drive axes

For tandem drive axes, perform magnetic pole detection for the master axis, and then for the slave axis in the non-synchronous micro adjustment mode. Make sure the axis where magnetic pole detection is not performed is servo off (free).

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_RDY)

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_ASYO )

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_SON)

Magnetic pole detection time

OFF ON

OFF ON

OFF ON

OFF ON

OFF ON

OFF ON

sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_RDY)

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_SON)

Magnetic pole detection time

sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_ASYN )

Servo On (SON) (master) axis

Servo ready (RDY) (master) axis

Servo On (SON) (slave) axis

Servo ready (RDY) (slave) axis

In non-synchronous mode (Group ) (ASYO )

Non-synchronous command (Group ) (ASYN )

Note 1. As shown on the timing chart above, during magnetic pole detection operation, it takes up to 15s from servo-on (SON) signal turning on to servo ready (RDY) signal turning on. Before using the API library, set 15s or more to the time-out period in sscWaitStatusBitSignalEx function, and wait until the servo on.

2. Establish the machine configuration using a limit switch. Collision may be caused between components without a limit switch. 3. In initial magnetic pole adjustment, a controlled object may move in the forward direction or reverse direction. 4. For tandem drive axes, do not turn servo on simultaneously for both the master and slave axes. 5. Magnetic pole detection time is the operating time when the stroke limit signal (FLS/RLS) is on. 6. When switching between non-synchronous mode/synchronous mode, check that all of the following conditions are satisfied.

The in-position signal (INP) is ON for both the master axis and slave axis. No operation alarm has occurred for both the master axis and slave axis.

App. - 5

APPENDIX

(3) Operation from the position board

Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, and monitor No. vary from when using a rotary servo motor. Details are as follows.

(a) Parameter

When using the linear servo system, set the parameters shown on the table below. For other servo parameters, control parameters, and system parameters, set them as equivalent to using standard control mode (operation mode).

1) Servo parameters

For details on each parameter, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

Parameter No.

MR-J4-B Parameter

No.

Symbol (Note)

Name

1100 PA01 **STY Operation mode 1110 PA17 **MSR Servo motor series setting 1111 PA18 **MTY Servo motor type setting 1180 PC01 ERZ Error excessive alarm level 1182 PC03 *ENRS Encoder output pulse selection 119A PC27 **COP9 Function selection C-9 1300 PL01 **LIT1 Linear servo motor/DD motor function selection 1 1301 PL02 **LIM Linear encoder resolution setting Numerator 1302 PL03 **LID Linear encoder resolution setting Denominator 1303 PL04 *LIT2 Linear servo motor/DD motor function selection 2 1304 PL05 LB1 Position deviation error detection level 1305 PL06 LB2 Speed deviation error detection level 1306 PL07 LB3 Torque/thrust deviation error detection level 1307 PL08 *LIT3 Linear servo motor/DD motor function selection 3 1308 PL09 LPWM Magnetic pole detection voltage level

1310 PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection

1311 PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude

Note. The parameters with a * mark at the front of the symbol are validated according to the following conditions. *: After setting, turn off the power supply and then on again, or reset controller. **: After setting, turn off the power supply and then on again.

App. - 6

APPENDIX

2) Control parameters

Parameter No.

Symbol (Note 1)

Name Initial value

Unit Setting range

Function

0200 *OPC1 Control option 1 0001h 0000h to 2111h 0 0 0

Speed unit (Note) Set the speed command unit. 0: Position command unit/min 1: Position command unit/s

Note. When using a linear servo amplifier, select [position command unit/min] or [position command unit/s] as the speed command unit. [r/min] cannot be used as the speed command unit.

020A *CMXL Electronic gear numerator (lower)

0001h 1 to 5242879 (32 bit) (Note2)

Set the numerator of the electronic gear. (For setting methods, refer to 3).)

020B *CMXH Electronic gear numerator (upper)

0000h

020C *CDVL Electronic gear denominator (lower)

0001h 1 to 589823 (32 bit) (Note2)

Set the denominator of the electronic gear. (For setting methods, refer to 3).)

020D *CDVH Electronic gear denominator (upper)

0000h

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code 1000h 0000h to FFFFh

Set the type code. 1000h: MR-J4(W )- B servo amplifier

Note 1. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. 2. For details on the setting range, refer to Section 6.1.1.

3) Setting example of electronic gears

CMX CDV

CDV CMX

Linear servo motor

Linear encoder

User

Speed feedback [mm/s]

Position board Servo amplifier

Derivation

Command [m]

Position feedback [m]

Conditions) Command unit: m Linear encoder resolution: 0.05 m

Number ot pulses (CMX) [pulse]

Trabel (CDV) [m] = 1 0.05 = 20

1

App. - 7

APPENDIX

(b) Home position return operation

The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, note the following. 1) When using the absolute position type linear scale, the scale home position signal detection method

or the scale home position signal detection method 2 cannot be used. The other home position return methods are available and a home position return is performed to the reference home position created based on stop interval settings for the home position return.

2) When using the incremental linear scale, it is recommended to use the scale home position signal detection method or the scale home position signal detection method 2. In this case, the home position return is performed based on the home position signal (Z-phase). The reference home position which is created based on stop interval settings for the home position return is not used.

3) When using the incremental scale, the home position return using a Z-phase detection method cannot be used.

4) With the incremental scale, when using a home position return method other than the scale home position signal detection method or the scale home position signal detection method 2, "1 " (Search again) must be set for the parameter No.0240 (*OPZ1). In this case, the home position return is performed based on the home position return reference position which is created based on stop interval settings for the home position return and the home position signal (Z-phase).

Parameter

No. Symbol (Note)

Name Initial value

Unit Setting range

Function

0240 *OPZ1 Home position return option 1

0000h 0000h to 112Dh

0 0

Home position return method Set the method for home position return. 0: Dog method 2: Data set method 3: Stopper method 4: Dog cradle method 5: Limit switch combined method 6: Scale home position signal detection method 7: Limit switch front end method 8: Dog front end method C: Z-phase detection method D: Scale home position signal detection method 2 Home position signal re-search Set "1" when using an incremental encoder or incremental linear scale. 0: Do not search again 1: Search again

Note. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.

App. - 8

APPENDIX

Parameter No.

MR-J4-B Parameter

No.

Symbol (Note)

Name Initial value

Unit Setting range

Function

1300 PL01 **LIT1 Linear servo motor/direct drive motor function selection 1

0301h 0000h to

0605h

0 1 2 3 4 5

Stop interval setting for home position return

Setting value

Stop interval [pulse] 8192

131072 262144

1048576 4194304

6 67108864 16777216

Note **: After setting, turn off the power supply and then on again to make the setting valid. (Example) Home position return reference position for dog method home position return

Speed

Home position signal (Z-phase)

Home position return speed

Creep speed

Home position

Home position return direction

Startup

Amount of home position shift

Home position reference positionStop interval setting for

home position return [pulse]

Proximity dog

Note 1. Adjust the position of the proximity dog sensor so that a stop position following the passed proximity dog is not near the reference home position. The reference home position may differ due to dispersion in the proximity dog signal detection, etc., which may prevent normal completion of the home position return.

2. When the reference home position is passed during deceleration after the proximity dog is passed, the reference home position that is the closest to the home position direction is defined as the home position.

For other precautions, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 9

APPENDIX

(c) Home position return process for tandem drive axes

The following shows an example of the home position return for the tandem drive axes. In this example, the scale home position signal detection method is used as a home position method. The scale home position signal detection method has the adjustment mode and the normal mode, which can be selected in the tandem drive options (parameter No.0265).

Adjustment mode : This mode is used, for example, during adjustment at factory shipment, and is used

to calculate the home position signal offset (amount of deviation in the position of the home position signal for the master axis and slave axis) on a linear scale.

Normal mode : In this mode, the amount of deviation between the master axis and slave axis is

detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.

1) In adjustment mode

Home position offset value

End

Micro-adjustment of position of slave axis

Execution of home position return using a home position signal detection method (adjustment mode). Tandem drive home position signal offset (parameter No.026C, 026D) is saved on the user program side after home position return complete.

Set the axes and the joint part mechanically at a right angle. (It is not guaranteed that the line between both home position signals and the both axes are crossed at a right angle.)

By home position return processing, the axis moves to the home position signal position of the master axis. At this time, the offset amount of the master axis and the slave axis is output to the tandem drive home position signal offset (parameter No.026C, 026D).

Master axis home position signal

Slave axis home position signal

Home position return procedure

App. - 10

APPENDIX

2) In normal mode

End

Home position return procedure

Setting of the tandem drive home position signal offset (parameter No.026C, 026D) which has been set in the adjustment mode

It is not guaranteed that the axes and the joint part are connected at a right angle when the power is turned on.

By home position return processing, the axis moves to the home position signal position of the master axis.

By home position return processing, the deviation amount of the slave axis is compensated.

Home position signal offset

Deviation amount

Master axis home position signal

Slave axis home position signal

Execution of home position return using a home position signal detection method (normal mode)

Calculation of deviation amount from the target home position (compensation value) by camera, etc.

Compensation of home position coordinate by home position reset function (Resetting of home position coordinate)

App. - 11

APPENDIX

(d) Monitor

The following monitor numbers are added.

1) Servo information (2) Monitor No. Description Unit Description

0246 Load side encoder information data 1 (lower) For incremental type linear encoder, displays the counter from power on. For absolute position type linear encoder, displays the absolute position data.

0247 Load side encoder information data 1 (upper)

0248 Load side encoder information data 2 (lower) For incremental type linear encoder, displays the distance (No. of pulses) from reference mark (Z-phase). For absolute position type linear encoder, displays "00000000".

0249 Load side encoder information data 2 (upper)

024A Speed feedback (lower) 0.01mm/s Displays motor speed in units of 0.01mm/s. 024B Speed feedback (upper)

For the following monitor numbers, the monitor data details vary from those of a rotary servo motor.

2) Servo information (1)

Monitor No. Description Unit Description 0112 Motor rated revolution speed r/min Displays the value calculated in the equations shown below.

Motor rated speed [m/s] 1000 1000 60 / Scale resolution [ m/pulse] / Stop interval at home position return [pulse]

0114 Motor maximum revolution speed r/min Displays the value calculated in the equations shown below. Motor rated speed [m/s] 1000 1000 60 / Scale resolution [ m/pulse] / Stop interval at home position return [pulse]

0116 Number of encoder pulses per revolution (lower) pulse Displays the stop interval during home position return set in parameter No.1300 (**LIT1). 0117 Number of encoder pulses per revolution (upper)

0119 Initial within 1 revolution position (lower) pulse Displays the within one-revolution position (Note 1) at the time of power-on. 011A Initial within 1 revolution position (upper)

011B Initial multiple revolution data rev Displays the multi-revolution data (Note 2) at the time of power-on.

3) Servo information (2)

Monitor No. Description Unit Description 0208 Speed feedback (lower) 0.01mm/s Displays motor speed in units of 0.01mm/s. 0209 Speed feedback (upper) 020E Detector within 1 revolution position (lower) pulse Displays the current position within one-revolution. (Note 1) 020F Detector within 1 revolution position (upper) 0210 Home position within 1 revolution position (lower) pulse Displays the home position within one-revolution. (Note 1) 0211 Home position within 1 revolution position (upper) 0214 Multiple revolution counter rev Displays the current multiple revolution counter. (Note 2) 0215 Home position multiple revolution data rev Displays the home position multi-revolution data. (Note 2)

Note 1. Incremental linear encoder : Setting the position at the time of power on as 0, the position normalized by the stop interval during home position.

Absolute position linear encoder : Setting the linear encoder home position (absolute position data 0), the position normalized by the stop interval during home position.

2. Incremental linear encoder : Setting the position at the time of power on as 0, the counter that counts up or down by the stop interval during home position return.

Absolute position linear encoder : Setting the linear encoder home position (absolute position data 0), the counter that counts up or down by the stop interval during home position return.

App. - 12

APPENDIX

(e) Command units

When using speed control mode in interface mode, the conversion of data in units of 0.01r/min is required. The formula for conversion is as follows.

Speed command [0.01r/min] = Speed command[m/s]1000100060100

Linear encoder resolution[m/pulse]Stop interval setting for home position return[pulse] Linear encoder resolution [m/pulse] = Linear encoder resolution setting Numerator (Parameter No.1301)

Linear encoder resolution setting Denominator (Parameter No.1302)

App. - 13

APPENDIX

App. 2 Supplementary explanation for the use of fully closed loop system

App. 2.1 Position board

There are no restrictions in the software versions of the position board that can set up the fully closed loop system. App. 2.2 Position board utility software

There are no restrictions in the Position Board Utility2 versions supporting position board. App. 2.3 Servo amplifier

The software versions of the servo amplifier that can set up the fully closed loop system with the position board are as follows.

Servo amplifier Software version MR-J4(W )- B A3 or later

For detailed specifications of the servo amplifier, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 14

APPENDIX

App. 2.4 Operations and functions of the fully closed loop control

(1) Startup procedure The fully closed loop system startup procedures are as follows.

Positioning operation check using the position board (Refer to App. 2.4 (2))

Positioning operation check with MR Configurator2

Gain adjustment

Completion of installation and wiring

Positioning operation check with MR Configurator2

Adjustment and operation check in the semi closed loop system

Gain adjustment

Adjustment and operation check in the fully closed loop system

Selection of the fully closed loop system

Communication method selection of the load side encoder

Adjustment of dual feedback switching filter (In the dual feedback control)

Setting of the load side encoder polarity

Home position return (Refer to App. 2.4 (2))

Positioning operation

Completion of the fully closed loop system startup

Check whether the servo operates normally. Conduct these steps as necessary.

Refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 15

APPENDIX

(2) Operation from the position board

Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, command/status bit, and monitor No. vary from when using a rotary servo motor. Details are as follows. (a) Parameters

When using the fully closed loop system, set the parameters shown on the table below. For other servo parameters, control parameters, and system parameters, set them as equivalent to using a rotary servo motor.

1) Servo parameters

For details on each parameter, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

Parameter No.

MR-J4-B Parameter

No.

Symbol (Note)

Name

1100 PA01 **STY Operation mode 1190 PC17 **COP4 Function selection C-4 119A PC27 **COP9 Function selection C-9 1200 PE01 **FCT1 Fully closed loop function selection 1 1202 PE03 *FCT2 Fully closed loop function selection 2 1203 PE04 **FBN Fully closed loop control feedback pulse electronic gear numerator 1 1204 PE05 **FBD Fully closed loop control feedback pulse electronic gear denominator 1 1205 PE06 BC1 Fully closed loop control speed deviation error detection level 1206 PE07 BC2 Fully closed loop control position deviation error detection level 1207 PE08 DUF Fully closed loop dual feedback filter 1209 PE10 FCT3 Fully closed loop function selection 3 1221 PE34 **FBN2 Fully closed loop control feedback pulse electronic gear numerator 2 1222 PE35 **FBD2 Fully closed loop control feedback pulse electronic gear denominator 2

Note. The parameters with a * mark at the front of the symbol are validated according to the following conditions.

*: After setting, turn off the power supply and then on again, or reset controller. **: After setting, turn off the power supply and then on again.

2) Control parameters

Parameter No.

Symbol (Note 1)

Name Initial value

Unit Setting range

Function

020A *CMXL Electronic gear numerator (lower)

0001h 1 to 5242879 (32 bit) (Note 2)

Set the numerator of the electronic gear. (For setting methods, refer to App. 2.4(2)(a)3.)

020B *CMXH Electronic gear numerator (upper)

0000h

020C *CDVL Electronic gear denominator (lower)

0001h 1 to 589823 (32 bit) (Note 2)

Set the denominator of the electronic gear. (For setting methods, refer to App. 2.4(2)(a)3).)

020D *CDVH Electronic gear denominator (upper)

0000h

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code 1000h 0000h to FFFFh

Set the type code. 1000h: MR-J4(W )- B servo amplifier

Note 1. The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. 2. The setting range differs depending on the setting of speed units (parameter No.0200). For details on the setting range, refer to

Section 6.1.1.

App. - 16

APPENDIX

3) Setting example of electronic gears

For the electronic gear numerator (CMX), set the number of linear encoder pulses (= load side resolution unit) per revolution of the servo motor, not the number of pulses per revolution of the servo motor.

CMX CDV Servo motor Linear encoder

Position feedback [m]

Command [m]

+

-

CDV CMX

Electronic gear

User Position board Servo amplifier

Load side resolution unit

Load side resolution unit

Conditions) Command unit: m Ball screw lead: 20 mm Linear encoder resolution: 0.05 m

Ball screw lead / Linear encoder resolution = 20 mm / 0.05 m = 400000 pulses

Number ot pulses per revolution [pulse] (CMX)

Trabel distance per revolution [m] (CDV) = 400000pilses 20mm = 400000

20000 = 20 1

App. - 17

APPENDIX

(b) Home position return operation

The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, note the following. 1) When using the incremental linear scale, it is recommended to use the scale home position signal

detection method or the scale home position signal detection method 2. In this case, the home position return is performed based on the home position signal (Z-phase). The reference home position which is created based on the number of encoder pulses per revolution of the servo motor is not used.

2) The home position return using a Z-phase detection method cannot be used. 3) When using a home position return method other than the scale home position signal detection

method or the scale home position signal detection method 2, "1 " (Search again) must be set for the parameter No.0240 (*OPZ1).

Parameter

No. Symbol (Note 1)

Name Initial value

Unit Setting range

Function

0240 *OPZ1 Home position return option 1

0000h 0000h to 112Dh

0 0

Home position return method Set the method for home position return. 0: Dog method 2: Data set method 3: Stopper method 4: Dog cradle method 5: Limit switch combined method 6: Scale home position signal detection method 7: Limit switch front end method 8: Dog front end method C: Z-phase detection method D: Scale home position signal detection method 2 Home position signal re-search Set "1" when using an incremental encoder or incremental linear scale. 0: Do not search again 1: Search again

Note 1. *: Settings for parameters with asterisk (*) before symbol will be valid at system startup.

For other precautions, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 18

APPENDIX

(c) Bit information

The following bit (in the thick frame) is used to switch between the semi closed loop control and fully closed loop control. The switching between the semi closed loop control and fully closed loop control is set with the parameter No.1200 (MR-J4(W )- B parameter No.PE01). 1) Command bit

Address Bit Symbol Signal name

When in tandem drive

Description MR-MC2 MR-MC3

1008 005008 0 GAIN Gain changing command Each axis

1 CLD Fully closed loop control change command

Each axis 0: Semi closed loop control 1: Dual feedback control

(Fully closed loop control)

2 Reserved 3 CPC PID control command Each axis 4 Reserved

5 6 7

2) Status bit

Address Bit Symbol Signal name

When in tandem drive

Description MR-MC2 MR-MC3

1068 0050A8 0 GAIN During gain switching Each axis

1 CLDO Fully closed loop control changing Each axis 0: During semi closed loop control

1: During dual feedback control (During fully closed loop control)

2 TLSO Selecting torque limit Each axis 3 SPC During PID control Each axis 4 Reserved

5

6

7

App. - 19

APPENDIX

(d) Monitor

The following monitor numbers are added.

1) Servo information (2) Monitor No. Description Unit Description

0240 Selected droop pulse (lower) pulse The data set to the second digit from the upper of the parameter No.1209 (MR-J4(W )- B parameter No.PE10) is output. 0241 Selected droop pulse (upper)

0244 Selected cumulative feed pulses (lower) pulse The data set to the first digit from the upper of the parameter No.1209 (MR-J4(W )- B parameter No.PE10) is output. 0245 Selected cumulative feed pulses (upper)

0246 Load side encoder information data 1 (lower)

For incremental type linear encoder, displays the counter from power on. For absolute position type linear encoder, displays the absolute position data. 0247 Load side encoder information data 1

(upper) 0248 Load side encoder information data 2

(lower) For incremental type linear encoder, displays the distance (No. of

pulses) from reference mark (Z-phase). For absolute position type linear encoder, displays "00000000". 0249 Load side encoder information data 2

(upper)

For the following monitor numbers, the monitor data details vary from those of a rotary servo motor.

2) Servo information (1)

Monitor No. Description Unit

Description (upper: data, lower: unit) (Note 1)

Semi closed loop system (Note 2)

Fully closed loop system (Note 2) Semi closed loop control (Note 2)

Fully closed loop control (Note 2)

0112 Motor rated revolution speed r/min Motor side Motor unit

Motor side Motor unit

Motor side Motor unit

0114 Motor maximum revolution speed r/min Motor side Motor unit

Motor side Motor unit

Motor side Motor unit

0116 Number of encoder pulses per revolution (lower)

pulse Motor side Motor unit

Load side Machine unit

Load side Machine unit

0117 Number of encoder pulses per revolution (upper)

0119 Initial within 1 revolution position (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 011A Initial within 1 revolution position (upper)

011B Initial multiple revolution data rev Motor side Motor unit

Motor side Machine unit

Load side Machine unit

Note 1. Data : Motor side Data from the servo motor encoder

Load side Data from the load side encoder Unit : Motor unit Motor side encoder resolution unit

Machine unit Load side encoder resolution unit 2. For the definitions of the semi closed loop system, the fully closed loop system, the semi closed loop control, and the fully closed

loop control, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 20

APPENDIX

3) Servo information (2)

Monitor No. Description Unit

Description (upper: data, lower: unit) (Note 1)

Semi closed loop system (Note 2)

Fully closed loop system (Note 2) Semi closed loop control (Note 2)

Fully closed loop control (Note 2)

0200 Position feedback (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0201 Position feedback (upper)

0204 Position droop (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0205 Position droop (upper)

0208 Speed feedback (lower) 0.01r/min Motor side Motor unit

Motor side Motor unit

Motor side Motor unit 0209 Speed feedback (upper)

020E Detector within 1 revolution position (lower)

pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit

020F Detector within 1 revolution position (upper)

0210 Home position within 1 revolution position (lower)

pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit

0211 Home position within 1 revolution position (upper)

0212 ZCT (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0213 ZCT (upper)

0214 Multiple revolution counter rev Motor side Motor unit

Motor side Machine unit

Load side Machine unit

0215 Home position multiple revolution data rev Motor side Motor unit

Motor side Machine unit

Load side Machine unit

Note 1. Data : Motor side Data from the servo motor encoder Load side Data from the load side encoder

Unit : Motor unit Motor side encoder resolution unit Machine unit Load side encoder resolution unit

2. For the definitions of the semi closed loop system, the fully closed loop system, the semi closed loop control, and the fully closed loop control, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

4) Operation information

The contents of the following table are also applied to the corresponding monitor numbers of operation information (double word).

Monitor No. Description Unit

Description (upper: data, lower: unit) (Note 1)

Semi closed loop system (Note 2)

Fully closed loop system (Note 2) Semi closed loop control (Note 2)

Fully closed loop control (Note 2)

0308 Grid size (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0309 Grid size (upper)

0310 Current command position (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0311 Current command position (upper)

0312 Current feedback position (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0313 Current feedback position (upper)

0314 F T (lower) pulse Motor side Motor unit

Motor side Machine unit

Load side Machine unit 0315 F T (upper)

Note 1. Data : Motor side Data from the servo motor encoder Load side Data from the load side encoder

Unit : Motor unit Motor side encoder resolution unit Machine unit Load side encoder resolution unit

2. For the definitions of the semi closed loop system, the fully closed loop system, the semi closed loop control, and the fully closed loop control, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 21

APPENDIX

App. 3 Supplementary explanation for the use of direct drive servo system

App. 3.1 Position board

There are no restrictions in the software versions of the position board that can set up the direct drive servo system. App. 3.2 Position board utility software

There are no restrictions in the Position Board Utility2 versions supporting position board. App. 3.3 Servo amplifier

The servo amplifier MR-J4(W )- B can set the direct drive servo system with the position board. For detailed specifications of the servo amplifier, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

App. - 22

APPENDIX

App. 3.4 Operations and functions of the direct drive servo system

(1) Startup procedure The direct drive servo system startup procedures are as follows.

Yes

No

Execution of installation and wiring

Execution of the magnetic pole detection (Refer to App. 3.4 (2))

Incremental system Absolute position detection system

Making the axis pass the Z-phase of the direct drive motor by JOG operation, etc.

Is the absolute position detection

system used?

Making the axis pass the Z-phase of the direct drive motor manually

Positioning operation

Change to the setting not requiring the magnetic pole detection

Turning on the power supply of the servo amplifier again

Positioning operation check

Positioning operation check using the position board (Refer to App. 3.4 (2))

Home position return (Refer to App. 3.4 (2))

Refer to the Servo Amplifier Instruction Manual for your servo amplifier.

Is it possible to makethe axis pass the Z-phase

of direct drive motor?

App. - 23

APPENDIX

(2) Operation from the position board

Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, command/status bit, and monitor No. vary from when using a rotary servo motor. Details are as follows.

(a) Parameters

When using the direct drive system, set the parameters shown on the table below. For other servo parameters, control parameters, and system parameters, set them as equivalent to using a rotary servo motor.

1) Servo parameters

For details on each parameter, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

Parameter No.

MR-J4-B Parameter

No.

Symbol (Note)

Name

1100 PA01 **STY Operation mode 1180 PC01 ERZ Error excessive alarm level 1182 PC03 *ENRS Encoder output pulse selection 1300 PL01 **LIT1 Linear servo motor/DD motor function selection 1 1303 PL04 *LIT2 Linear servo motor/DD motor function selection 2 1304 PL05 LB1 Position deviation error detection level 1305 PL06 LB2 Speed deviation error detection level 1306 PL07 LB3 Torque/thrust deviation error detection level 1307 PL08 *LIT3 Linear servo motor/DD motor function selection 3 1308 PL09 LPWM Magnetic pole detection voltage level

1310 PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection

1311 PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude

Note. The parameters with a (*) mark at the front of the symbol are validated according to the following conditions. *: After setting, turn off the power supply and then on again, or reset controller. **: After setting, turn off the power supply and then on again.

2) Control parameters

Parameter No.

Symbol (Note1)

Name Initial value

Unit Setting range

Function

020A *CMXL Electronic gear numerator (lower)

0001h 1 to 5242879 (32 bit) (Note2)

Set the numerator of the electronic gear. (For setting methods, refer to App. 3.4(2)(c).)

020B *CMXH Electronic gear numerator (upper)

0000h

020C *CDVL Electronic gear denominator (lower)

0001h 1 to 589823 (32 bit) (Note2)

Set the denominator of the electronic gear. (For setting methods, refer to App. 3.4(2)(c).)

020D *CDVH Electronic gear denominator (upper)

0000h

021D *VEND Vendor ID 0000h 0000h to FFFFh

Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code 1000h 0000h to FFFFh

Set the type code. 1000h: MR-J4(W )- B servo amplifier

Note1. The settings for the parameters with a (*) mark at the front of the symbol are validated when the system is started. 2. The setting range differs depending on the setting of speed units (parameter No.0200). Refer to Section 6.1.1.

App. - 24

APPENDIX

(b) Home position return operation

The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, note the following. 1) When the home position return is performed using the position board, it is recommended to use the

scale home position signal detection method 2. In this case, the home position return is performed based on the first home position signal (Z-phase) following start operation.

2) The home position return using a Z-phase detection method cannot be used. 3) When using a home position return method other than the scale home position signal detection

method or the scale home position signal detection method 2, "1 " (Search again) must be set for the parameter No.0240 (*OPZ1).

Parameter

No. Symbol (Note 1)

Name Initial value

Unit Setting range

Function

0240 *OPZ1 Home position return option 1

0000h 0000h to 112Dh

0 0

Home position return method Set the method for home position return. 0: Dog method 2: Data set method 3: Stopper method 4: Dog cradle method 5: Limit switch combined method 6: Scale home position signal detection method 7: Limit switch front end method 8: Dog front end method C: Z-phase detection method D: Scale home position signal detection method 2 Home position signal re-search Set "1" when using an incremental encoder or incremental linear scale. 0: Do not search again 1: Search again

Note 1. *: Settings for parameters with asterisk (*) before symbol will be valid at system startup.

For other precautions, refer to the Servo Amplifier Instruction Manual for your servo amplifier.

(c) Position command unit As "degree" cannot be used as a position command unit, note the following when using the axis as a degree axis.

POINT

For positioning the automatic operation, etc., set "Relative position command" to the auxiliary command of the point table, and set the difference of the travel distance to the target position in the position data. Also, the rotating direction is determined by the code of the position data. Use the user program for shortcut control of a degree axis.

The function to judge based on the current command position or the current feedback position such as the position switch, software limit, other axes start cannot be used.

App. - 25

APPENDIX

1) When the movement range is limited (-2147483648 to 2147483647)

For the electronic gear setting, set values so that conversion from travel distance per motor revolution to the number of encoder pulses per revolution does not produce a round value for electronic gear processing. In this case, the travel distance per motor revolution can be converted to the number of encoder pulses per revolution by the following formula.

Example: When the position command unit is 0.001 and the travel distance per motor revolution is

360000 [0.001 ]

Electronic gear numerator =

Number of encoder pulses per revolution [pulse]

=

Number of encoder pulses per revolution [pulse]

Electronic gear denominator Travel distance per motor revolution [position command unit]

360000

Travel distance per motor revolution

[position command unit]

Electronic gear numerator =

Number of encoder pulses per revolution [pulse] Electronic gear denominator

2) When using the unlimited length feed such as an unidirectional feed

When the travel distance per motor revolution is a power of two, the unlimited length feed can be used. As the monitor of a current command position is 4 bytes in size, unidirectional feed causes the overflow of current command position. Even though overflowed high-byte data is lost, the range of 4 bytes normally continues to be updated. And positioning control is not affected. (Position mismatch does not occur.) To control the axis as a degree axis, use the user program process to convert the current command position to the ring counter. As necessary, perform the same process for the current feedback position. The conversion process of the ring counter is as follows.

Example: When the command unit of the user program (user program command unit) is 0.001 and

the range of the ring counter is 0 to 359999 [0.001 ] In this example, the travel distance per motor revolution is a power of two (220), and the unit is the position command unit of the position board (board command unit). The user program uses the user program electronic gear for converting the user program command unit to the board command unit when the position command (position data, parameter, etc.) is set in the position board (hereinafter: board). Also, when the board current command position is referred, the user program uses the user program electronic gear for converting the board command unit to the user program command unit (ring counter) inversely. The relationship of each command unit is as follows.

User program electronic gear Position board electronic gear User program command [user program command unit]

Ring counter upper limit + 1 Travel distance per motor revolution

Note. Processed by user program.

Position command to the position board

[Board command unit] Number of encoder pulses per revolution Travel distance per motor revolution

Position command to servo [pulse]

App. - 26

APPENDIX

(i) Conversion from the user program position command [user program command unit] to the position

command to the board (position data) [board command unit]

Position data = User program position command Travel distance per motor revolution Ring counter upper limit + 1

= User program position command 220

360000

(ii) Inverse conversion from current command position [board command unit] to ring counter [user

program command unit]

Ring counter = {Current command position & (Travel distance per motor revolution - 1)} Ring counter upper limit + 1

Travel distance per motor revolution

= (Current command position & 0x000FFFFF) 360000

220

(d) Absolute position detection system

When the travel distance from the home position exceeds the value calculated from 32767 (number of encoder pulses per revolution) due to a unidirectional feed, etc., the absolute position cannot be restored. To restore the absolute position, when turning off the power supply at a position out of the range where the absolute position is restorable, establish the home position again by the home position reset function or the home position return, and store the home position information (home position multiple revolution data and home position within 1 revolution position) to the user program side.

App. - 27

APPENDIX

App. 4 Supplementary explanation for the use of multiple-axis servo amplifier (MR-J4W - B)

App. 4.1 Position board

There are no restrictions in the software versions of the position board that can be connected with a multiple- axis servo amplifier (MR-J4W - B). App. 4.2 Position board utility software

There are no restrictions in the Position Board Utility2 versions supporting position board. App. 4.3 Servo amplifier

For detailed specifications of a multiple-axis servo amplifier (MR-J4W - B), refer to the Servo Amplifier Instruction Manual for your servo amplifier.

POINT When the control cycle is 0.22ms, MR-J4W3- B can be used with software

version A3 or later. The fully closed loop system can be used for the servo amplifier

MR-J4(W )- B whose software version is A3 or later. (1) SSCNET /H connection restrictions for multiple-axis servo amplifier (MR-J4W - B)

The multiple-axis servo amplifier (MR-J4W2- B) cannot allocate axis 16 onwards from the start of the SSCNET /H connection. The multiple-axis servo amplifier (MR-J4W3- B) cannot allocate axis 15 onwards from the start of the SSCNET /H connection. The remote I/O module is also counted as one axis.

SSCNET /H

Axis 1 Axis 2 Axis 15 Axis 20Axis 16 Servo amplifier(MR-J4W - B)

Position board

Cannot be allocated with MR-J4W2- B

Cannot be allocated with MR-J4W3- B

App. - 28

APPENDIX

App. 4.4 Operations and functions of the servo amplifier

(1) Startup procedure With one multiple-axis servo amplifier (MR-J4W - B), a rotary servo motor, linear servo motor, fully closed loop system, and direct drive motor can be used in combination. For the use of a rotary servo motor, refer to Section 4.1. For the use of a linear servo motor, refer to App. 1. For the use of the fully closed loop system, refer to App. 2. For the use of the direct drive motor, refer to App. 3.

POINT For the all axes used with the multiple-axis servo amplifier (MR-J4W - B),

always set "Controlled" to the control option 1 (parameter No.0200). When "Not controlled" is set, the system cannot start properly.

For a multiple-axis servo amplifier (MR-J4W - B), the number of axis used can be changed using the control axis invalid switch (SW2). Deactivate unused axes.

(2) Operation from the position board

Positioning operation using the position board is basically the same as operation for using a rotary servo motor. For the use of a linear servo motor, refer to App. 1. For the use of the direct drive motor, refer to App. 3.

(a) Parameters

For servo parameters, control parameters, and system parameters, set them in the same way as the operation mode to be used (rotary motor, linear, fully closed loop system, and direct drive).

App. - 29

APPENDIX

App. 5 Supplementary explanation for the use of servo amplifier (MR-JE- B(F))

App. 5.1 Position board

The software versions of the position board that can use servo amplifier (MR-JE- B(F)) are as follows.

Position board Software version MR-MC2 A7 or later MR-MC3 No restrictions

App. 5.2 Position board utility software

The Position Board Utility2 versions supporting above position board are as follows.

Position board Software version

(MRZJW3-MC2-UTL) MR-MC2 Ver. 1.70 or later MR-MC3 Ver. 3.00 or later

App. 5.3 Servo amplifier

For detailed specifications of a servo amplifier (MR-JE- B(F)), refer to the Servo Amplifier Instruction Manual for your servo amplifier.

POINT Servo amplifier (MR-JE- B(F)) does not support SSCNET communication.

Use the servo amplifier in a SSCNET /H system. Control cycle 0.22ms is not supported. When the system is start with the control

cycle as 0.22ms and a servo amplifier (MR-JE- B(F)) connected, the system is on standby for start and a communication cycle error (system error E40E) occurs.

Servo amplifier (MR-JE- B(F)) can connect up to 16 axes on 1 line with SSCNET /H. When using 17 axes or more, up to 20 axes can be controlled on 1 line by using MR-JE- B(F) together with MR-J4(W )- B.

App. - 30

APPENDIX

App. 5.4 System configuration

App. 5.4.1 System configuration diagram

Example: For PCI bus compatible position board MR-MC210

DI signal + side limit switch (LSP 1) - side limit switch (LSN 1) Proximity dog (DOG 1) DI signal (LSP, LSN and DOG) from servo amplifier can be input. DO signal from servo amplifier cam be output (1 point only).

USB

SSCNET

EMI

PCI bus compatible position board

MR-MC210

Axis 1 Axis 2 - - - - - Axis 16

SSCNET /H-compatible Servo amplifier MR-JE-B(F)

SSCNET cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

DI signal Forced stop(EMI 1)

POINT

The input of DI signals (LSP/LSN/DOG) from servo amplifier (MR-JE- B) is available with servo amplifiers with software version C5 or later, and manufactured from May, 2016 onwards. For servo amplifiers manufactured in China, the input of DI signals is available with servo amplifiers manufactured June, 2016 onwards.

For servo amplifiers (MR-JE- B(F)) manufactured before the dates above, DI signals (LSP/LSN/DOG) cannot be input to servo amplifier (MR-JE- B(F)). When using sensor input, set a value other than "1: Driver input" to sensor input option (parameter No.0219). When inputting the sensor input from dual port (setting "4: Dual port memory input" to sensor input option), periodically updating the input status is necessary. Also, to take into consideration when the host controller is hangup, use together with the user watchdog function. Refer to Section 6.28 and Section 7.7 for details.

App. - 31

APPENDIX

App. 5.5 Axis No. setting

App. 5.5.1 Servo amplifier setting

Axis No. of MR-JE- B(F) is set by the axis selection rotary switch (SW1) on the servo amplifier. Servo amplifier axis No. and rotary switch setting are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it will not duplicate in the same line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah).

Servo amplifier axis No. Axis selection rotary switch Servo amplifier display

(3-digit, 7-segment indicator) d1 0 01 d2 1 02 d3 2 03 d4 3 04 d5 4 05 d6 5 06 d7 6 07 d8 7 08 d9 8 09 d10 9 10 d11 A 11 d12 B 12 d13 C 13 d14 D 14 d15 E 15 d16 F 16

App. - 32

APPENDIX

App. 5.6 Parameter setting

App. 5.6.1 System option 1 setting

SSCNET communication method and control cycle is set by System option 1 (parameter No.0001). SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET /H method and SSCNET method are available. When using MR-JE-

B(F) servo amplifiers, make sure to select the SSCNET /H method. Control cycle is a cycle in which the position board conducts command import, position control, status output, and communication with servo amplifier. To set this cycle, use the control cycle (parameter No.0001). Servo amplifier (MR-JE- B(F)) does not support control cycle 0.22ms. When using servo amplifier (MR-JE- B(F)), make sure to select a control cycle other than 0.22ms. The following shows the number of controllable axes according to the control cycle. (1) For MR-MC210/MR-MC220U3/MR-MC220U6/MR-MC240

Control cycle Maximum No. of axes connected

Maximum No. of axes connected for each line

Controllable axis No. Using MR-JE- B(F) only

Using together with MR-J4(W)- B

0.88ms 16 axes 20 axes 20 axes (Note) Axis 1 to 20 0.44ms 16 axes 16 axes 16 axes Axis 1 to 16

Note. When using 17 axes or more for each line, use MR-JE- B(F) together with MR-J4 (W )- B. (2) For MR-MC211/MR-MC241

Control cycle Maximum No. of axes connected

Maximum No. of axes connected for each line

Controllable axis No. Using MR-JE- B(F) only

Using together with MR-J4(W)- B

0.88ms 32 axes 32 axes 20 axes (Note) Axis 1 to 32 0.44ms 16 axes 16 axes 16 axes Axis 1 to 16

Note. When using 17 axes or more for each line, use MR-JE- B(F) together with MR-J4(W )- B.

App. - 33

APPENDIX

Control cycle settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system command code: 000Ah).

(a) System parameters Parameter

No. Symbol Name Function

0001 *SYSOP1 System option 1 0 0 Control cycle setting (Note 1) Set the control cycle. 0: 0.88ms 1: 0.44ms 2: 0.22ms (Not use) SSCNET communication method (Note 2) Set the SSCNET communication method. 0: SSCNET /H 1: SSCNET (Not use) Note. SSCNET communication

method is shared in lines 1 and 2.

Note 1. Make sure to set a value other than "2: 0.22ms". 2. Make sure to set "0: SSCNET /H".

(b) SSCNET communication method

Address Name Description 0008

SSCNET communication method 1: SSCNET 2: SSCNET /H 0009

App. 5.7 Axis No. assignment

With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. When using only servo amplifier (MR-JE- B(F)) and connecting 17 axes or more, the axis No. assignment function must be used to assign axes to line 2. Refer to Section 4.5.6 for details on axis No. assignment.

POINT When using servo amplifier (MR-JE- B(F)), the 17th servo amplifier axis No.

and after cannot be set on 1 line.

App. - 34

APPENDIX

App. 5.8 Sensor input option setting

External signal (sensor) is connected by setting sensor input options (parameter No.0219). When using a version of servo amplifier (MR-JE- B) that does not support DI signal input, set a value other than "1: Driver input" to sensor input system. Refer to Section 4.5.7 for details on sensor input options setting. Parameter

No. Symbol Name Initial Value Units

Setting range

Function

0219 *SOP Sensor input options

0000h 0000h to 0304h 0 0

Sensor input system Set the input system of the sensor (LSP, LSN, DOG). 0: Not use 1: Driver input 2: Digital or input device input 3: Not connected (does not detect LSP, LSN, DOG) 4: Dual port memory input Make sure to set a value other than "1: Driver input". Limit switch signal selection Set valid/invalid of limit switch. 0: LSP/LSN are valid 1: LSP is valid, LSN is invalid 2: LSP is invalid, LSN is valid 3: LSP/LSN are invalid

POINT When "1: Driver input" is set in sensor input system, a parameter error (servo

alarm 37) occurs for parameter No.11C2 to parameter No.11C4 (servo parameter PD03 to PD05).

App. 5.9 Vendor ID and type code setting

When using servo amplifier (MR-JE- B(F)) set 1200h to the type code. (1) Control parameters

Parameter No.

Symbol Name Function

021D *VEND Vendor ID Set the vendor ID. 0000h: Mitsubishi Electric

021E *CODE Type code Set the type code. 1200h: MR-JE- B(F)

App. - 35

APPENDIX

App. 5.10 Supported functions

Some functions and operation of the servo amplifier (MR-JE- B(F)) differ from those of the servo amplifier MR-J4(W )- B. This section mainly describes functions and operations different from those of the servo amplifier MR-J4(W )- B. For the specification items not described in this section, refer to the specifications of servo amplifier MR-J4(W )- B. (1) Supported function list Function type Function Supported Remarks Operational functions

JOG operation Incremental feed Automatic operation Linear interpolation Home position return Home position reset function (data set function)

Application functions

Command units Electronic gear Speed units Speed units

Speed units multiplication factor Speed limit

Acceleration/deceleration Linear acceleration/deceleration Smoothing filter Start up speed validity S-pattern acceleration/deceleration (Sine acceleration/deceleration)

Servo off Forced stop Stop operation Rapid stop Limit switch (stroke end) Software limit Interlock Rough match output Torque limit Command change Speed change

Change of time constants Position change

Backlash Position switch Completion of operation signal Interference check function Home position search limit Gain changing PI-PID switching Absolute position detection system Home position return request Other axes start High response I/F In-position signal Digital I/O I/O device Servo amplifier general I/O Check the servo amplifier MR-JE- B being used

to confirm if general input is available or not. One point only can be used for general output.

App. - 36

APPENDIX

Function type Function Supported Remarks Application functions

Dual port memory exclusive control Pass position interrupt Mark detection Continuous operation to torque control SSCNET /H head module connection Sensing module connection

Auxiliary function

Reading/writing parameters Changing parameters at the servo Alarm and system error Monitor function High speed monitor function Interrupt User watchdog function Software reboot function Parameter backup Test mode Reconnect/disconnect function If MR-JE- B is reconnected in a system with a

0.22ms control cycle, reconnection error (RCE) turns ON, and reconnection/disconnection error code 0006h (communication cycle error) occurs.

Sampling Log Operation cycle monitor function Servo amplifier disconnect Operate with the following motor specifications.

Number of encoder pulses per revolution: 131072[pulse] Motor maximum revolution speed: 6000[r/min]

Alarm history function External forced stop disabled Transient transmit Hot line forced stop Not required when MR-JE- BF is used.

Tandem drive Tandem drive Interface mode

Position control mode Speed control mode Torque control mode

Note. : Supported : With restrictions : Unsupported

App. - 37

APPENDIX

App. 5.10.1 Application functions

(1) Servo amplifier general I/O For the specification of the servo amplifier general I/O, refer to the following table.

POINT

The input of DI signals (LSP/LSN/DOG) from servo amplifier (MR-JE- B) is available with servo amplifiers with software version C5 or later, and manufactured from May, 2016 onwards. For servo amplifiers manufactured in China, the input of DI signals is available with servo amplifiers manufactured June, 2016 onwards.

(a) Compatible servo amplifier

Model Remarks Servo amplifier MR-JE- B(F) Input: 3 points/axis

Output: 1 point/axis

(b) Destination connector 1) General input

Signal Name Destination connector pin No. Symbol LSP CN3-2 DI1 LSN CN3-12 DI2 DOG CN3-19 DI3

2) General output

Signal Name Destination connector pin No. Symbol DI_ 0 CN3-13 MBR DI_ 1 DI_ 2

(c) Servo parameters

1) When using the servo amplifier general input function, set the input device selection parameters as follows.

Parameter No.

MR-JE-B(F) Parameter No.

Symbol Name Setting value

11C2 PD03 *DI1 Input device selection 1 0028h 11C3 PD04 *DI2 Input device selection 2 0029h 11C4 PD05 *DI3 Input device selection 3 002Ah

2) When using the servo amplifier general output function, set the output device selection parameters as

follows. Parameter

No. MR-JE-B(F)

Parameter No. Symbol Name Setting value

11C6 PD07 *DO1 Output device selection 1 0021h App. 5.10.2 Auxiliary function

(1) Hot line forced stop function Refer to Section 7.19 for the hot line forced stop function.

App. - 38

APPENDIX

App. 5.11 Table map

For the table map, refer to the table map of when servo amplifier (MR-J4(W )- B) is used. App. 5.12 Parameters

Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected operation can occur. For the specification items not described in this section, refer to the specifications of servo amplifier MR-J4(W )- B.

Classification Parameter No. (Note) Remarks System parameters No. 0001 to 007F Servo parameters No. 0100 to 01FF Each axis Control parameters No. 0200 to 02FF Each axis

Note. Parameter numbers are given in hexadecimal. App. 5.12.1 System parameters

For system parameters, only the additions and changes are listed.

POINT The settings for the parameters with a * mark at the front of the symbol are

validated when the system is started. Parameter

No. Symbol Name

Initial Value

Units Setting range

Function

0001 *SYSOP1 System option 1 0000h 0000h to 0102h

0 0 Control cycle setting (Note 1) Set the control cycle. 0: 0.88ms 1: 0.44ms 2: 0.22ms (Not use) SSCNET communication method (Note 2) Set the SSCNET communication method. 0: SSCNET /H 1: SSCNET (Not use) Note. SSCNET communication

method is shared in lines 1 and 2.

Note 1. Make sure to set a value other than "2: 0.22ms".

2. Make sure to set "0: SSCNET /H".

App. - 39

APPENDIX

App. 5.12.2 Servo parameters

When using servo amplifier MR-JE- B(F), initial values for the following parameters are different to MR- J4(W )- B(F). Set the initial value to each parameter when using it. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.

POINT The parameters with a * mark in front of the parameter symbol are validated

according to the following conditions. *: The setting value for the system startup or the SSCNET reconnection is

valid. The parameter change after the system startup is invalid. **: The setting value for the system startup or the SSCNET reconnection is

valid. However, after the system startup, turn off the power supply of the servo amplifier once, and it is necessary to turn on it again. The parameter change after the system startup is invalid.

App. 5.12.3 Control parameters

For control parameters, only the additions and changes are listed. Parameter

No. Symbol Name

Initial value

Unit Setting range

Function When in

tandem drive 021E *CODE Type code 1000h 0000h to

FFFFh Set the type code.

1200h: MR-JE- B(F) Same value

App. 5.13 Monitor

For the monitor, refer to the monitor list of when MR-J4(W )- B is used.

App. - 40

APPENDIX

App. 5.14 System alarm

For the alarm No., only the additions and changes are listed. App. 5.14.1 Servo alarm

The servo alarms of MR-JE- B(F) are shown in the following table. For details, refer to the Servo Amplifier Instruction Manual. Alarm Warning Alarm No. Name Alarm No. Name

10 Undervoltage 90 Home position return incomplete warning 12 Memory error 1 (RAM) 91 Servo amplifier overheat warning 13 Clock error 92 Battery cable disconnection warning 14 Control process error 96 Home position setting warning 15 Memory error 2 (EEP-ROM)

97 Program operation disabled/next station position warning 16 Encoder initial communication error 1

17 Board error 98 Software limit warning 19 Memory error 3 (FLASH-ROM) 99 Stroke limit warning 1A Servo motor combination error 9B Error excessive warning 1E Encoder initial communication error 2 9F Battery warning 1F Encoder initial communication error 3 E0 Excessive regeneration warning 20 Encoder normal communication error 1 E1 Overload warning 1 21 Encoder normal communication error 2 E3 Absolute position counter warning 24 Main circuit error E4 Parameter warning 25 Absolute position erased E6 Servo forced stop warning 30 Regenerative error E7 Controller forced stop warning 31 Overspeed E8 Cooling fan speed reduction warning 32 Overcurrent E9 Main circuit off warning 33 Overvoltage EC Overload warning 2 34 SSCNET receive error 1 ED Output watt excess warning 35 Command frequency error F0 Tough drive warning 36 SSCNET receive error 2 F2 Drive recorder Miswriting warning 37 Parameter error F3 Oscillation detection warning 39 Program error

F5 Simple cam function - Cam data miswriting warning 3E Operation mode error

45 Main circuit device overheat F6 Simple cam function - Cam control warning 46 Servo motor overheat 47 Cooling fan error 50 Overload 1 51 Overload 2 52 Error excessive 54 Oscillation detection 56 Forced stop error 61 Operation error

8A USB communication time-out/serial communication time-out error/Modbus-RTU communication time- out error

8E USB communication error/serial communication error/Modbus-RTU communication error

888/ 88888

Watchdog

Note. For the specific servo alarm numbers, refer to the specifications of MR-JE- B(F).

App. - 41

APPENDIX

App. 6 Supplementary explanation for the use of SSCNET compatible servo amplifier (MR-J3(W)- B)

MC200

The SSCNET /H compatible position board (MR-MC2 ) can perform the positioning control with connecting our servo amplifier (MR-J3(W)- B) when the SSCNET communication method is SSCNET . In this section, the different point, comparing SSCNET /H with the servo amplifier MR-J4(W )- B, are mainly described. App. 6.1 Position board

There are no restrictions in the software versions of the position board that can be used with the SSCNET compatible servo amplifier (MR-J3(W)- B). App. 6.2 Position board utility software

There are no restrictions in the Position Board Utility2 versions supporting each position board listed above. App. 6.3 Connectable units

The connectable units with the position board when the SSCNET communication method is SSCNET are shown below.

Item Remarks SSCNET compatible unit

Servo amplifier MR-J3- B(S)

For how to use the unit, refer to this section.

Linear servo amplifier MR-J3- B-RJ004

For how to use the units, refer to this section and App. 1 to 4. For servo parameters, refer to the Servo Amplifier Instruction Manual for your servo amplifier

Fully closed control-compatible servo amplifier MR-J3- B-RJ006 2-axis servo amplifier MR-J3W- B Direct drive servo amplifier MR-J3- B-RJ080W

SSCNET (/H) compatible unit

MR-J4(W )- B Communication by SSCNET can only be used in J3 compatibility mode. This is supported in the MR-J4(W )- B software version A5 or later. Also refer to the restrictions when using J3 compatibility mode. For how to use the unit, refer to the explanation of MR-J3 series.

App. - 42

APPENDIX

App. 6.4 System setting

When the SSCNET communication method is SSCNET , servo amplifiers of up to 32 axes can be controlled per SSCNET control channel (CH).

Model Number of control axes Remarks MR-MC210 Up to 16 axes Up to 16 axes can be controlled per SSCNET line. MR-MC211 Up to 32 axes MR-MC220U3 Up to 16 axes MR-MC220U6 Up to 16 axes MR-MC240 Up to 16 axes MR-MC241 Up to 32 axes App. 6.5 System configuration

App. 6.5.1 System configuration diagram

Example: For PCI bus compatible position board MR-MC210 (when using SSCNET )

USB

EMI

SSCNET -compatible Servo amplifier MR-J3-B

Axis 16

SSCNET Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

PCI bus compatible position board

MR-MC210

DI signal Forced stop (EMI 1)

Axis 2Axis 1

DI signal side limit switch (LSP 1) side limit switch (LSN 1) Proximity dog (DOG 1) DI signal (LSP, LSN and DOG) from Servo Amplifier can be input

SSCNET

App. - 43

APPENDIX

App. 6.6 Axis No. setting

Axis No. is set by the axis selection rotary switch (Note). The axis No. and rotary switch No. are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it will not duplicate in the same SSCNET line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah). Note. The name and setting method of the axis selection rotary switch vary depending on the unit device to be used. For details, refer to the

unit device specification for your unit. App. 6.6.1 Servo amplifier setting

(1) MR-J3(W)- B Axis No. of MR-J3(W)- B is set by the axis selection rotary switch (SW1) on the servo amplifier. Servo amplifier axis No. and rotary switch setting are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it will not duplicate in the same line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah).

Servo amplifier axis No. Axis selection rotary switch Servo amplifier display

(3-digit, 7-segment indicator) d1 0 01 d2 1 02 d3 2 03 d4 3 04 d5 4 05 d6 5 06 d7 6 07 d8 7 08 d9 8 09

d10 9 10 d11 A 11 d12 B 12 d13 C 13 d14 D 14 d15 E 15 d16 F 16

POINT For each switch setting, refer to the Servo Amplifier Instruction Manual for your

servo amplifier. If the "An axis that has not been mounted exists" (system error E400) occurred,

the axis with wrong axis No. set can be confirmed with "information concerning axis that is not mounted" (monitor No.0480 to 0482).

The servo amplifier axis No. and the axis No. to be managed on the position board are different. For details, refer to App. 6.9.

App. - 44

APPENDIX

App. 6.7 Parameter setting

App. 6.7.1 System option 1 setting

SSCNET communication method and control cycle is set by System option 1 (parameter No.0001). SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET /H method and SSCNET method are available. When using MR-J3(W)- B series servo amplifiers, make sure to select the SSCNET method. Control cycle is a cycle in which the position board controls command import, position control, status output, and communication with servo amplifier. To set this cycle, use the control cycle (parameter No.0001). The number of controllable axes differs depending on the control cycle. (1) For MR-MC210/MR-MC220U3/MR-MC220U6/MR-MC240

Control cycle Maximum No. of axes

connected Maximum No. of axes

connected for each line Controllable axis No.

0.88ms 16 axes 16 axes Axis 1 to 16 0.44ms 8 axes 8 axes Axis 1 to 8

Note. Do not connect more servo amplifiers than the maximum No. of axes connected. When more servo amplifiers are connected than the maximum No. of axes connected, system setting error (alarm No. 38, detail 01) will occur.

(2) For MR-MC211/MR-MC241

Control cycle Maximum No. of axes

connected Maximum No. of axes

connected for each line Controllable axis No.

0.88ms 32 axes 16 axes Axis 1 to 32 0.44ms 16 axes 8 axes Axis 1 to 16

Note. Do not connect more servo amplifiers than the maximum No. of axes connected. When more servo amplifiers are connected than the maximum No. of axes connected, system setting error (alarm No. 38, detail 01) will occur.

Control cycle settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system command code: 000Ah).

(a) System parameters Parameter No. Symbol Name Function

0001 *SYSOP1 System option 1 0 0 Control cycle setting (Note 1) Set the control cycle. 0: 0.88ms 1: 0.44ms SSCNET communication method (Note 2) Set the SSCNET communication method. 0: SSCNET /H (Not use) 1: SSCNET Note. SSCNET communication

method is shared in lines 1 and 2.

Note 1. When SSCNET communication method is "1: SSCNET ". 2. Make sure to set "1: SSCNET ".

(b) SSCNET communication method

Address Name Description 0008

SSCNET communication method 1: SSCNET 2: SSCNET /H 0009

App. - 45

APPENDIX

App. 6.8 Control option 1 setting

When controlling servo amplifier, set "1: control" for control axis of control option 1 (parameter No.0200). When the axis No. is set out of the controllable range, the corresponding axis will be system setting error (alarm No. 38) and cannot be controlled. If the servo amplifier set is in a state where communication cannot be made, such as not connected or control circuit power is off, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah).

POINT If the "An axis that has not been mounted exists" (system error E400) occurred,

the axis with wrong No. set can be confirmed with "information concerning axis that is not mounted" (monitor No.0402).

Control axis settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) Control parameter Parameter

No. Symbol Name Initial value Units

Setting range

Function

0200 *OPC1 Control option 1

0000h 0000h to

2111h

Speed units Set the units for the speed command. 0: Position command units/min 1: Position command units/sec 2: r/min

Control Axis Set to 1 for implementing control of servo amplifier 0: Not controlled 1: Controlled Amplifier-less axis function Set to 1 when servo amplifier communication is not implemented. When set to 1 together with the control axis, it is possible to run without a servo amplifier (simulate). 0: Invalid 1: Valid No home position If the position when power is turned on is to be defined as home position set to 1. If home position return is performed, the current position after executing home position return is the home position. 0: Invalid 1: Valid

POINT When the servo amplifier disconnect is valid, the position board simulates the

operations of servo amplifier and operates as if it is connected. Operation can be checked without connecting the servo amplifier. When the setting is valid, the position board do not communicate with the servo amplifier.

App. - 46

APPENDIX

App. 6.9 Axis No. assignment

With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. When Axis No. assignment is invalid, correspondence between the axis No. on a position board and the axis No. on a servo amplifier is shown in the following table. (1) When SSCNET communication method is SSCNET /H

Servo amplifier axis No.

Line 1 d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d17 d18 d19 d20

Axis No.

0.88ms 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 - - - - 0.44ms 1 2 3 4 5 6 7 8 - - - - - - - - - - - -

Servo amplifier

axis No. Line 2

d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d17 d18 d19 d20 Axis No.

0.88ms 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 - - - - 0.44ms 9 10 11 12 13 14 15 16 - - - - - - - - - - - -

When Axis No. assignment is valid, the axis Nos. 1 to 32 (on the position board) can be assigned by the servo amplifier axis Nos. d1 to d16 arbitrarily. To assign the axis Nos., set the following parameters.

POINT To set servo amplifier axis Nos., use the axis No. assignment (parameter

No.0203). Valid servo amplifier axis Nos. differ depending on the control cycle. Up to 16 axes can be set.

Control cycle SSCNET 0.88ms 1 to 16 0.44ms 1 to 8

(a) System parameter Parameter

No. Symbol Name Function

0002 *SYSOP2 System option 2 000 Axis No. assignment Set 1 when validating axis No. assignment. When axis No. assignment is invalid, axis No. is automatically assigned. 0: Invalid 1: Valid

App. - 47

APPENDIX

(b) Control parameter

Parameter No.

Symbol Name Initial value Units Setting range

Function

0203 *AXALC Axis No. assignment

0000h 0000h to

011Fh

0 Servo amplifier axis No. Set the servo amplifier axis No. to be assigned to the axis Nos. on the position board. (Note 1, 2 and 3) 00h: No axis No. assignment 01h to 14h: Axis No. Example: 0Ah: Axis No. 10 Servo amplifier line No. Set the servo amplifier line No. to be assigned to the axis Nos. on the position board. 0 to 1: Line No.-1

Note 1. An axis No. out of the valid range causes the system setting error (alarm No. 38, detail 03). 2. Regardless of the control axis setting (parameter No.0200), set the axis No. so that the axis No. assignment is not duplicated.

(Except for 00: No axis No. assignment) Duplicated axis Nos. cause the system setting error (alarm No. 38, detail 04). 3. When Control is set in the control axis setting (parameter No.0200), always set the axis Nos. (1 to 16). When 0 is set, system

setting error (alarm No. 38, detail 02) will occur. App. 6.10 Sensor input option setting

External signal (sensor) is connected by setting sensor input options (parameter No.0219). The following is for when 1 (driver input) is set in sensor input system. Refer to Section 4.5.7 for details on other sensor input option settings. (1) When selecting the driver input

When 1 (driver input) is selected as the sensor destination, the sensor (LSP, LSN, DOG) status connected to the driver is imported via SSCNET.

(a) MR-J3- B is used as a servo amplifier

Signal name Destination connector pin No. Symbol LSP CN3-2 D11 LSN CN3-12 D12 DOG CN3-19 D13

(b) MR-J3W- B is used as a servo amplifier

Signal name Destination connector pin No. Symbol

( : A, B) A-axis B-axis

LSP CN3-7 CN3-20 DI1- LSN CN3-8 CN3-21 DI2- DOG CN3-9 CN3-22 DI3-

POINT

For sensor connection to the driver, refer to the instruction manual of the driver. If communication error (system error E401 to E407) occurs, sensor (LSP, LSN,

DOG) input status turns off. If communication error (system error 400) occurs, the input status of the

corresponding axis turns off.

App. - 48

APPENDIX

App. 6.11 Vendor ID and type code setting

Available functions, parameter settings and ranges will vary by servo amplifier type. At the time the communication with the servo amplifier has started, the position board will perform consistency check between type code of the servo amplifier connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output, therefore set correct type code.

POINT If driver type code error (system error E405) occurred, the axis that has set an

incorrect type code can be confirmed with "type code erroneous axis information" (monitor No.0484 to 0486).

When the communication method is SSCNET , driver type code error (system error E405) due to the inconsistency of vendor IDs.

(a) Control parameters Parameter

No. Symbol Name Function

021D *VEND Vendor ID Set the vendor ID. 0000: Mitsubishi Electric Note. Not used in SSCNET communication.

021E *CODE Type code Set the type code. 0100: MR-J3-B, MR-J3W-B (for rotary servo motor) 0101: MR-J3-BS, MR-J3-B-RJ006 0102: MR-J3-B-RJ004, MR-J3W-B (for linear servo motor) 0107: MR-J3-B-RJ080W 0180: MR-J3W-0303BN6

App. 6.12 System startup processing

The parameter settings and the system startup processing is the same as those of when the SSCNET communication method is SSCNET /H.

App. - 49

APPENDIX

App. 6.13 Restrictions when using J3 compatibility mode

The restrictions when connecting SSCNET for position board and servo amplifier MR-J4(W )- B are shown in the following table.

Position board SSCNET

communication method

MR-J4(W )- B mode

Controller reset necessity (Note)

Details

SSCNET

Factory default Necessary

The servo amplifier LED displays "rST". The system status code is not system running (000Ah). After system start up, if the system status code is not system running (000Ah) after 10 seconds, or a system error occurs, perform system startup procedure again after controller reset.

J3 compatibility mode

Not necessary The system status code becomes system running (000Ah) when all axes are connected normally.

J4 mode (Cannot connect) The system status code is not system running (000Ah). Review the settings of the servo amplifier or position board.

SSCNET /H

Factory default Not necessary The system status code becomes system running (000Ah) when all axes are connected normally.

J3 compatibility mode

(Cannot connect) The system status code is not system running (000Ah). Review the settings of the servo amplifier or position board.

J4 mode Not necessary The system status code becomes system running (000Ah) when all axes are connected normally.

Note. To perform a controller reset, execute a software reboot of the position board, or turn the power supply of the position board OFF and ON again.

When position board SSCNET communication method is SSCNET and a factory default MR-J4(W )- B servo amplifier is connected by SSCNET, the servo amplifier switches to J3 compatibility mode and the LED displays "rST". In this state, executing a controller reset (software reboot, or turning the power supply of position board OFF and ON again) and performing system startup procedure again enables all axes to be connected. When connecting by SSCNET from the next time onwards, a controller reset is not necessary. When a controller reset cannot be executed, use the "MR-J4(W)-B mode selection" attached to MR Configurator2 to manually switch the servo amplifier to J3 compatibility mode in advance. For details on J3 compatibility mode, also refer to the MR-J4(W )- B Instruction Manual.

POINT Do not connect a factory default MR-J4(W )- B servo amplifier by SSCNET

reconnect afterwards. If SSCNET is disconnected once, system error E4 occurs and all axes go into a forced stop state.

App. - 50

APPENDIX

(1) When connecting factory default MR-J4(W )- B servo amplifier from the position board.

(a) Connecting the first time

Position board

r S T r S T

Axis 2

r S T

Axis 3

rST displays on the initial connection only

(b) After performing system startup procedure again after controller reset.

Position board

c 0 1

Axis 1

c 0 2

Axis 2

c 0 3

Axis 3

One controller reset enables connection of all axes

App. - 51

APPENDIX

App. 6.14 Supported functions

Some functions and operation of the servo amplifier MR-J3(W)- B differ from those of the servo amplifier MR-J4(W )- B. This section mainly describes functions and operations different from those of the servo amplifier MR-J4(W )- B. For the specification items not described in this manual, refer to the specifications of servo amplifier MR-J4(W )- B. (1) Supported function list Function type Function Supported Remarks Operational functions

JOG operation Incremental feed Automatic operation Linear interpolation Home position return Home position reset function (data set function)

Application functions

Command units Electronic gear Speed units Speed units

Speed units multiplication factor Speed limit

Acceleration/ deceleration

Linear acceleration/deceleration Smoothing filter Start up speed enable S-pattern acceleration/deceleration (Sine acceleration/deceleration)

Servo off Forced stop Stop operation Rapid stop Limit switch (stroke end) Software limit Interlock Rough match output Torque limit Command change Speed change

Change of time constants Position change

Backlash Position switch Completion of operation signal Interference check function Home position search limit Gain changing The parameter No. to be used differs from those of

MR-J4-B. For details, refer to App. 6.14.1(1). PI-PID switching The parameter No. to be used differs from those of

MR-J4-B. For details, refer to App. 6.14.1(2). Absolute position detection system The parameter No. to be used differs from those of

MR-J4-B. For details, refer to App. 6.14.1(3). Home position return request Other axes start High response I/F In-position signal Digital I/O I/O device Servo amplifier general I/O Dual port memory exclusive control

App. - 52

APPENDIX

Function type Function Supported Remarks Application functions

Pass position interrupt Mark detection Continuous operation to torque control For the servo amplifier, use a software version that

supports continuous operation to torque control. MR-J3- B: C7 or later MR-J3- BS: C7 or later Note. MR-J3W- B is not supported.

SSCNET /H head module connection Sensing module connection

Auxiliary function

Reading/writing parameters Parameters No. 0100 to 01FF are used as servo parameters.

Changing parameters at the servo Parameters No. 0100 to 01FF are used as servo parameters.

Alarm and system error The specific servo alarm number is always 0. Monitor function For MR-J3(W)- B, some data cannot be monitored.

For details, refer to App. 6.17. High speed monitor function Interrupt Interrupt output cycle Can only be used during interface mode. Command data update cycle Can only be used during interface mode. User watchdog function Software reboot function Parameter backup Test mode Even when SSCNET is used, servo amplifier can be

adjusted using test operation function (JOG, test positioning, machine analyzer etc.) of the MR Configurator2 attached to the position board using a USB connection.

Reconnect/disconnect function When using the SSCNET disconnect function for the axes of a multiple-axis unit, make sure that all the axes in the unit are simultaneously disconnected. When the disconnection command is sent to the second axis or later in the same unit, "An axis that has not been mounted exists" (system error E400) occurs.

Sampling Log Operation cycle monitor function For software version A4 or later, when operation cycle

alarm signal (OCME) is turned ON, an operation cycle alarm (system alarm 35, detail No.01) occurs.

Servo amplifier disconnect Operates in the following motor specifications. Number of encoder pulses per revolution: 262144[pulse] Maximum motor speed: 6000[r/min]

Alarm history function Supported by software version A3 or later External forced stop disabled Supported by software version A5 or later Transient transmit

Tandem drive Tandem drive Set the same values for the servo parameters of the tandem drive axes. However, the rotation direction selection (servo parameter No.010D) can be different values depending on mechanical specifications.

Interface mode

Position control mode Supported by software version A3 or later Speed control mode Supported by software version A4 or later Torque control mode Supported by software version A4 or later

Note. : Supported : With restrictions : Unsupported

App. - 53

APPENDIX

App. 6.14.1 Application functions

(1) Gain changing For the usage of gain changing, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.19. However, for the servo parameters to be used, refer to the following table. (a) Servo parameters (MR-J3(W)- B)

Parameter No. MR-J3(W)-B

Parameter No. Symbol Name Setting

0139 PB26 *CDP Gain changing selection 0001 (valid when command received from controller and when the input signal (CDP) is on)

013A PB27 CDL Gain changing condition 0 013B PB28 CDT Gain changing time constant Arbitrary within setting range

013C PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment

Arbitrary within setting range

013D PB30 PG2B Gain changing position loop gain Arbitrary within setting range 013E PB31 VG2B Gain changing speed loop gain Arbitrary within setting range 013F PB32 VICB Gain changing speed integral compensation Arbitrary within setting range

0140 PB33 VRF1B Gain changing vibration suppression control vibration frequency setting

Arbitrary within setting range

0141 PB34 VRF2B Gain changing vibration suppression control resonance frequency setting

Arbitrary within setting range

POINT

Refer to the Servo Amplifier Instruction Manual on your servo amplifier concerning details for the servo parameters.

To use the gain switching function, first set the gain adjustment mode to a manual mode by changing an auto-tuning mode (parameter No.0107) to 3 (manual mode). If the gain adjustment mode is in an auto-tuning mode, the gain changing function cannot be used.

(2) PI-PID switching

For the usage of PI-PID switching, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.20. However, for the servo parameters to be used, refer to the following table. (a) Servo parameter (MR-J3(W)- B)

Parameter No. MR-J3(W)-B

Parameter No. Symbol Name Setting value

0137 PB24 *MVS Slight vibration suppression control selection 0 (PI control is valid (can be switched to PID control by the command from the controller).)

POINT

Refer to the Servo Amplifier Instruction Manual on your servo amplifier concerning details for the servo parameters.

To use the PI-PID switching function, first set the gain adjustment mode to a manual mode by changing an auto-tuning mode (parameter No.0107) to 3 (manual mode). If the gain adjustment mode is in an auto-tuning mode, the PI- PID switching function cannot be used.

App. - 54

APPENDIX

(3) Absolute position detection system

For the usage of the absolute position detection system, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.21. However, for the servo parameters to be used, refer to the following table. (a) Servo parameter (MR-J3(W)- B)

Parameter No. MR-J3(W)-B

Parameter No. Symbol Name Setting value

0102 PA03 *ABS Absolute position detection system 1 (Used in absolute position detection system)

POINT Refer to the Servo Amplifier Instruction Manual on your servo amplifier

concerning details for the servo parameters. When the rotation direction selection (parameter No.010D) is changed, the

absolute position disappearance signal (ABSE) is turned on and the absolute position data of the home position return option 2 (parameter No.0241) is changed to 0 (invalid).

(4) In-position signal

For the specification of the in-position signal, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.25. However, for the servo parameters to be used, refer to the following table. (a) Servo parameter (MR-J3(W)- B)

Parameter No. MR-J3(W)-B

Parameter No. Symbol Name Initial Value Unit

0109 PA10 INP In-position range 100 pulse (5) Servo amplifier general I/O

For the specification of the servo amplifier general I/O, which is the same as that of the servo amplifier MR- J4(W )- B, refer to Section 6.28. However, for the compatible servo amplifiers, refer to the following table. (a) Compatible servo amplifier

Model Remarks Servo amplifier MR-J3- B Input: 3 points/axis

Output: 3 points/axis Servo amplifier MR-J3W- B Input: 3 points/axis

Output: 2 points/axis

App. - 55

APPENDIX

(b) Destination connector

1) Servo amplifier MR-J3- B is used General input

Signal name Destination connector pin No. Symbol DI_ 0 CN3-2 D11 DI_ 1 CN3-12 D12 DI_ 2 CN3-19 D13

General output

Signal name Destination connector pin No. Symbol DI_ 0 CN3-13 MBR DI_ 1 CN3-9 INP DI_ 2 CN3-15 ALM

2) Servo amplifier MR-J3W- B is used

General input

Signal name Destination connector pin No. Symbol

( : A, B) A-axis B-axis DI_ 0 CN3-7 CN3-20 DI1- DI_ 1 CN3-8 CN3-21 DI2- DI_ 2 CN3-9 CN3-22 DI3-

General output

Signal name Destination connector pin No. Symbol

( : A, B) A-axis B-axis DI_ 0 CN3-12 CN3-25 MBR- DI_ 1 - - - DI_ 2 CN3-11 CN3-24 ALM -

(c) Servo parameters

1) Servo amplifier MR-J3- B is used Parameter

No. MR-J3-B

Parameter No. Symbol Name Setting value

0176 PD07 *DO1 Output device selection 1 0021h 0177 PD08 *DO2 Output device selection 2 0022h 0178 PD09 *DO3 Output device selection 3 0023h

2) Servo amplifier MR-J3W- B is used

Parameter No.

MR-J3W-B Parameter No.

Symbol Name Setting value

0176 PD07 *DO1 Output device selection 1 0021h 0178 PD09 *DO3 Output device selection 3 0023h

App. - 56

APPENDIX

App. 6.14.2 Auxiliary function

(1) Reading/writing parameters For the usage of the parameter read/write, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 7.1. However, servo parameters No.0100 to 01FF are used. When the parameter error (servo alarm 37) has occurred at system startup, check the parameter No. on which the error has occurred in the servo parameter error number (monitor No.0500 to 0510). Then reboot software, set correct parameters, and restart the system.

POINT

When SSCNET communication method is SSCNET , servo parameters No. 1100 to 1380 of MR-J4(W )- B cannot be written while system is running. Parameter number error (PWENn (n = 1 to 2)) turns on.

When SSCNET communication method is SSCNET /H, servo parameters No. 0100 to 01FF of MR-J3(W)- B cannot be written while system is running. Parameter number error (PWENn (n = 1 to 2)) turns on.

When SSCNET communication method is SSCNET , servo parameters No. 1100 to 1380 of MR-J4(W )- B cannot be read while system is running. Parameter number error PRENn (n = 1 to 2)) turns on.

When SSCNET communication method is SSCNET /H, servo parameters No. 0100 to 01FF of MR-J3(W)- B cannot be read while system is running. Parameter number error PRENn (n = 1 to 2)) turns on.

(2) Changing parameters at the servo

For how to check parameter changes at the servo, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 7.2. However, to check changed servo parameter numbers, use servo parameter change number (monitor No.0580 to 058F) corresponding to the servo parameter change number 01 (PSN01) of the servo parameter change number table.

POINT The reasons that parameters are re-written on the servo amplifier are as

follows. When parameters are changed using MR Configurator2 (This includes

execution of the machine analyzer and the gain search function.) The parameter was automatically changed such as by the real time auto

tuning function. Refer to the Servo Amplifier Instruction Manual on your servo amplifier

concerning servo parameters that are automatically changed.

App. - 57

APPENDIX

(3) Transient transmit

The interface is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 7.18. Compatible transient command list

Data type Transient command

Unit Number of valid words (Note 1)

Remarks

Servo motor ID (SSCNET )/ Encoder ID

0304 3 (Note 2)

Encoder resolution 0305 [pulse] 2 Servo amplifier recognition information (First 8 characters)

0310 [characters] 4

Servo amplifier recognition information (Last 8 characters)

0311 [characters] 4

Servo amplifier software number (First 8 characters)

0312 [characters] 4

Servo amplifier software number (Last 8 characters)

0313 [characters] 4

Power ON cumulative time 0319 [h] 2 Inrush relay ON/OFF number 031A [times] 2 Returns the contactor ON count. Read alarm history number 0323 [items] 1 Alarm history/Detail #1, #2 0324 4 (Note 2) Alarm history/Detail #3, #4 0325 4 Alarm history/Detail #5, #6 0326 4 Alarm history/Detail/Occurrence time 0328 /[h] 4 (Note 2) Alarm occurrence time #1, #2 0329 [h] 4 Alarm occurrence time #3, #4 032A [h] 4 Alarm occurrence time #5 #6 032B [h] 4 Alarm history clear command 0382 0 (Note 2) Home position [command unit] 0408 [pulse]/[rev] 3 (Note 2) Main circuit bus voltage 040A [V] 1 Regenerative load ratio 040B [%] 1 Effective load ratio 040C [%] 1 Peak load ratio 040D [%] 1 Estimate inertia moment ratio 040E [ 0.1] 1 Model loop gain 040F [rad/s] 1 LED display 0410 [characters] 2 (Note 2) Load-side encoder information 1 0416 [pulse] 2 Fully closed control or synchronous

encoder via servo amplifier use Load-side encoder information 2 0417 [pulse] 2 Speed feedback 0418 [0.01mm/s] 2 Linear servo use Servo motor thermistor temperature 0419 [C] 1 Linear servo use Optional transient command 4 Used when using an optional transient

command. Note 1. Number of valid words for response data 1 to 4. 2. Refer to Section 7.18.3 for details.

App. - 58

APPENDIX

App. 6.15 Table map

For the table map, only the additions and changes are listed. For items not described in this section, refer to Chapter 10. App. 6.15.1 Table list

POINT Do not write to reserved areas. The first number in the point table for each axis can be designated using point

number offset.

03E0h

04D0h

0590h

04C0h

System information table (992 bytes)

System command/status table (224 bytes)

Outputting information table with factor of interrupt (16 bytes)

Interrupt factor table for each axis (192 bytes)

System interrupt table (32 bytes)

Axis 1 (192 bytes)

Command Status

05B0h Reserved (288 bytes)

0000h

3800h

3860h

4FA0h

4FF0h

5000h

7800h

A000h

A500h

A640h

AE40h

B000h

Servo parameter change number table (J3) (96 bytes)

Point number offset table (80 bytes)

Reserved (5952 bytes)

Reserved (16 bytes)

Point table/position command buffer (10240 bytes)

Speed command buffer (5120 bytes)

High speed monitor table (1280 bytes)

Reserved (320 bytes)

Pass position interrupt table (512 bytes)

Digital I/O table (256 bytes)

Reserved (448 bytes)

8C00h Torque command buffer (5120 bytes)

A840h Continuous operation to torque control data table (1536 bytes)

0780h

1000h

2E00h

06D0h

0FE0h

0FA0h

System configuration table (176 bytes) Reserved

(1888 bytes)

Details on factor of pass position interrupt (64 bytes)

Details on factor of other axes start interrupt (32 bytes)

Command/status table for each axis (7680 bytes)

Reserved (1536 bytes)

0EE0h Factor of event table (192 bytes)

Dual port memory

1000h

Command/status table

Axis 2 (192 bytes)

Command Status

Axis 3 (192 bytes)

Command Status

Axis 4 (192 bytes)

Command Status

Axis 5 (192 bytes)

Command Status

Axis 6 (192 bytes)

Command Status

Axis 7 (192 bytes)

Command Status

Axis 8 (192 bytes)

Command Status

Axis 9 (192 bytes)

Command Status

Axis 10 (192 bytes)

Command Status

Axis 11 (192 bytes)

Command Status

: Command

Status

Axis 32 (192 bytes)

Command Status

Reserved (1536 bytes)

10C0h

1180h

1240h

1300h

13C0h

1480h

1540h

1600h

16C0h

1780h

2740h

2800h

Axis 1 (256 bytes)

5100h (0008h)

5200h (0010h)

5300h (0018h)

5400h (0020h)

5500h (0028h)

5600h (0030h)

5700h (0038h)

5800h (0040h)

5900h (0048h) 5A00h

(0050h)

6F00h (00F8h)

7000h (0100h)

5000h (0000h)

Axis 2 (256 bytes)

Axis 3 (256 bytes)

Axis 4 (256 bytes)

Axis 5 (256 bytes)

Axis 6 (256 bytes)

Axis 7 (256 bytes)

Axis 8 (256 bytes)

Axis 9 (256 bytes)

Axis 10 (256 bytes)

Axis 11 (256 bytes)

:

Axis 32 (256 bytes) Reserved

(2048 bytes)

Point table/ position command buffer

"( )" refers to the point number offset

App. - 59

APPENDIX

BDA0h

BE00h

CE80h

BC30h

BD30h

DF00h

E000h

E080h

E100h

EE00h

EF80h

EF90h EFFFh

20000h 2000Fh

B100h

D400h

DB00h

E040h

Board information (Note) (16 bytes) Note. Refer to Section 1.5.3 for the board information.

Dual port memory

Alarm history data table (256 bytes) Reserved

(112 bytes) Sampling data table

(96 bytes) Sampling data read table

(4224 bytes) Reserved

(1408 bytes) Transient transmit command/status table

(1792 bytes) I/O device table

(1024 bytes) Log data table

(256 bytes) Reserved (64 bytes)

Interpolation group No. being executed table (64 bytes)

Other axes start command/status table (128 bytes)

Other axes start data table (3328 bytes)

Reserved (384 bytes)

Exclusive control table (16 bytes)

Reserved (2864 bytes)

Reserved (4208 bytes)

App. - 60

APPENDIX

App. 6.15.2 System information

Address Content Address Content

0000 CH number

0030

System program Software version

0001 0031 0002

Number of lines 0032

0003 0033

0004 Control cycle status

0001h: 0.88ms 0002h: 0.44ms 0003h: 0.22ms

0034

0005 0035

0006 Reserved

0036 0007 0037

0008 SSCNET communication method

1: SSCNET 2: SSCNET /H

0038

0009 0039

000A

Reserved

003A 000B 003B 000C 003C 000D 003D 000E 003E 000F 003F 0010 0040

Reserved

0011 0041 0012 0042 0013 0043 0014

Operation cycle current time 0044

0015 0045 0016

Operation cycle maximum time 0046

0017 0047 0018

Operation cycle over time 0048

0019 0049 001A

Reserved

004A 001B 004B 001C 004C 001D 004D 001E 004E 001F 004F 0020 0050 0021 0051 0022 0052 0023 0053 0024 0054 0025 0055 0026 0056 0027 0057 0028 0058 0029 0059 002A 005A 002B 005B 002C 005C 002D 005D 002E 005E 002F 005F

App. - 61

APPENDIX

App. 6.15.3 Servo parameter change number

When parameter settings within the servo amplifier are changed using the auto tuning function or parameter changes using MR Configurator2 (set up software), the bit corresponding to the servo parameter number that was changed is turned on to notify concerning which parameter number was changed (in units of 16). To identify the changed parameter, check the servo parameter change number (monitor No.0580 to 058F) corresponding to the bit which is turned on. To identify the changed parameter, check the servo parameter change number (monitor No.0590 to 05B7) corresponding to the bit which is turned on. Refer to Section 7.2 for more information. (1) Servo parameter change number (SSCNET )

Address Content Address Content 3800 Servo parameter

change number 01 Axis 1 3818 Servo parameter

change number 01 Axis 13 3801 3919 3802 Servo parameter

change number 01 Axis 2 381A Servo parameter

change number 01 Axis 14 3803 381B 3804 Servo parameter

change number 01 Axis 3 381C Servo parameter

change number 01 Axis 15 3805 381D 3806 Servo parameter

change number 01 Axis 4 381E Servo parameter

change number 01 Axis 16 3807 381F 3808 Servo parameter

change number 01 Axis 5 3820 Servo parameter

change number 01 Axis 17 3809 3821 380A Servo parameter

change number 01 Axis 6 3822 Servo parameter

change number 01 Axis 18 380B 3823 380C Servo parameter

change number 01 Axis 7 3824 Servo parameter

change number 01 Axis 19 380D 3825 380E Servo parameter

change number 01 Axis 8

: : 380F 3810 Servo parameter

change number 01 Axis 9 383E Servo parameter

change number 01 Axis 32 3811 383F 3812 Servo parameter

change number 01 Axis 10 3840

Reserved

3813 3841 3814 Servo parameter

change number 01 Axis 11

: 3815 3816 Servo parameter

change number 01 Axis 12 385E

3817 385F (2) Details on servo amplifier change number on axis n (SSCNET )

Address Name Symbol Remarks

3800 Servo parameter change number 01

PSN01 bit0: Parameter No.0100 to 010F to bit15: Parameter No.01F0 to 01FF 3801

Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase in units of 2h for each axis.

App. - 62

APPENDIX

App. 6.16 Parameters

Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected movement can occur. The parameters are classified as is shown below. When using the servo amplifier MR-J3(W)- B, use parameter Nos. 0100 to 01FF as servo parameters. For control parameters, refer to the parameter list of when the servo amplifier MR-J4(W )- B is used.

Classification Parameter No. (Note) Remarks System parameters No. 0001 to 007F Servo parameters No. 0100 to 01FF Each axis Control parameters No. 0200 to 02FF Each axis

Note. Parameter numbers are given in hexadecimal. App. 6.16.1 System parameters

For system parameters, only the additions and changes are listed.

POINT The settings for the parameters with a * mark at the front of the symbol are

validated when the system is started.

Parameter No.

Symbol Name Initial Value

Units Setting range

Function

0001 *SYSOP1 System option 1 0000h 0000h to 0102h 0 0

Control cycle setting (Note 1) Set the control cycle. 0: 0.88ms 1: 0.44ms SSCNET communication method (Note 2) Set the SSCNET communication method. 0: SSCNET /H (Not use) 1: SSCNET Note. SSCNET communication

method is shared in lines 1 and 2.

Note 1. When SSCNET communication method is "1: SSCNET ".

2. Make sure to set "1: SSCNET ".

App. - 63

APPENDIX

App. 6.16.2 Servo parameters

The parameters described in this section are for using the servo amplifier MR-J3- B. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.

POINT The parameters with a * mark in front of the parameter symbol are validated

according to the following conditions. *: The setting value for the system startup or the SSCNET reconnection is valid.

The parameter change after the system startup is invalid. **: The setting value for the system startup or the SSCNET reconnection is

valid. However, after the system startup, turn off the power supply of the servo amplifier once, and it is necessary to turn on it again. The parameter change after the system startup is invalid.

(1) Menu A) Basic settings

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

0100 PA01 **STY Control mode 0000h 0101 PA02 **REG Regenerative option 0000h 0102 PA03 *ABS Absolute position detection system 0000h 0103 PA04 *AOP1 Function selection A-1 0000h 0104 PA05

For manufacturer setting 0

0105 PA06 1 0106 PA07 1 0107 PA08 ATU Auto tuning 0001h 0108 PA09 RSP Auto tuning response 12 0109 PA10 INP In-position range 100 pulse 010A PA11

For manufacturer setting 10000

010B PA12 10000 010C PA13 0 010D PA14 *POL Rotation direction selection 0 010E PA15 *ENR Encoder output pulses 4000 pulse/rev 010F PA16

For manufacturer setting 0

0110 PA17 0000h 0111 PA18 0000h 0112 PA19 *BLK Parameter write inhibit 000Bh 0113 PA20

For manufacturer setting 0

0114 PA21 0 0115 PA22 0 0116 PA23 0 0117 PA24 0 0118 PA25 0 0119 PA26 0 011A PA27 0 011B PA28 0 011C PA29 0 011D PA30 0 011E PA31 0 011F PA32 0

App. - 64

APPENDIX

(2) Menu B) Gain filter

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

0120 PB01 FILT Adaptive tuning mode 0000h 0121 PB02 VRFT Vibration suppression control filter turning mode 0000h 0122 PB03 For manufacturer setting 0 0123 PB04 FFC Feed forward gain 0 % 0124 PB05 For manufacturer setting 500 0125 PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 70 0.1 times 0126 PB07 PG1 Model loop gain 24 rad/s 0127 PB08 PG2 Position loop gain 37 rad/s 0128 PB09 VG2 Speed loop gain 823 rad/s 0129 PB10 VIC Speed integral compensation 337 0.1ms 012A PB11 VDC Speed differential compensation 980 012B PB12 OVA Overshoot amount compensation 0 % 012C PB13 NH1 Machine resonance suppression filter 1 4500 Hz 012D PB14 NHQ1 Notch form selection 1 000h 012E PB15 NH2 Machine resonance suppression filter 2 4500 Hz 012F PB16 NHQ2 Notch form selection 2 0000h 0130 PB17 Automatic setting parameter 0000h 0131 PB18 LPF Low-pass filter 3141 rad/s 0132 PB19 VRF1 Vibration suppression control vibration frequency setting 1000 0.1Hz 0133 PB20 VRF2 Vibration suppression control resonance frequency setting 1000 0.1Hz 0134 PB21

For manufacturer setting 0

0135 PB22 0 0136 PB23 VFBF Low-pass filter selection 0000h 0137 PB24 *MVS Slight vibration suppression control selection 0000h 0138 PB25 For manufacturer setting 0000h 0139 PB26 *CDP Gain switching selection 0000h 013A PB27 CDL Gain switching condition 10 013B PB28 CDT Gain switching time constant 1 ms 013C PB29 GD2B Gain switching ratio of load inertia moment to servo motor

inertia moment 70 0.1 times

013D PB30 PG2B Gain switching position control gain 37 rad/s 013E PB31 VG2B Gain switching speed control gain 823 rad/s 013F PB32 VICB Gain switching speed integral compensation 337 0.1ms 0140 PB33 VRF1B Gain switching vibration suppression control vibration frequency

setting 1000 0.1Hz

0141 PB34 VRF2B Gain switching vibration suppression control resonance frequency setting

1000 0.1Hz

0142 PB35

For manufacturer setting 0

0143 PB36 0 0144 PB37 100 0145 PB38 0 0146 PB39 0 0147 PB40 0 0148 PB41 1125 0149 PB42 1125 014A PB43 0004h 014B PB44 0 014C PB45 CNHF Vibration suppression control filter 2 0000h 014D PB46

For manufacturer setting 0000h

014E PB47 0000h 014F PB48 0000h

App. - 65

APPENDIX

(3) Menu C) Expansion settings

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

0150 PC01 ERZ Error excessive alarm level 3 rev 0151 PC02 MBR Electromagnetic brake sequence output 0 ms 0152 PC03 *ENRS Encoder output pulses selection 0000h 0153 PC04 **COP1 Function selection C-1 0000h 0154 PC05 **COP2 Function selection C-2 0000h 0155 PC06 *COP3 Function selection C-3 0000h 0156 PC07 ZSP Zero speed 50 r/min 0157 PC08 For manufacturer setting 0 0158 PC09 MOD1 Analog monitor output 1 0000h 0159 PC10 MOD2 Analog monitor output 2 0001h 015A PC11 MO1 Analog monitor 1 offset 0 mV 015B PC12 MO2 Analog monitor 2 offset 0 mV 015C PC13 MOSDL Analog monitor feedback position output standard data (lower) 0 pulse 015D PC14 MOSDH Analog monitor feedback position output standard data (upper) 0 10000

pulse 015E PC15

For manufacturer setting 0

015F PC16 0000h 0160 PC17 **COP4 Function selection C-4 0000h 0161 PC18

For manufacturer setting 1000h

0162 PC19 0000h 0163 PC20 *COP7 Function selection C-7 0000h 0164 PC21 *BPS Alarm history clear 0000h 0165 PC22

For manufacturer setting 0000h

0166 PC23 0000h 0167 PC24 0000h 0168 PC25 0000h 0169 PC26 0000h 016A PC27 0000h 016B PC28 0000h 016C PC29 0000h 016D PC30 0000h 016E PC31 0000h 016F PC32 0000h

App. - 66

APPENDIX

(4) Menu D) I/O settings

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

0170 PD01

For manufacturer setting 0000h

0171 PD02 0000h 0172 PD03 0000h 0173 PD04 0000h 0174 PD05 0000h 0175 PD06 0000h 0176 PD07 *DO1 Output signal device selection 1 (CN3-13) 0005h 0177 PD08 *DO2 Output signal device selection 2 (CN3-9) 0004h 0178 PD09 *DO3 Output signal device selection 3 (CN3-15) 0003h 0179 PD10

For manufacturer setting 0000h

017A PD11 0004h 017B PD12 0000h 017C PD13 0000h 017D PD14 *DOP3 Function selection D-3 0000h 017E PD15 *IDCS Driver communication setting 0000h 017F PD16 *MD1 Driver communication setting Master transmit data selection 1 0000h 0180 PD17 *MD2 Driver communication setting Master transmit data selection 2 0000h 0181 PD18

For manufacturer setting 0000h

0182 PD19 0000h 0183 PD20 0000h 0184 PD21 0000h 0185 PD22 0000h 0186 PD23 0000h 0187 PD24 0000h 0188 PD25 0000h 0189 PD26 0000h 018A PD27 0000h 018B PD28 0000h 018C PD29 0000h 018D PD30 TLC Master/slave operation torque command factor on the slave 0000h % 018E PD31 VLC Master/slave operation speed limit factor on the slave 0000h % 018F PD32 VLL Master/slave operation speed limit factor adjustment value on

the slave 0000h r/min

App. - 67

APPENDIX

(5) Menu E) Expansion control

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

0190 PE01

For manufacturer setting 0000h

0191 PE02 0102h 0192 PE03 0002h 0193 PE04 1 0194 PE05 1 0195 PE06 400 0196 PE07 100 0197 PE08 10 0198 PE09 0000h 0199 PE10 0000h 019A PE11 0 019B PE12 40 019C PE13 FFFEh 019D PE14 0111h 019E PE15 20 019F PE16 0000h 01A0 PE17 0000h 01A1 PE18 IIRC11 Filter factor 1-1 0000h 01A2 PE19 IIRC12 Filter factor 1-2 0000h 01A3 PE20 IIRC13 Filter factor 1-3 0000h 01A4 PE21 IIRC14 Filter factor 1-4 0000h 01A5 PE22 IIRC15 Filter factor 1-5 0000h 01A6 PE23 IIRC16 Filter factor 1-6 0000h 01A7 PE24 IIRC17 Filter factor 1-7 0000h 01A8 PE25 IIRC18 Filter factor 1-8 0000h 01A9 PE26 IIRC21 Filter factor 2-1 0000h 01AA PE27 IIRC22 Filter factor 2-2 0000h 01AB PE28 IIRC23 Filter factor 2-3 0000h 01AC PE29 IIRC24 Filter factor 2-4 0000h 01AD PE30 IIRC25 Filter factor 2-5 0000h 01AE PE31 IIRC26 Filter factor 2-6 0000h 01AF PE32 IIRC27 Filter factor 2-7 0000h 01B0 PE33 IIRC28 Filter factor 2-8 0000h 01B1 PE34

For manufacturer setting 0000h

01B2 PE35 0000h 01B3 PE36 0000h 01B4 PE37 0000h 01B5 PE38 0000h 01B6 PE39 0000h 01B7 PE40 0000h 01B8 PE41 0000h 01B9 PE42 0000h 01BA PE43 0000h 01BB PE44 0000h 01BC PE45 0000h 01BD PE46 0000h 01BE PE47 0000h 01BF PE48 0000h

App. - 68

APPENDIX

(6) Menu S) Special settings

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

01C0 PS01

For manufacturer setting 0000h

01C1 PS02 0000h 01C2 PS03 0000h 01C3 PS04 0000h 01C4 PS05 0000h 01C5 PS06 0000h 01C6 PS07 0000h 01C7 PS08 0000h 01C8 PS09 0000h 01C9 PS10 0000h 01CA PS11 0000h 01CB PS12 0000h 01CC PS13 0000h 01CD PS14 0000h 01CE PS15 0000h 01CF PS16 0000h 01D0 PS17 0000h 01D1 PS18 0000h 01D2 PS19 0000h 01D3 PS20 0000h 01D4 PS21 0000h 01D5 PS22 0000h 01D6 PS23 0000h 01D7 PS24 0000h 01D8 PS25 0000h 01D9 PS26 0000h 01DA PS27 0000h 01DB PS28 0000h 01DC PS29 0000h 01DD PS30 0000h 01DE PS31 0000h 01DF PS32 0000h

App. - 69

APPENDIX

(7) Menu F) Other functions

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

01E0 PF01

For manufacturer setting 0000h

01E1 PF02 0000h 01E2 PF03 0000h 01E3 PF04 0 01E4 PF05 0000h 01E5 PF06 0000h 01E6 PF07 0000h 01E7 PF08 0000h 01E8 PF09 10000 01E9 PF10 100 01EA PF11 100 01EB PF12 100 01EC PF13 0000h 01ED PF14 10 01EE PF15 0000h 01EF PF16 0000h

(8) Menu O) Option setting

Parameter No.

MR-J3-B Parameter

No. Symbol Name Initial Value Units

01F0 Po01

For manufacturer setting 0000h

01F1 Po02 0000h 01F2 Po03 0000h 01F3 Po04 0000h 01F4 Po05 0000h 01F5 Po06 0000h 01F6 Po07 0000h 01F7 Po08 0000h 01F8 Po09 0000h 01F9 Po10 0000h 01FA Po11 0000h 01FB Po12 0000h 01FC Po13 0000h 01FD Po14 0000h 01FE Po15 0000h 01FF Po16 0000h

App. 6.16.3 Control parameters

For control parameters, only the additions and changes are listed. Parameter

No. Symbol Name Initial

value Unit Setting

range Function When in

tandem drive 021E *CODE Type code 1000h 0000h to

FFFFh Set the type code. [When SSCNET communication method is SSCNET /H] 1000: MR-J4(W )- B [When SSCNET communication method is SSCNET ] 0100: MR-J3-B, MR-J3W-B (for rotary servo motor) 0101: MR-J3-BS, MR-J3-B-RJ006 0107: MR-J3-B-RJ080W 0102: MR-J3-B-RJ004,

MR-J3W-B (for linear servo motor) 0180: MR-J3W-0303BN6

Same value

App. - 70

APPENDIX

App. 6.17 Monitor

For the monitor, only the additions and changes are listed. For the monitoring of operation information and system information, refer to the monitor list of when MR-J4(W )- B is used. App. 6.17.1 Servo information (1)

Monitor No. Content Units Remarks 0100

Unit type name Hexadecimal ASCII character string (2 Characters per monitor number.)

0101 0102 0103 0104 0105 0106 0107 0108

Software number Hexadecimal ASCII character string (2 Characters per monitor number.)

0109 010A 010B 010C 010D 010E 010F

0110 Type code

0100: MR-J3-B, MR-J3W-B (for rotary servo motor) 0101: MR-J3-BS, MR-J3-B-RJ006 0102: MR-J3-B-RJ004, MR-J3W-B (for linear servo motor) 0107: MR-J3-B-RJ080W 0180: MR-J3W-0303BN6

0111 0112 Motor rated revolution speed r/min 0113 Motor rated current 0.1% 0114 Motor maximum revolution speed r/min 0115 Motor maximum torque 0.1%

0116 Number of encoder pulses per revolution (lower)

pulse

0117 Number of encoder pulses per revolution (upper)

0118 Reserved

0119 Initial within 1 revolution position (lower)

pulse

011A Initial within 1 revolution position (upper)

011B Initial multiple revolution data rev 011C

Reserved 011D 011E 011F 0120 Motor permissible pulse rate (lower)

kpps Pulse rate of operation at the motor maximum revolution speed. 0121 Motor permissible pulse rate (upper)

0122 Maximum output pulse rate (lower) kpps Maximum pulse rate that can be output by the position board

0123 Maximum output pulse rate (upper)

App. - 71

APPENDIX

Monitor No. Content Units Remarks

0124 Reserved 0125

0126

0127 Station No. in order of connection

Station No. in order of connection on line Indicates the place where the station is connected from the position board. Axes and stations are both included in the connection order. Line No. 0: Line 1 1: Line 2 Example. Monitor value for the axis connected fifth

on line 2: 1005h 0128

Reserved

0129 012A 012B 012C 012D 012E 012F

App. - 72

APPENDIX

App. 6.17.2 Servo information (2)

Monitor No. Content Units Remarks 0200 Position feedback (lower)

pulse

0201 Position feedback (upper) 0202

Reserved 0203 0204 Position droop (lower)

pulse

0205 Position droop (upper) 0206

Reserved 0207 0208 Speed feedback (lower)

0.01r/min

0209 Speed feedback (upper) 020A Current command 0.1% 020B Electrical current feedback 0.1% 020C

Reserved 020D

020E Detector within 1 revolution position (lower)

pulse

020F Detector within 1 revolution position (upper)

0210 Home position within 1 revolution position (lower)

pulse

0211 Home position within 1 revolution position (upper)

0212 ZCT (lower) pulse

0213 ZCT (upper) 0214 Multiple revolution counter rev

0215 Home position multiple revolution data

rev

0216 Speed command (lower) 0.01r/min 0.01mm/s for linear servo motor

0217 Speed command (upper) 0218

Reserved

0219 021A 021B 021C 021D 021E 021F 0220

: 023F 0240 Selected droop pulse (lower)

pulse Select in the parameter when using the fully closed loop control (motor side/load side/motor side - load side) 0241 Selected droop pulse (upper)

0242 Reserved

0243

0244 Selected cumulative feed pulses (lower)

pulse Select in the parameter when using the fully closed loop control (motor side/load side)

0245 Selected cumulative feed pulses (upper)

App. - 73

APPENDIX

Monitor No. Content Units Remarks

0246 Load side encoder information data 1 (lower)

pulse When using the linear servo/fully closed loop control 0247

Load side encoder information data 1 (upper)

0248 Load side encoder information data 2 (lower)

pulse When using the linear servo/fully closed loop control 0249

Load side encoder information data 2 (upper)

024A Speed feedback (lower) 0.01mm/s When using a linear servo

024B Speed feedback (upper) 024C Voltage of generating line V 024D Regenerative load factor % 024E Effective load factor % 024F Peak load factor % 0250 Estimated load inertial ratio 0.1 times 0251 Position gain (model position gain) rad/s 0252 Motor thermistor temperature C When using a motor with thermistor attached. 0253

Reserved

0254 0255 0256 0257 0258 0259 025A 025B 025C 025D 025E 025F 0260 0261 Alarm/warning number 0262 Alarm detailed bits 0263 Reserved 0264 Alarm status AL-1

is 0 (bit 0) to F (bit 15) Bit corresponding to alarm number is turned on. Review the alarms when multiple alarms occurs simultaneously etc.

0265 Alarm status AL-2 0266 Alarm status AL-3 0267 Alarm status AL-4 0268 Alarm status AL-5 0269 Alarm status AL-6 026A Alarm status AL-7 026B Alarm status AL-8 026C Alarm status AL-9 026D Alarm status AL-E 026E

Reserved 026F 0270

: 02CF

App. - 74

APPENDIX

App. 6.17.3 Servo parameter information

Monitor No. Content Units Remarks

0500 Servo parameter error number (Note) No. 0100 to 010F

Bit corresponding to parameter number is turned on. bit is No. 0100 (bit 0) to 010F (bit 15).

0501 Servo parameter error number (Note) No. 0110 to 011F

Bit corresponding to parameter number is turned on. bit is No. 0110 (bit 0) to 011F (bit 15).

0502 Servo parameter error number (Note) No. 0120 to 012F

Bit corresponding to parameter number is turned on. bit is No. 0120 (bit 0) to 012F (bit 15).

0503 Servo parameter error number (Note) No. 0130 to 013F

Bit corresponding to parameter number is turned on. bit is No. 0130 (bit 0) to 013F (bit 15).

0504 Servo parameter error number (Note) No. 0140 to 014F

Bit corresponding to parameter number is turned on. bit is No. 0140 (bit 0) to 014F (bit 15).

0505 Servo parameter error number (Note) No. 0150 to 015F

Bit corresponding to parameter number is turned on. bit is No. 0150 (bit 0) to 015F (bit 15).

0506 Servo parameter error number (Note) No. 0160 to 016F

Bit corresponding to parameter number is turned on. bit is No. 0160 (bit 0) to 016F (bit 15).

0507 Servo parameter error number (Note) No. 0170 to 017F

Bit corresponding to parameter number is turned on. bit is No. 0170 (bit 0) to 017F (bit 15).

0508 Servo parameter error number (Note) No. 0180 to 018F

Bit corresponding to parameter number is turned on. bit is No. 0180 (bit 0) to 018F (bit 15).

0509 Servo parameter error number (Note) No. 0190 to 019F

Bit corresponding to parameter number is turned on. bit is No. 0190 (bit 0) to 019F (bit 15).

050A Servo parameter error number (Note) No. 01A0 to 01AF

Bit corresponding to parameter number is turned on. bit is No. 01A0 (bit 0) to 01AF (bit 15).

050B Servo parameter error number (Note) No. 01B0 to 01BF

Bit corresponding to parameter number is turned on. bit is No. 01B0 (bit 0) to 01BF (bit 15).

050C Servo parameter error number (Note) No. 01C0 to 01CF

Bit corresponding to parameter number is turned on. bit is No. 01C0 (bit 0) to 01CF (bit 15).

050D Servo parameter error number (Note) No. 01D0 to 01DF

Bit corresponding to parameter number is turned on. bit is No. 01D0 (bit 0) to 01DF (bit 15).

050E Servo parameter error number (Note) No. 01E0 to 01EF

Bit corresponding to parameter number is turned on. bit is No. 01E0 (bit 0) to 01EF (bit 15).

050F Servo parameter error number (Note) No. 01F0 to 01FF

Bit corresponding to parameter number is turned on. bit is No. 01F0 (bit 0) to 01FF (bit 15).

Note. Information concerning parameter error (servo alarm 37) that has occurred at system startup can be monitored. If a parameter

warning (servo alarm E4) occurs while system is running, it is not reflected in this information.

App. - 75

APPENDIX

Monitor No. Content Units Remarks

0580 Servo parameter change number No. 0100 to 010F

Bit corresponding to parameter number is turned on. bit is No. 0100 (bit 0) to 010F (bit 15).

0581 Servo parameter change number No. 0110 to 011F

Bit corresponding to parameter number is turned on. bit is No. 0110 (bit 0) to 011F (bit 15).

0582 Servo parameter change number No. 0120 to 012F

Bit corresponding to parameter number is turned on. bit is No. 0120 (bit 0) to 012F (bit 15).

0583 Servo parameter change number No. 0130 to 013F

Bit corresponding to parameter number is turned on. bit is No. 0130 (bit 0) to 013F (bit 15).

0584 Servo parameter change number No. 0140 to 014F

Bit corresponding to parameter number is turned on. bit is No. 0140 (bit 0) to 014F (bit 15).

0585 Servo parameter change number No. 0150 to 015F

Bit corresponding to parameter number is turned on. bit is No. 0150 (bit 0) to 015F (bit 15).

0586 Servo parameter change number No. 0160 to 016F

Bit corresponding to parameter number is turned on. bit is No. 0160 (bit 0) to 016F (bit 15).

0587 Servo parameter change number No. 0170 to 017F

Bit corresponding to parameter number is turned on. bit is No. 0170 (bit 0) to 017F (bit 15).

0588 Servo parameter change number No. 0180 to 018F

Bit corresponding to parameter number is turned on. bit is No. 0180 (bit 0) to 018F (bit 15).

0589 Servo parameter change number No. 0190 to 019F

Bit corresponding to parameter number is turned on. bit is No. 0190 (bit 0) to 019F (bit 15).

058A Servo parameter change number No. 01A0 to 01AF

Bit corresponding to parameter number is turned on. bit is No. 01A0 (bit 0) to 01AF (bit 15).

058B Servo parameter change number No. 01B0 to 01BF

Bit corresponding to parameter number is turned on. bit is No. 01B0 (bit 0) to 01BF (bit 15).

058C Servo parameter change number No. 01C0 to 01CF

Bit corresponding to parameter number is turned on. bit is No. 01C0 (bit 0) to 01CF (bit 15).

058D Servo parameter change number No. 01D0 to 01DF

Bit corresponding to parameter number is turned on. bit is No. 01D0 (bit 0) to 01DF (bit 15).

058E Servo parameter change number No. 01E0 to 01EF

Bit corresponding to parameter number is turned on. bit is No. 01E0 (bit 0) to 01EF (bit 15).

058F Servo parameter change number No. 01F0 to 01FF

Bit corresponding to parameter number is turned on. bit is No. 01F0 (bit 0) to 01FF (bit 15).

App. - 76

APPENDIX

App. 6.18 System alarm

For the alarm No, only the additions and changes are listed. App. 6.18.1 Servo alarm

The servo alarms of MR-J3(W)- B are shown in the following table. For details, refer to the Servo Amplifier Instruction Manual for MR-J3(W)- B. Alarm

Warning

Alarm No. Name Alarm No. Name 10 Undervoltage 92 Open battery cable warning 12 Memory error 1 (RAM) 96 Home position setting error 13 Clock error 9F Battery warning 15 Memory error 2 (EEP-ROM) E0 Excessive regeneration warning 16 Encoder error 1 (At power on) E1 Overload warning 1 17 Board error E3 Absolute position counter warning 19 Memory error 3 (Flash-ROM) E4 Parameter warning 1A Motor combination error E6 Servo forced stop warning 20 Encoder error 2 E7 Controller forced stop warning 24 Main circuit error E8 Cooling fan speed reduction warning 25 Absolute position disappearance E9 Main circuit off warning 30 Regenerative error EC Overload warning 2 31 Overspeed ED Output watt excess warning 32 Overcurrent 33 Overvoltage 34 Receive error 1 35 Command frequency alarm 36 Receive error 2 37 Parameter error 45 Main circuit device overheat 46 Servo motor overheat 47 Cooling fan alarm 50 Overload 1 51 Overload 2 52 Error excessive 8A USB communication timeout 8E USB communication error 888 Watchdog

App. - 77

APPENDIX

App. 7 Cables

In this cable connection diagram, makers of connectors are omitted. Refer to "App. 8.3 Connector" for makers of connectors. App. 7.1 SSCNET cables

Generally use the SSCNET cables available as our products. Refer to App. 7.3 for long distance cable up to 100(328.08)[m(ft.)] and ultra-long bending life cable. (1) Model explanation

Numeral in the column of cable length on the table is a symbol put in the " " part of cable model. Cables of which symbol exists are available.

Cable model Cable length [m(ft.)]

Flex life Application/ remark 0.15 (0.49)

0.3 (0.98)

0.5 (1.64)

1 (3.28)

3 (9.84)

5 (16.40)

10 (32.81)

20 (65.62)

30 (98.43)

40 (131.23)

50 (164.04)

MR-J3BUSM 015 03 05 1 3 Standard Standard cord for inside panel

MR-J3BUSM-A 5 10 20 Standard Standard cable for outside panel

MR-J3BUSM-B (Note 1)

30 40 50 Long flex Long distance cable Note 1. For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi Electric sales representative. (2) Specifications Description SSCNET cable model MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B SSCNET cable length [m(ft.)] 0.15 (0.49) 0.3 to 3 (0.98 to 9.84) 5 to 20 (16.40 to 65.62) 30 to 50 (98.43 to 164.04)

Optical cable (Cord)

Minimum bend radius [mm(inch)]

25(0.98) Enforced covering cord: 50 (1.97)

Cord: 25 (0.98) Enforced covering cord: 50 (1.97)

Cord: 30(1.18) Tension strength [N] 70 140 420 (Enforced covering cord) 980 (Enforced covering cord) Temperature range for use [C(F)] (Note 1)

-40 to 80 (-40 to 176) -20 to 70 (-4 to 158)

Ambient Indoors (no direct sunlight), No solvent or oil

External appearance [mm(inch)]

(0.09 0.003) 2.2 0.07

10.16(Note 2) (0.40)

4.4 0.1 (0.17 0.004)

(0 .0

9 0

.0 03

) 2.

2 0

.0 7

(0 .0

9 0

.0 03

) 2.

2 0

.0 74.4 0.1

(0.17 0.004)

6 0.2 (0.24 0.008)

4.4 0.4

(0.17 0.016)

7.6 0.5 (0.30 0.02)

(0 .0

9 0

.0 08

) 2.

2 0

.2

Note 1. This temperature range for use is the value for optical cable (cord) only.

2. Dimension of connector fiber insert location. The distance of two cords is changed by how to bend it.

App. - 78

APPENDIX

POINT

If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.

Do not add impossible power to the connector of the SSCNET cable. When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or

hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of the SSCNET cable (optical fiber), request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

(a) MR-J3BUS M 1) Model explanation

015 Cable length [m(ft.)]

05 1

0.15(0.49) 0.3(0.98) 0.5(1.64)

03

1(3.28)

A

Symbol

B

Cable type Standard cord for inside panel Standard cable for outside panel Long distance cable

3 3(9.84) 5 10 20 30 40 50

Symbol

Type: MR-J3BUS M-

None

5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04)

App. - 79

APPENDIX

2) Exterior dimensions

MR-J3BUS015M [Unit: mm(inch)]

2. 3(

0. 09

) 1.

7( 0.

07 )

37.65 (1.48)

150 +50 - 0

(5.91)

8+0

(0 .3

1) 20

.9 (0

.8 2)

13.4 (0.53)6.7(0.26)

15 (0.59)

Protective tube

MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L).

[Unit: mm(inch)]

L

(Note)

100 (3.94)

100 (3.94)

Protective tube

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

MR-J3BUS5M-A to MR-J3BUS20M-A, MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L).

SSCNET cable Variation [mm(inch)]

A B MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B150(5.91) 50(1.97)

[Unit: mm(inch)]

(A) (A)

L

(B)(B)

(Note) Protective tube

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

POINT Keep the cap and the tube for protecting light cord end of SSCNET cable in a

plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

App. - 80

APPENDIX

App. 7.2 Forced stop input cable

Fabricate the forced stop input cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Forced stop input cable when using MR-MC2

(a) Connection diagram

50351-8100 (Terminal) 51103-0300 (Connector)

EMI.COM

EMI

EMI.COM

EMI

2

3

1

Note 1. Use a cable of wire size AWG28 to AWG22. 2. Use solderless terminals that suit the size of the wire and terminals being used.

: Twisted pair cable

Solderless terminal sidePosition board side

3

1

View A

A

(1) Forced stop input cable when using MR-MC3

(a) Connection diagram

Note 1. Use a cable of wire size AWG28 to AWG20. 2. Use solderless terminals that suit the size of the wire and terminals being used.

EMI.COM

EMI

: Twisted pair cable

2

3

1

EMI.COM

EMI

A

View A

FK-MC0,5/3-ST-2,5 (Connector)

1 3

Solderless terminal sidePosition board side

App. - 81

APPENDIX

App. 7.3 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service

POINT For the details of the SSCNET cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo

amplifier or the end of SSCNET cable. The light can be a discomfort when it enters the eye.

The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will be in the part in the cable model.

Cable model Cable length [m(ft.)]

Bending life Application/remark 1 to 100 (3.28 to 328.08)

SC-J3BUS M-C 1 to 100 Ultra-long bending life Long distance cable

App. - 82

APPENDIX

App. 8 Exterior dimensions

App. 8.1 Position board MR-MC2

(1) MR-MC210 The MR-MC210 is a PCI short card size.

[Unit: mm(inch)]

167.6(6.60)

98.4(3.87)

106.7(4.20)

SW1

(2) MR-MC211 The MR-MC211 is a PCI short card size.

[Unit: mm(inch)]

167.6(6.60)

98.4(3.87)

106.7(4.20)

SW1

App. - 83

APPENDIX

(3) MR-MC220U3

The MR-MC220U3 is compatible with the 3U size. [Unit: mm(inch)]

SW1

160(6.30)35(1.38)

100(3.94)

128.7(5.07)

1CH

2CH

EMI

1CH RUN/ERR.

2CH RUN/ERR.

USB

App. - 84

APPENDIX

(4) MR-MC220U6

The MR-MC220U6 is compatible with the 6U size. The circuit board is a 3U card size. [Unit: mm(inch)]

SW1

160(6.30)

100(3.94)

262.05(10.32)

1CH

2CH

EMI

1CH RUN/ERR.

2CH RUN/ERR.

35(1.38)

USB

App. - 85

APPENDIX

(5) MR-MC240

The MR-MC240 is a PCI Express short card size. [Unit: mm(inch)]

SW1

167.6(6.60)

98.4(3.87)

111.15(4.38)

(6) MR-MC241 The MR-MC241 is a PCI Express short card size.

[Unit: mm(inch)]

SW1

167.6(6.60)

98.4(3.87)

111.15(4.38)

App. - 86

APPENDIX

App. 8.2 Position board MR-MC3

(1) MR-MC341 The MR-MC341 is a PCI Express short card size.

[Unit: mm(inch)]

93.02(3.66)

105.77(4.16)

129.15(5.08)

App. - 87

APPENDIX

App. 8.3 Connectors

(1) SSCNET cable connector [Unit: mm(inch)]

20.9 0.2 (0.82 0.01)

17.6 0.2 (0.69 0.01)

8 (0.31)

2.3 (0.09)

1.7 (0.07)

4.8(0.19)

13 .4

(0 .5

3) 15

(0 .5

9) 6.

7 (0

.2 6)

9. 3(

0. 37

)

(2) Forced stop connector (a) Forced stop connector when using MR-MC2 (Molex, LLC make)

Type Connector: 51103-0300 Terminal: 50351-8100

[Unit: mm(inch)]

5. 8

9.7(0.38) 7.5(0.30)

9. 5(

0. 37

)

8(0.31)

(0 .2

3)

(b) Forced stop connector when using MR-MC3 (PHOENIX CONTACT GmbH & Co. KG make)

Type Connector: FK-MC0,5/3-ST-2,5 [Unit: mm(inch)]

8.1

11 .7

5

19 .2

(0 .7

6)

(0.32)

(0 .4

6)

5. 8

(0 .2

3)

App. - 88

APPENDIX

App. 9 Open source software

The position board (MR-MC341) uses GPL software in parts of the internal system. The GPL software source program is provided upon purchase of the position board (MR-MC341). Contact our sales representative for the GPL software source program. In accordance with GPL/LGPL, only the open source software in the programs and drivers that make up the position board (MR-MC341), excluding parts that were created independently, are distributed. The source code is distributed 'as is', and no guarantee is provided. We are also unable to provide support on the contents of the source code. We appreciate your understanding.

POINT GPL is a GNU project that advocates free software licenses. Free software

licenses grants the user the right to use, duplicate, modify, and redistribute the GPL software freely. Also, when distributing and duplicating the source program, supplying the source code is a requirement.

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range

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 is repaired or replaced.

[Gratis Warranty Term]

For terms of warranty, please contact your original place of purchase.

[Gratis Warranty Range] (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, relay, fuse, 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. Onerous Repair Term after Discontinuation 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. Precautions for Choosing the Products

(1) For the use of our Position Board, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Position Board, and a backup or fail-safe function should operate on an external system to Position Board when any failure or malfunction occurs.

(2) Our Position Board 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.

Microsoft, Visual Basic, Visual C++, Visual C#, Windows, and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. PCI Express is a registered trademark of PCI-SIG. CompactPCI is a registered trademark of PCI Industrial Computer Manufacturers Group. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as '' or '' are not specified in this manual.

IB(NA)-0300223-H

IB(NA)-0300223-H(2206)MEE MODEL: MRMC2-U-S-E MODEL CODE: 1XB968

Specifications subject to change without notice.

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The User's Manual should include all the details that are needed to use a Mitsubishi MR-MC220U6. Full manuals and user guide PDFs can be downloaded from Manualsnet.com.

The best way to navigate the Mitsubishi MR-MC220U6 Position Board User's Manual is by checking the Table of Contents at the top of the page where available. This allows you to navigate a manual by jumping to the section you are looking for.

This Mitsubishi MR-MC220U6 Position Board User's Manual consists of sections like Table of Contents, to name a few. For easier navigation, use the Table of Contents in the upper left corner.

You can download Mitsubishi MR-MC220U6 Position Board User's Manual free of charge simply by clicking the “download” button in the upper right corner of any manuals page. This feature allows you to download any manual in a couple of seconds and is generally in PDF format. You can also save a manual for later by adding it to your saved documents in the user profile.

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