Mitsubishi Electronics Digital Car Amplifier Mr J3 Users Manual □T Instruction
MR-J3- T to the manual 57d3cbbb-44d7-4992-81f1-99916fc5fa75
2015-02-09
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General-Purpose AC Servo J3 Series Built-in Positioning Function MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030058-E (0806) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice. J3 Series MR-J3- T Servo Amplifier Instruction Manual (CC-Link) E MODEL MR-J3- T SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link) E Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION". WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage. Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols. : Indicates what must not be done. For example, "No Fire" is indicated by : Indicates what must be done. For example, grounding is indicated by . . In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator. A- 1 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock. During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock. 2. To prevent fire, note the following CAUTION Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire. Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. 3. To prevent injury, note the follow CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury. A- 2 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The servo amplifier and servo motor must be installed in the specified direction. Leave specified clearances between the servo amplifier and control enclosure walls or other equipment. Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor. Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads. When you keep or use it, please fulfill the following environmental conditions. Conditions Environment Ambient temperature Ambient humidity In operation In storage Servo amplifier Servo motor [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing) [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) 15 to 70 (non-freezing) 5 to 158 (non-freezing) In operation 90%RH or less (non-condensing) In storage 90%RH or less (non-condensing) 80%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level HF-MP series HF-KP series HF-SP51 81 HF-SP52 to 152 HF-SP524 to 1524 HC-RP Series HC-UP72 152 HF-SP202 352 HF-SP121 201 HC-UP202 to 502 HF-SP2024 3524 HF-SP301 421 HF-SP502 702 HF-SP5024 7024 5.9 or less HC-LP52 to 152 HC-LP202 to 302 HA-LP601 to 12K1 HA-LP701M to 15K1M HA-LP502 to 22K2 HA-LP6014 to 12K14 HA-LP701M4 to 15K1M4 HA-LP11K24 to 22K24 HA-LP15K1 to 25K1 HA-LP37K1M HA-LP15K14 to 20K14 HA-LP22K1M4 (Note) Vibration 2 [m/s ] X Y: 49 X Y: 24.5 X: 24.5 Y: 49 X: 24.5 Y: 29.4 X: 9.8 Y: 24.5 X: 19.6 Y: 49 X: 11.7 Y: 29.4 X Y: 9.8 Note. Except the servo motor with a reduction gear. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with a reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. A- 3 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene. Servo amplifier U U Servo motor Servo motor V V M W W U U V V Servo amplifier M W W Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction. Otherwise, the forced stop (EMG) and other protective circuits may not operate. Servo amplifier Servo amplifier 24VDC 24VDC DOCOM DOCOM DICOM DICOM Control output signal Control output signal RA RA When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable. A- 4 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier. Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. (5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EMG). Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR). SON Circuit must be opened during forced stop (EMG). RA EMG 24VDC Electromagnetic brake When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted). (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. A- 5 (7) General instruction To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual. About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may fail when the EEP-ROM reaches the end of its useful life. Write to the EEP-ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP-ROM due to device changes Write to the EEP-ROM due to point table changes Precautions for Choosing the Products Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties. A- 6 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed. (1) EMC directive The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310). (2) Low voltage directive The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive. This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive. (3) Machine directive Not being machines, the servo amplifiers need not comply with this directive. 2. PRECAUTIONS FOR COMPLIANCE (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier Servo motor :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Note. For the latest information of compliance, contact Mitsubishi. A- 7 (2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. Control box Reinforced insulating type No-fuse breaker Magnetic contactor NFB MC 24VDC power supply Servo amplifier Servo motor M (3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of overvoltage category III set forth in IEC60664-1. However, when using the neutral point of 400V class for single-phase supply, a reinforced insulating transformer is required in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulationreinforced in I/O. (5) Grounding (a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked servo amplifier to the protective earth (PE) of the control box. (b) Do not connect two ground cables to the same protective earth (PE) terminal (marked connect the cables to the terminals one-to-one. ) of the ). Always PE terminals PE terminals (c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals (marked ) of the servo amplifier must be connected to the corresponding earth terminals. A- 8 (6) Wiring (a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals. Crimping terminal Insulating tube Cable (b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options. (Refer to section 14.1) (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in section 14.10. Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and other device by double insulation or reinforced insulation, or install a transformer between the main power supply and servo amplifier. Note. Type A: AC and pulse detectable Type B: Both AC and DC detectable (b) The sizes of the cables described in section 14.9 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1. Ambient temperature: 40 (104) [°C (°F)] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray (c) Use the EMC filter for noise reduction. (8) Performing EMC tests When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines (IB(NA)67310). A- 9 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Servo motor Note. For the latest information of compliance, contact Mitsubishi. (2) Installation 3 Install a fan of 100CFM (2.8m /min) air flow 4[in] (10.16[cm]) above the servo amplifier or provide cooling of at least equivalent capability to ensure that the ambient temperature conforms to the environment conditions (55 or less). (3) Short circuit rating (SCCR: Short Circuit Current Rating) Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500 Volts Maximum. (4) Capacitor discharge time The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes after power-off. Discharge time Servo amplifier MR-J3-10T MR-J3-40T 60T(4) [min] 20T 1 10T1 20T1 2 MR-J3-70T 3 MR-J3-40T1 4 MR-J3-100T(4) 5 MR-J3-200T(4) MR-J3-350T4 350T 500T(4) 700T(4) 9 10 MR-J3-11KT(4) 4 MR-J3-15KT(4) 6 MR-J3-22KT(4) 8 A - 10 (5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. (6) Attachment of a servo motor For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual (Vol.2). (7) About wiring protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes. <> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use the General-Purpose AC servo MR-J3-T for the first time. Always purchase them and use the MR-J3-T safely. Relevant manuals Manual name Manual No. MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077 MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041 EMC Installation Guidelines IB(NA)67310 < > Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40°C (104 ). A - 11 MEMO A - 12 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -36 1.1 Introduction............................................................................................................................................... 1 - 1 1.1.1 Features of CC-Link communication functions ................................................................................ 1 - 1 1.1.2 Function block diagram..................................................................................................................... 1 - 2 1.1.3 System configuration......................................................................................................................... 1 - 5 1.2 Servo amplifier standard specifications................................................................................................... 1 - 7 1.3 Function list ............................................................................................................................................. 1 -13 1.4 Model code definition .............................................................................................................................. 1 -15 1.5 Combination with servo motor ................................................................................................................ 1 -16 1.6 Structure .................................................................................................................................................. 1 -17 1.6.1 Parts identification ............................................................................................................................ 1 -17 1.6.2 Removal and reinstallation of the front cover.................................................................................. 1 -23 1.7 Configuration including auxiliary equipment .......................................................................................... 1 -26 1.8 Selection of operation method................................................................................................................ 1 -34 2. INSTALLATION 2 - 1 to 2 - 4 2.1 Installation direction and clearances ....................................................................................................... 2 - 1 2.2 Keep out foreign materials....................................................................................................................... 2 - 3 2.3 Cable stress ............................................................................................................................................. 2 - 3 2.4 Inspection items ....................................................................................................................................... 2 - 4 2.5 Parts having service lives ........................................................................................................................ 2 - 4 3. CC-LINK COMMUNICATION FUNCTIONS 3 - 1 to 3 -60 3.1 Communication specifications ................................................................................................................. 3 - 1 3.2 System configuration ............................................................................................................................... 3 - 2 3.2.1 Configuration example ...................................................................................................................... 3 - 2 3.2.2 Wiring method ................................................................................................................................... 3 - 3 3.2.3 Station number setting ...................................................................................................................... 3 - 5 3.2.4 Communication baud rate setting..................................................................................................... 3 - 6 3.2.5 Occupied station count setting.......................................................................................................... 3 - 6 3.3 Functions .................................................................................................................................................. 3 - 7 3.3.1 Function block diagram..................................................................................................................... 3 - 7 3.3.2 Functions ........................................................................................................................................... 3 - 7 3.4 Servo amplifier setting ............................................................................................................................. 3 - 8 3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU ................................... 3 - 9 3.5.1 I/O signals (I/O devices).................................................................................................................... 3 - 9 3.5.2 Detailed explanation of I/O signals .................................................................................................. 3 -12 3.5.3 Monitor codes ................................................................................................................................... 3 -22 3.5.4 Instruction codes (RWwn+2 RWwn+3) ......................................................................................... 3 -23 3.5.5 Respond codes (RWrn+2) ............................................................................................................... 3 -31 3.5.6 Setting the CN6 external input signals ............................................................................................ 3 -32 3.6 Data communication timing charts ......................................................................................................... 3 -34 3.6.1 Monitor codes ................................................................................................................................... 3 -34 3.6.2 Instruction codes .............................................................................................................................. 3 -36 1 3.6.3 Remote register-based position/speed setting................................................................................ 3 -38 3.7 Function-by-function programming examples........................................................................................ 3 -41 3.7.1 System configuration example......................................................................................................... 3 -41 3.7.2 Reading the servo amplifier status .................................................................................................. 3 -44 3.7.3 Writing the operation commands..................................................................................................... 3 -45 3.7.4 Reading the data .............................................................................................................................. 3 -46 3.7.5 Writing the data ................................................................................................................................ 3 -49 3.7.6 Operation .......................................................................................................................................... 3 -52 3.8 Continuous operation program example................................................................................................ 3 -55 3.8.1 System configuration example when 1 station is occupied ............................................................ 3 -55 3.8.2 Program example when 1 station is occupied ................................................................................ 3 -56 3.8.3 System configuration example when 2 stations are occupied........................................................ 3 -58 3.8.4 Program example when 2 stations are occupied............................................................................ 3 -59 4. SIGNALS AND WIRING 4 - 1 to 4 -54 4.1 Input power supply circuit ........................................................................................................................ 4 - 2 4.2 I/O signal connection diagram ................................................................................................................ 4 -10 4.3 Explanation of power supply system ...................................................................................................... 4 -11 4.3.1 Signal explanations .......................................................................................................................... 4 -11 4.3.2 Power-on sequence ......................................................................................................................... 4 -12 4.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 4 -14 4.4 Connectors and signal arrangements .................................................................................................... 4 -22 4.5 Signal (device) explanation..................................................................................................................... 4 -23 4.5.1 I/O devices........................................................................................................................................ 4 -23 4.5.2 Input signals ..................................................................................................................................... 4 -26 4.5.3 Output signals................................................................................................................................... 4 -26 4.5.4 Power supply.................................................................................................................................... 4 -27 4.6 Detailed description of signals (devices) ................................................................................................ 4 -27 4.6.1 Forward rotation start reverse rotation start temporary stop/restart........................................... 4 -27 4.6.2 Movement completion rough match in position .......................................................................... 4 -28 4.6.3 Torque limit....................................................................................................................................... 4 -30 4.7 Alarm occurrence timing chart................................................................................................................ 4 -31 4.8 Interface................................................................................................................................................... 4 -32 4.8.1 Internal connection diagram ............................................................................................................ 4 -32 4.8.2 Detailed description of interfaces..................................................................................................... 4 -33 4.8.3 Source I/O interfaces ....................................................................................................................... 4 -35 4.9 Treatment of cable shield external conductor ........................................................................................ 4 -36 4.10 Connection of servo amplifier and servo motor ................................................................................... 4 -37 4.10.1 Connection instructions.................................................................................................................. 4 -37 4.10.2 Power supply cable wiring diagrams ............................................................................................. 4 -38 4.11 Servo motor with an electromagnetic brake......................................................................................... 4 -48 4.11.1 Safety precautions ......................................................................................................................... 4 -48 4.11.2 Timing charts .................................................................................................................................. 4 -49 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) ..................................................... 4 -52 4.12 Grounding.............................................................................................................................................. 4 -53 2 5. OPERATION 5 - 1 to 5 -60 5.1 Switching power on for the first time ....................................................................................................... 5 - 1 5.1.1 Startup procedure.............................................................................................................................. 5 - 1 5.1.2 Wiring check ...................................................................................................................................... 5 - 2 5.1.3 Surrounding environment.................................................................................................................. 5 - 3 5.2 Startup ...................................................................................................................................................... 5 - 4 5.2.1 Power on and off procedures............................................................................................................ 5 - 4 5.2.2 Stop.................................................................................................................................................... 5 - 4 5.2.3 Test operation.................................................................................................................................... 5 - 5 5.2.4 Parameter setting .............................................................................................................................. 5 - 6 5.2.5 Point table setting.............................................................................................................................. 5 - 7 5.2.6 Actual operation ................................................................................................................................ 5 - 7 5.3 Servo amplifier display............................................................................................................................. 5 - 8 5.4 Automatic operation mode...................................................................................................................... 5 -10 5.4.1 What is automatic operation mode?................................................................................................ 5 -10 5.4.2 Automatic operation using point table ............................................................................................. 5 -12 5.4.3 Remote register-based position/speed setting................................................................................ 5 -22 5.5 Manual operation mode .......................................................................................................................... 5 -28 5.5.1 JOG operation .................................................................................................................................. 5 -28 5.5.2 Manual pulse generator ................................................................................................................... 5 -29 5.6 Manual home position return mode........................................................................................................ 5 -31 5.6.1 Outline of home position return........................................................................................................ 5 -31 5.6.2 Dog type home position return......................................................................................................... 5 -34 5.6.3 Count type home position return ..................................................................................................... 5 -36 5.6.4 Data setting type home position return............................................................................................ 5 -38 5.6.5 Stopper type home position return .................................................................................................. 5 -39 5.6.6 Home position ignorance (servo-on position defined as home position) ....................................... 5 -41 5.6.7 Dog type rear end reference home position return ......................................................................... 5 -42 5.6.8 Count type front end reference home position return ..................................................................... 5 -44 5.6.9 Dog cradle type home position return ............................................................................................. 5 -46 5.6.10 Dog type first Z-phase reference home position return ................................................................ 5 -48 5.6.11 Dog type front end reference home position return method......................................................... 5 -50 5.6.12 Dogless Z-phase reference home position return method ........................................................... 5 -52 5.6.13 Home position return automatic return function ............................................................................ 5 -54 5.6.14 Automatic positioning function to the home position..................................................................... 5 -55 5.7 Roll feed display function in roll feed mode............................................................................................ 5 -56 5.8 Absolute position detection system ........................................................................................................ 5 -57 6. PARAMETERS 6 - 1 to 6 -40 6.1 Basic setting parameters (No.PA )................................................................................................... 6 - 1 6.1.1 Parameter list .................................................................................................................................... 6 - 1 6.1.2 Parameter write inhibit ...................................................................................................................... 6 - 2 6.1.3 Selection of command system.......................................................................................................... 6 - 3 6.1.4 Selection of regenerative option ....................................................................................................... 6 - 3 6.1.5 Using absolute position detection system ........................................................................................ 6 - 4 6.1.6 Follow-up for absolute value command system in incremental system.......................................... 6 - 4 6.1.7 Feeding function selection ................................................................................................................ 6 - 5 3 6.1.8 Electronic gear................................................................................................................................... 6 - 6 6.1.9 Auto tuning ........................................................................................................................................ 6 - 7 6.1.10 In-position range.............................................................................................................................. 6 - 8 6.1.11 Torque limit...................................................................................................................................... 6 - 9 6.1.12 Selection of servo motor rotation direction.................................................................................... 6 -10 6.1.13 Encoder output pulse ..................................................................................................................... 6 -10 6.2 Gain/filter parameters (No. PB )...................................................................................................... 6 -12 6.2.1 Parameter list ................................................................................................................................... 6 -12 6.2.2 Detail list ........................................................................................................................................... 6 -13 6.3 Extension setting parameters (No. PC ) ......................................................................................... 6 -20 6.3.1 Parameter list ................................................................................................................................... 6 -20 6.3.2 Detail list ........................................................................................................................................... 6 -21 6.3.3 S-pattern acceleration/deceleration................................................................................................. 6 -27 6.3.4 Alarm history clear............................................................................................................................ 6 -27 6.3.5 Rough match output......................................................................................................................... 6 -27 6.3.6 Software limit .................................................................................................................................... 6 -28 6.4 I/O setting parameters (No. PD )..................................................................................................... 6 -29 6.4.1 Parameter list ................................................................................................................................... 6 -29 6.4.2 Detail list ........................................................................................................................................... 6 -30 6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid......... 6 -38 6.4.4 Stopping method when a software limit is detected........................................................................ 6 -39 7. MR Configurator 7 - 1 to 7 -26 7.1 Specifications ........................................................................................................................................... 7 - 1 7.2 System configuration ............................................................................................................................... 7 - 2 7.3 Station selection ....................................................................................................................................... 7 - 4 7.4 Parameters ............................................................................................................................................... 7 - 5 7.5 Point table................................................................................................................................................. 7 - 7 7.6 Device assignment method ..................................................................................................................... 7 - 9 7.7 Test operation ......................................................................................................................................... 7 -13 7.7.1 Jog operation.................................................................................................................................... 7 -13 7.7.2 Positioning operation........................................................................................................................ 7 -15 7.7.3 Motor-less operation ........................................................................................................................ 7 -18 7.7.4 Output signal (DO) forced output..................................................................................................... 7 -19 7.7.5 Single-step feed ............................................................................................................................... 7 -20 7.8 Alarm ....................................................................................................................................................... 7 -23 7.8.1 Alarm display .................................................................................................................................... 7 -23 7.8.2 Batch display of data at alarm occurrence ...................................................................................... 7 -24 7.8.3 Alarm history..................................................................................................................................... 7 -26 8. PARAMETER UNIT (MR-PRU03) 8 - 1 to 8 -20 8.1 External appearance and key explanations ............................................................................................ 8 - 2 8.2 Specifications ........................................................................................................................................... 8 - 3 8.3 Outline dimension drawings..................................................................................................................... 8 - 3 8.4 Connection with servo amplifier............................................................................................................... 8 - 4 8.4.1 Single axis ......................................................................................................................................... 8 - 4 8.4.2 Multidrop connection ......................................................................................................................... 8 - 5 4 8.5 Display...................................................................................................................................................... 8 - 7 8.5.1 Outline of screen transition ............................................................................................................... 8 - 7 8.5.2 MR-PRU03 parameter unit setting ................................................................................................... 8 - 8 8.5.3 Monitor mode (status display)........................................................................................................... 8 - 9 8.5.4 Alarm/diagnostic mode .................................................................................................................... 8 -11 8.5.5 Parameter mode............................................................................................................................... 8 -13 8.5.6 Point table mode .............................................................................................................................. 8 -14 8.5.7 Test operation mode ........................................................................................................................ 8 -15 8.6 Error message list ................................................................................................................................... 8 -19 9. GENERAL GAIN ADJUSTMENT 9 - 1 to 9 -12 9.1 Different adjustment methods.................................................................................................................. 9 - 1 9.1.1 Adjustment on a single servo amplifier............................................................................................. 9 - 1 9.1.2 Adjustment using MR Configurator................................................................................................... 9 - 2 9.2 Auto tuning ............................................................................................................................................... 9 - 3 9.2.1 Auto tuning mode .............................................................................................................................. 9 - 3 9.2.2 Auto tuning mode operation.............................................................................................................. 9 - 4 9.2.3 Adjustment procedure by auto tuning............................................................................................... 9 - 5 9.2.4 Response level setting in auto tuning mode .................................................................................... 9 - 6 9.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 9 - 7 9.4 Interpolation mode .................................................................................................................................. 9 -11 9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning................................ 9 -12 10. SPECIAL ADJUSTMENT FUNCTIONS 10- 1 to 10-16 10.1 Function block diagram......................................................................................................................... 10- 1 10.2 Adaptive filter ...................................................................................................................................... 10- 1 10.3 Machine resonance suppression filter.................................................................................................. 10- 4 10.4 Advanced vibration suppression control .............................................................................................. 10- 6 10.5 Low-pass filter ...................................................................................................................................... 10-10 10.6 Gain changing function ........................................................................................................................ 10-10 10.6.1 Applications ................................................................................................................................... 10-10 10.6.2 Function block diagram................................................................................................................. 10-11 10.6.3 Parameters .................................................................................................................................... 10-12 10.6.4 Gain changing operation............................................................................................................... 10-14 11. TROUBLESHOOTING 11- 1 to 11-14 11.1 Trouble at start-up................................................................................................................................. 11- 1 11.2 Operation at error occurrence .............................................................................................................. 11- 2 11.3 CC-Link communication error............................................................................................................... 11- 2 11.4 When alarm or warning has occurred .................................................................................................. 11- 3 11.4.1 Alarms and warning list.................................................................................................................. 11- 3 11.4.2 Remedies for alarms...................................................................................................................... 11- 4 11.4.3 Remedies for warnings ................................................................................................................. 11-11 11.5 Point table error.................................................................................................................................... 11-13 5 12. OUTLINE DRAWINGS 12- 1 to 12-12 12.1 Servo amplifier ...................................................................................................................................... 12- 1 12.2 Connector ............................................................................................................................................. 12-10 13. CHARACTERISTICS 13- 1 to 13-10 13.1 Overload protection characteristics ...................................................................................................... 13- 1 13.2 Power supply equipment capacity and generated loss ....................................................................... 13- 3 13.3 Dynamic brake characteristics.............................................................................................................. 13- 6 13.3.1 Dynamic brake operation............................................................................................................... 13- 6 13.3.2 The dynamic brake at the load inertia moment............................................................................. 13- 9 13.4 Cable flexing life................................................................................................................................... 13-10 13.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 13-10 14. OPTIONS AND AUXILIARY EQUIPMENT 14- 1 to 14-90 14.1 Cable/connector sets ............................................................................................................................ 14- 1 14.1.1 Combinations of cable/connector sets .......................................................................................... 14- 2 14.1.2 Encoder cable/connector sets ....................................................................................................... 14- 8 14.1.3 Motor power supply cables ........................................................................................................... 14-17 14.1.4 Motor brake cables........................................................................................................................ 14-18 14.2 Regenerative options ........................................................................................................................... 14-19 14.3 FR-BU2-(H) brake unit ......................................................................................................................... 14-32 14.3.1 Selection ........................................................................................................................................ 14-33 14.3.2 Brake unit parameter setting......................................................................................................... 14-33 14.3.3 Connection example ..................................................................................................................... 14-34 14.3.4 Outline dimension drawings.......................................................................................................... 14-41 14.4 Power regeneration converter ............................................................................................................. 14-43 14.5 Power regeneration common converter.............................................................................................. 14-46 14.6 External dynamic brake ....................................................................................................................... 14-54 14.7 Battery MR-J3BAT ............................................................................................................................... 14-59 14.8 Heat sink outside mounting attachment (MR-J3ACN)........................................................................ 14-60 14.9 Selection example of wires .................................................................................................................. 14-62 14.10 No-fuse breakers, fuses, magnetic contactors ................................................................................. 14-68 14.11 Power factor improving DC reactor ................................................................................................... 14-69 14.12 Power factor improving reactors........................................................................................................ 14-71 14.13 Relays (recommended) ..................................................................................................................... 14-73 14.14 Surge absorbers (recommended) ..................................................................................................... 14-73 14.15 Noise reduction techniques ............................................................................................................... 14-74 14.16 Leakage current breaker.................................................................................................................... 14-81 14.17 EMC filter (recommended) ................................................................................................................ 14-83 14.18 MR-HDP01 manual pulse generator ................................................................................................. 14-88 15. COMMUNICATION FUNCTION 15- 1 to 15-46 15.1 Configuration ......................................................................................................................................... 15- 1 15.2 Communication specifications .............................................................................................................. 15- 3 15.2.1 Communication overview............................................................................................................... 15- 3 15.2.2 Parameter setting........................................................................................................................... 15- 4 6 15.3 Protocol ................................................................................................................................................. 15- 5 15.3.1 Transmission data configuration.................................................................................................... 15- 5 15.3.2 Character codes ............................................................................................................................. 15- 6 15.3.3 Error codes ..................................................................................................................................... 15- 7 15.3.4 Checksum....................................................................................................................................... 15- 7 15.3.5 Time-out operation ......................................................................................................................... 15- 8 15.3.6 Retry operation............................................................................................................................... 15- 8 15.3.7 Initialization..................................................................................................................................... 15- 9 15.3.8 Communication procedure example.............................................................................................. 15- 9 15.4 Command and data No. list ................................................................................................................. 15-10 15.4.1 Read commands ........................................................................................................................... 15-10 15.4.2 Write commands ........................................................................................................................... 15-14 15.5 Detailed explanations of commands ................................................................................................... 15-17 15.5.1 Data processing ............................................................................................................................ 15-17 15.5.2 Status display ................................................................................................................................ 15-19 15.5.3 Parameters .................................................................................................................................... 15-20 15.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 15-23 15.5.5 Device ON/OFF............................................................................................................................. 15-28 15.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 15-29 15.5.7 Input devices ON/OFF (test operation) ........................................................................................ 15-30 15.5.8 Test operation mode ..................................................................................................................... 15-31 15.5.9 Alarm history.................................................................................................................................. 15-37 15.5.10 Current alarm .............................................................................................................................. 15-38 15.5.11 Point table.................................................................................................................................... 15-39 15.5.12 Servo amplifier group designation .............................................................................................. 15-45 15.5.13 Other commands......................................................................................................................... 15-46 16. INDEXER POSITIONING OPERATION 16- 1 to 16-112 16.1 Function................................................................................................................................................. 16- 1 16.1.1 Overview......................................................................................................................................... 16- 1 16.1.2 Servo amplifier standard specifications (functions only)............................................................... 16- 1 16.1.3 Function list .................................................................................................................................... 16- 2 16.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU................................ 16- 3 16.2.1 I/O signals (I/O devices)................................................................................................................. 16- 3 16.2.2 Detailed explanation of I/O signals ................................................................................................ 16- 5 16.2.3 Monitor codes................................................................................................................................ 16-14 16.2.4 Instruction codes (RWwn 2 RWwn 3) ................................................................................... 16-15 16.2.5 Respond codes (RWrn 2) .......................................................................................................... 16-22 16.3 Signal.................................................................................................................................................... 16-23 16.3.1 Signal (device) explanation........................................................................................................... 16-23 16.3.2 Detailed description of signals (devices) ...................................................................................... 16-26 16.4 Switching power on for the first time ................................................................................................... 16-29 16.4.1 Startup procedure ......................................................................................................................... 16-29 16.4.2 Wiring check .................................................................................................................................. 16-30 16.4.3 Surrounding environment ............................................................................................................. 16-31 16.5 Startup .................................................................................................................................................. 16-32 16.5.1 Power on and off procedures........................................................................................................ 16-32 16.5.2 Stop................................................................................................................................................ 16-32 7 16.5.3 Test operation ............................................................................................................................... 16-33 16.5.4 Parameter setting.......................................................................................................................... 16-34 16.5.5 Point table setting.......................................................................................................................... 16-35 16.5.6 Actual operation ............................................................................................................................ 16-35 16.6 Servo amplifier display......................................................................................................................... 16-36 16.7 Automatic operation mode................................................................................................................... 16-38 16.7.1 What is automatic operation mode?............................................................................................. 16-38 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer).......................................... 16-39 16.7.3 Automatic operation mode 2 (Shortest rotating indexer) ............................................................. 16-49 16.8 Manual operation mode ....................................................................................................................... 16-58 16.8.1 Indexer JOG operation.................................................................................................................. 16-58 16.8.2 JOG operation ............................................................................................................................... 16-60 16.9 Home position return mode ................................................................................................................. 16-61 16.9.1 Outline of home position return..................................................................................................... 16-61 16.9.2 Torque limit changing dog type home position return.................................................................. 16-63 16.9.3 Torque limit changing data setting type home position return..................................................... 16-65 16.9.4 Home position return automatic return function ........................................................................... 16-66 16.10 Absolute position detection system ................................................................................................... 16-67 16.11 Parameters......................................................................................................................................... 16-70 16.11.1 Basic setting parameters (No.PA )....................................................................................... 16-70 )............................................................................................ 16-79 16.11.2 Gain/filter parameters (No.PB 16.11.3 Extension setting parameters (No.PC ) ............................................................................... 16-87 16.11.4 I/O setting parameters (No.PD )....................................................................................... 16-93 16.12 TROUBLESHOOTING ...................................................................................................................... 16-98 16.12.1 Trouble at start-up....................................................................................................................... 16-98 16.12.2 Operation at error occurrence..................................................................................................... 16-99 16.12.3 CC-Link communication error..................................................................................................... 16-99 16.12.4 When alarm or warning has occurred ...................................................................................... 16-100 16.12.5 Point table error......................................................................................................................... 16-112 APPENDIX App.- 1 to App.-30 App. 1 Parameter list..................................................................................................................................App.- 1 App. 2 Signal layout recording paper ........................................................................................................App.- 3 App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) .........................................App.- 4 App. 4 Change of connector sets to the RoHS compatible products.......................................................App.- 5 App. 5 MR-J3-200T-RT servo amplifier.....................................................................................................App.- 6 App. 6 Selection example of servo motor power cable ...........................................................................App.-10 App. 7 Parameter list.................................................................................................................................App.-11 App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation).................App.-13 8 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J3- T CC-Link compatible servo amplifier can support the CC-Link communication functions. Up to 42 axes of servo amplifiers can be controlled/monitored from the programmable controller side. As the servo, it has the function to perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning system or to simplify a system, for example. There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are occupied. All servo motors are equipped with an absolute position encoder as standard. An absolute position detection system can be configured by merely adding a battery to the servo amplifier. Once the home position has been set, home position return is not required at power on, alarm occurrence, etc. The MR-J3-T is made easier to use and higher in function by using it with the MR Configurator. 1.1.1 Features of CC-Link communication functions (1) Fast communication Fast communication can be made by cyclic transmission of not only bit data but also word data. (a) The highest communication speed is 10Mbps. (b) The broadcast polling system ensures as high as 3.9ms to 6.7ms even at the maximum link scan (10Mbps). (2) Variable communication speed/distance system Selection of speed/distance allows use in a wide range of areas from a system requiring high speed to a system requiring long distance. (3) System fault prevention (station separating function) Because of connection in the bus system, any remote or local station that has become faulty due to poweroff or the like does not affect communications with normal remote and local stations. In addition, use of the two-piece terminal block allows the unit to be changed during data link. (4) Factory Automation compatible As the remote device stations of CC-Link, the servo amplifiers share a link system and can be controlled/monitored with programmable controller user programs. From the programmable controller side, the running speed, acceleration/deceleration time constant and other settings of servo motors can be changed/checked and the servo motors started and stopped. 1- 1 1. FUNCTIONS AND CONFIGURATION 1.1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350T or less MR-J3-200T4 or less Power factor improving DC Regenerative reactor option Servo amplifier P1 (Note 2) Power supply MC D N( ) Diode stack Relay Servo motor (Note 1) L1 L2 CHARGE lamp L3 Current detector Regenerative TR V V W W 24VDC Electromagnetic brake B1 B2 Base amplifier Voltage detection Current detection Overcurrent protection M RA Control circuit power supply L21 U Dynamic brake (Note 4) Cooling fan L11 U CN2 NFB P( ) C P2 Encoder Current control Speed control Position control (Note 3) Position command creation CN6 1 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 1 4 500 2000 60 70 1000 5 1000 2000 80 80 0 0 6 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 8 1000 1000 100 100 0 0 1000 1000 100 100 0 0 255 2000 2000 80 80 0 0 CN1 DI/O Control Servo on Start Failure, etc Personal computer USB CC-Link MR-J3BAT CN4 Model adaptive control Point table Acceleration Deceleration No. Position Speed time Dwell Auxiliary time data constant constant USB RS-422 CN5 CN3 Optional battery (for absolute position detection system) Controller RS-422 Note 1. The built-in regenerative resistor is not provided for the MR-J3-10T (1). 2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification. 3. For the case when 2 stations are occupied. When 1 station is occupied, the point table ends at No.31. 4. Servo amplifiers MR-J3-70T or greater have a cooling fan. 1- 2 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Power factor improving DC Regenerative reactor option Servo amplifier P1 (Note 1) Power supply MC Servo motor Diode stack Relay L1 L2 CHARGE lamp L3 Current detector Regenerative TR V V W W 24VDC Electromagnetic brake B1 B2 Base amplifier Voltage detection Current detection Overcurrent protection M RA Control circuit power supply L21 U Dynamic brake Cooling fan L11 U CN2 NFB C N P P2 Encoder Current control Speed control Position control (Note 2) Position command creation CN6 1 1000 1000 80 80 0 0 2 2000 2000 100 3 4000 2000 70 100 0 0 60 500 4 500 2000 1 60 70 1000 5 1000 1 2000 80 80 0 6 0 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 8 1000 1000 100 100 0 0 1000 1000 100 100 0 0 255 2000 2000 80 80 0 0 CN1 DI/O Control Servo on Start Failure, etc Personal computer USB CC-Link MR-J3BAT CN4 Model adaptive control Point table Acceleration Deceleration No. Position Speed time Dwell Auxiliary time data constant constant USB RS-422 CN5 CN3 Controller RS-422 Note 1. Refer to section 1.2 for the power supply specification. 2. For the case when 2 stations are occupied. When 1 station is occupied, the point table ends at No.31. 1- 3 Optional battery (for absolute position detection system) 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-11KT(4) to 22KT(4) Power factor improving DC Regenerative reactor option Servo amplifier NFB (Note 1) Power supply MC C N P P1 Servo motor Diode Thyristor stack L1 L2 CHARGE lamp L3 Current detector Regenerative TR U U V V W W M Cooling fan RA L11 Control circuit power supply Electromagnetic brake B1 B2 Base amplifier Voltage detection Current detection Overcurrent protection CN2 L21 24VDC Encoder Current control Speed control Position control (Note 2) Position command creation CN6 1 1000 1000 80 80 0 0 2 2000 2000 100 3 4000 2000 70 100 0 0 60 500 4 500 2000 1 60 70 1000 5 1000 1 2000 80 80 0 6 0 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 8 1000 1000 100 100 0 0 1000 1000 100 100 0 0 255 2000 2000 80 80 0 0 CN1 DI/O Control Servo on Start Failure, etc Personal computer USB CC-Link MR-J3BAT CN4 Model adaptive control Point table Acceleration Deceleration No. Position Speed time Dwell Auxiliary time data constant constant USB RS-422 CN5 CN3 Controller RS-422 Note 1. Refer to section 1.2 for the power supply specification. 2. For the case when 2 stations are occupied. When 1 station is occupied, the point table ends at No.31. 1- 4 Optional battery (for absolute position detection system) 1. FUNCTIONS AND CONFIGURATION 1.1.3 System configuration This section provides operations using this servo. Use of CC-Link enables you to freely configure any system from a single-axis system to an up to 42-axis system. Set the following values to the point table. Name Setting range Unit 0.001[mm] Position data 0.01[mm] 999999 to 999999 0.1[mm] 1[mm] Servo motor speed 0 to max. speed [r/min] Acceleration time constant 0 to 20000 [ms] Deceleration time constant 0 to 20000 [ms] Dwell 0 to 20000 [ms] 0 to 3 Auxiliary function (Refer to section 4.2) There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are occupied. (1) Operation using CC-Link communication functions (a) Operation All devices can be controlled by CC-Link communication. Also, each point table setting, point table selection, parameter value change, setting, monitor, servo motor operation and others can be performed. (b) Configuration Programmable controller CC-Link master unit To the next axis Servo amplifier (Axis 1) Servo amplifier (Axis 2) CN1 CN1 CN6 CNP3 CN6 CNP3 CN2 CN2 1- 5 1. FUNCTIONS AND CONFIGURATION (2) Operation using CC-Link communication functions and external input signals (a) Operation Using parameter No.PD06 to PD08 and parameter No.PD12, PD14, input devices can be assigned to the external input devices of CN1A and CN1B. The signals assigned to the external input signals cannot be used with the CC-Link communication functions. Output devices can be used with the CN6 connectors and CC-Link communication functions simultaneously. (b) Configuration Programmable controller CC-Link master unit To the next axis Servo amplifier (Axis 1) Servo amplifier (Axis 2) CN1 CN1 CN6 CNP3 CN6 CNP3 CN2 CN2 External I/O signal 1- 6 External I/O signal 1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 MR-J3Item Power supply Voltage/frequency Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity Inrush current Voltage, frequency Permissible voltage fluctuation Control circuit Permissible power supply frequency fluctuation Input Inrush current Voltage Interface power Power supply supply capacity Control System Dynamic brake Operation mode Command system Protective functions 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase or 1-phase 200 to 230VAC: 170 to 253VAC 3-phase 200 to 230VAC, 50/60Hz 3-phase 170 to 253VAC 1-phase 100V to 120VAC, 50/60Hz 1-phase 85 to 132VAC Within 5% Refer to section 13.2 Refer to section 13.5 1-phase 100 to 120VAC, 50/60Hz 1-phase 85 to 132VAC 1-phase 200 to 230VAC, 50/60Hz 1-phase 170 to 253VAC Within 5% 30W 45W 30W Refer to section 13.5 24VDC 10% (Note 1) 150mA Sine-wave PWM control, current control system Built-in External option Built-in Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection Positioning by specifying the point table No. (255 points) Operational specifications Position command Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm] Point table input number Speed command Set in point table. Acceleration/deceleration time is set in point table. input input S-pattern acceleration/deceleration time constant is set in parameter No.PC13. Signed absolute value command system, incremental value command system, signed absolute System value command/incremental value command specifying system Operational Remote register setting is used for positioning. specifications Position Position command Remote register is used to set position command data. command input Feed length input setting range: 1 m to 999.999m data input Remote register is used to make selection from point table. (when 2 Speed command Remote register is used to set speed command data (speed). stations are input S-pattern acceleration/deceleration time constant is set in parameter No.PC13. occupied) Signed absolute value command system, incremental value command system, signed absolute System value command/incremental value command specifying system Point table number input, position data input system Point table Positioning operation is performed once in accordance with the position and speed commands. Automatic operation Automatic Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255 mode continuous points) operation Jog operation is performed in accordance with the parameter-set speed command by contact input Manual Jog or through CC-Link communication function. operation Manual pulse Manual feed is made by manual pulse generator. mode generator Command pulse multiplication: 1, 10 or 100 is selected using parameter. 1- 7 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J310T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Item Dog type Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected. Automatic at-dog home position return return/automatic stroke return function. Count type Home position return is made by counting encoder pulses after contact with proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function. Data setting type Home position return is made without dog. Home position may be set at any position by manual operation, etc. Home position address may be set. Stopper type Home position return is made by pressing machine part against stroke end. Home position address may be set. Home position return direction may be set. Operation mode Position where servo-on (RYn0) is switched on is defined as home position. Home position Home position address may be set. ignorance (Servo-on position as home position) Home position return mode Dog type rear end reference Home position return is made with respect to the rear end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function. Count type front end reference Home position return is made with respect to the front end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function. Dog cradle type Home position return is made with respect to the front end of a proximity dog by the first Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function. Home position return is made with respect to the front end of a proximity dog by the last Z-phase pulse. Dog type last Home position address may be set. Home position shift value may be set. Home position return Z-phase reference direction may be set. Automatic at-dog home position return return/automatic stroke return function. Home position return is made to the dog front end with respect to the front end of a proximity dog. Dog type front end Home position address may be set. Home position shift value may be set. Home position return direction may be set. reference Automatic at-dog home position return return/automatic stroke return function. Home position return is made with respect to the first Z-phase to the Z-phase. Dogless Home position address may be set. Home position shift value may be set. Home position return Z-phase reference direction may be set. Automatic positioning to home position Other functions Structure High-speed automatic return to a defined home position. Absolute position detection, backlash function Overtravel prevention using external limit switch Software stroke limit Self-cooled, open (IP00) Force-cooling, open (IP00) 1- 8 Self-cooled, open (IP00) 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J310T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Item Environment Ambient temperature Ambient humidity In operation In storage [ ] (Note 2) 0 to 55 (non-freezing) [ ] (Note 2) 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In operation 90%RH or less (non-condensing) In storage Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.9 [m/s2] or less Mass [kg] 0.8 0.8 0.8 1.0 [lb] 1.76 1.76 2.21 2.21 3.09 3.09 4.63 5.07 10.1 13.7 39.7 39.7 41.9 1.76 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.6 6.2 18 18 19 1.76 2.21 Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 (32 to 113 ) or at 75% or smaller effective load ratio. 1- 9 1. FUNCTIONS AND CONFIGURATION (2) 400V class Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item 3-phase 380 to 480VAC, 50/60Hz 3-phase 323 to 528VAC Power supply Voltage/frequency Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity Inrush current Voltage, frequency Permissible voltage fluctuation Control circuit Permissible power supply frequency fluctuation Input Inrush current Voltage Interface power Power supply supply capacity Control System Dynamic brake Operation mode Command system Protective functions Within 5% Refer to section 13.2 Refer to section 13.5 1-phase 380 to 480VAC, 50/60Hz 1-phase 323 to 528VAC Within 5% 30W 45W Refer to section 13.5 24VDC 10% (Note) 150mA Sine-wave PWM control, current control system Built-in External option Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection Positioning by specifying the point table No. (255 points) Operational specifications Position command Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm] Point table input number Speed command Set in point table. Acceleration/deceleration time is set in point table. input input S-pattern acceleration/deceleration time constant is set in parameter No.PC13. Signed absolute value command system, incremental value command system, signed absolute System value command/incremental value command specifying system Operational Remote register setting is used for positioning. specifications Position Position command Remote register is used to set position command data. command input Feed length input setting range: 1 m to 999.999m data input Remote register is used to make selection from point table. (when 2 Speed command Remote register is used to set speed command data (speed). stations are input S-pattern acceleration/deceleration time constant is set in parameter No.PC13. occupied) Signed absolute value command system, incremental value command system, signed absolute System value command/incremental value command specifying system Point table number input, position data input system Point table Positioning operation is performed once in accordance with the position and speed commands. Automatic operation Automatic Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255 mode continuous points) operation Jog operation is performed in accordance with the parameter-set speed command by contact input Manual Jog or through CC-Link communication function. operation Manual pulse Manual feed is made by manual pulse generator. mode generator Command pulse multiplication: 1, 10 or 100 is selected using parameter. 1 - 10 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item Dog type Count type Data setting type Stopper type Home position ignorance (Servo-on position as home position) Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected. Automatic at-dog home position return return/automatic stroke return function. Home position return is made by counting encoder pulses after contact with proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function. Home position return is made without dog. Home position may be set at any position by manual operation, etc. Home position address may be set. Home position return is made by pressing machine part against stroke end. Home position address may be set. Home position return direction may be set. Position where servo-on (RYn0) is switched on is defined as home position. Home position address may be set. Operation mode Home position return is made with respect to the rear end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return Home direction may be set. position Automatic at-dog home position return return/automatic stroke return function. return Home position return is made with respect to the front end of a proximity dog. mode Home position address may be set. Home position shift value may be set. Home position return Count type front direction may be set. end reference Automatic at-dog home position return return/automatic stroke return function. Home position return is made with respect to the front end of a proximity dog by the first Z-phase pulse. Dog cradle type Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function. Home position return is made with respect to the front end of a proximity dog by the last Z-phase pulse. Dog type last Home position address may be set. Home position shift value may be set. Home position return Z-phase reference direction may be set. Automatic at-dog home position return return/automatic stroke return function. Home position return is made to the dog front end with respect to the front end of a proximity dog. Dog type front end Home position address may be set. Home position shift value may be set. Home position return direction may be set. reference Automatic at-dog home position return return/automatic stroke return function. Home position return is made with respect to the first Z-phase to the Z-phase. Dogless Home position address may be set. Home position shift value may be set. Home position return Z-phase reference direction may be set. Automatic positioning to home High-speed automatic return to a defined home position. position Absolute position detection, backlash function Other functions Overtravel prevention using external limit switch Software stroke limit Self-cooled, open Force-cooling, open (IP00) Structure (IP00) Dog type rear end reference 1 - 11 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item Environment Ambient temperature Ambient humidity In operation In storage In operation In storage [ [ [ [ ] ] ] ] 0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.9 [m/s2] or less [kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19 Mass [lb] 3.75 3.75 4.63 10.1 10.1 13.7 39.7 39.7 41.9 Note. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Ambient 1 - 12 1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Positioning by automatic operation Varied speed operation Automatic continuous positioning operation Home position return High-resolution encoder Absolute position detection system Gain changing function Advanced vibration suppression control Adaptive filter Low-pass filter Machine analyzer function Machine simulation Gain search function Slight vibration suppression control Electronic gear Auto tuning S-pattern acceleration/deceleration time constant Regenerative option Brake unit Regeneration converter Alarm history clear Description Select the required ones from among 31 preset point tables and perform operation in accordance with the set values. Use the external input signal or communication function to choose the point tables. Servo motor speed can be varied continuously until the preset moving distance is reached. (Max. set speeds: 255 speeds) By merely choosing one point table and starting operation, positioning can be executed continuously in accordance with several point tables. Dog type, count type, data setting type, stopper type, home position ignorance, dog type rear end reference, count type front end reference, dog cradle type High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder. By merely setting the home position once, home position return need not be done at each power on. You can switch between gains during rotation and gains during stop or use an input device to change gains during operation. This function suppresses vibration at the arm end or residual vibration. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator installed personal computer and servo amplifier. MR Configurator is necessary for this function. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. MR Configurator is necessary for this function. Personal computer changes gains automatically and searches for overshoot-free gains in a short time. MR Configurator is necessary for this function. Suppresses vibration of 1 pulse produced at a servo motor stop. The electronic gear is used to make adjustment so that the servo amplifier setting matches the machine moving distance. Also, changing the electronic gear value allows the machine to be moved at any multiplication ratio to the moving distance using the servo amplifier. Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Acceleration/deceleration can be made smoothly. Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative option cannot provide enough regenerative power. Can be used with the servo amplifier of 5kW or more. Used when the regenerative option cannot provide enough regenerative power. Can be used with the servo amplifier of 5kW or more. Alarm history is cleared. 1 - 13 Reference Section 5.4 Section 5.4.2 (4)(b) Section 5.4.2 (4) Section 5.6 Section 5.7 Section 10.6 Section 10.4 Section 10.2 Section 10.5 Parameters No. PB24 Parameter No. PA06, PA07 Section 9.2 Parameters No. PC13 Section 14.2 Section 14.3 Section 14.4 Parameter No. PC18 1. FUNCTIONS AND CONFIGURATION Function I/O signal selection (Device setting) Torque limit Output signal (DO) forced output Test operation mode Limit switch Software limit Description Reference Any input device such as servo-on (SON) can be assigned to any pin of CN6 Parameter No. connector. PD06 to PD08 PD12 PD14 Servo motor-torque is limited. Section 4.6.3 Section 6.1.11 Output signal can be forced on/off independently of the servo status. Section 7.7.4 Use this function for output signal wiring check, etc. Section 8.5.7(4) JOG operation positioning operation DO forced output single - step Section 7.7 feed. Section 8.5.7 MR Configurator is necessary for this function. The servo motor travel region can be limited using the forward rotation stroke end (LSP)/reverse rotation stroke end (LSN). The travel region is limited using parameters in terms of address. Section 6.3.6 The function similar to that of a limit switch is limited by parameter. 1 - 14 1. FUNCTIONS AND CONFIGURATION 1.4 Model code definition (1) Rating plate MITSUBISHI MODELMR-J3-10T AC SERVO Model Capacity POWER : 100W INPUT : 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT : 170V 0-360Hz 1.1A SERIAL : A34230001 Applicable power supply Rated output current Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR-J3-100T(4) or less MR-J3-200T(4) With no regenerative resistor Series Symbol Description -PX Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory. Power supply Symbol (Note 1) None (Note 2) 1 4 Description 3-phase or 1-phase 200 to 230VAC Rating plate Rating plate 1-phase 100 to 120VAC 3-phase 380 to 480VAC MR-J3-350T MR-J3-350T4 500T(4) Note 1. 1-phase 200V to 230V is supported by 750W or less. 2. 1-phase 100V to 120V is supported by 400W or less. Built-in positioning function Rated output Symbol Rated output [kW] 10 0.1 20 0.2 40 0.4 60 0.6 70 0.75 100 1 200 2 350 3.5 500 5 700 7 11K 11 15K 15 22K 22 Rating plate Rating plate MR-J3-700T(4) Rating plate 1 - 15 MR-J3-11KT(4) to 22KT(4) Rating plate 1. FUNCTIONS AND CONFIGURATION 1.5 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the servo motors with an electromagnetic brakes and the servo motors with a reduction gear. Servo motors Servo amplifier MR-J3-10T (1) HF-MP HF-KP 053 053 13 1000r/min 2000r/min 51 52 23 23 MR-J3-40T (1) 43 43 73 73 MR-J3-60T 81 MR-J3-200T 121 201 202 301 352 MR-J3-500T 421 502 MR-J3-700T 702 MR-J3-11KT MR-J3-15KT MR-J3-22KT Servo motors HA-LP 1000r/min 1500r/min 2000r/min 601 701M 702 MR-J3-500T MR-J3-11KT MR-J3-15KT 502 MR-J3-22KT 801 12K1 15K1 20K1 25K1 11K1M 11K2 15K1M 15K2 22K1M 22K2 Servo motors Servo amplifier HF-SP MR-J3-60T4 524 MR-J3-100T4 1024 MR-J3-200T4 MR-J3-350T4 1524 1500r/min 2000r/min 2024 5024 MR-J3-700T4 7024 MR-J3-11KT4 HA-LP 1000r/min 3524 MR-J3-500T4 6014 8014 HC-LP 52 102 152 MR-J3-350T MR-J3-700T HC-UP 72 MR-J3-100T Servo amplifier HC-RP 13 MR-J3-20T (1) MR-J3-70T HF-SP 12K14 701M4 11K1M4 11K24 MR-J3-15KT4 15K14 15K1M4 15K24 MR-J3-22KT4 20K14 22K1M4 22K24 1 - 16 102 103 153 203 353 503 152 152 202 202 352 502 302 1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 2 3 0 1 2 3 5 6 2 3 9 5 6 7 8 9 0 1 7 8 2 3 4 0 1 4 MODE Select the CC-Link communication baud rate. 7 8 5 6 Baud rate switch (MODE) 5 6 7 8 4 Section 5.3 Chapter 11 Section 3.2.4 9 4 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier. 9 0 1 X10 STATION NO. X1 5 6 Section 3.2.3 7 8 2 3 4 7 8 2 3 5 6 9 4 Set the one place. Set the ten place. 0 1 9 0 1 Occupied station count switch (SW1) SW1 Set the number of occupied stations. Main circuit power supply connector (CNP1) Used to connect the input power supply. Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR Section 3.2.5 Section 4.1 Section 4.3 Section 12.1 Section 11.3 USB communication connector (CN5) Used to connect the personal computer. Chapter 7 RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Chapter 7 Chapter 8 Chapter 15 CC-Link connector (CN1) Wire the CC-Link cable. Section 3.2.2 Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative option. Section 4.1 Section 4.3 Section 12.1 Section 14.2 I/O signal connector (CN6) Used to connect digital I/O signals. Section 4.2 Section 4.4 Servo motor power connector (CNP3) Used to connect the servo motor. Section 4.1 Section 4.3 Section 12.1 Encoder connector (CN2) Used to connect the servo motor encoder. Section 4.10 Section 14.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 5.8 Section 14.7 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (2 places) Battery holder Contains the battery for absolute position data backup. Section 5.8 Rating plate Section 1.4 Protective earth (PE) terminal ( Ground terminal. 1 - 17 ) Section 4.1 Section 4.3 Section 12.1 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200T(4) or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 4 Select the CC-Link communication baud rate. 2 3 7 8 0 1 7 8 2 3 5 6 Section 3.2.4 9 2 3 7 8 MODE 5 0 7 8 2 3 Section 5.3 Chapter 11 Baud rate switch (MODE) 5 5 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier. 0 X10 STATION NO. X1 5 6 Section 3.2.3 7 8 2 3 4 7 8 2 3 5 6 9 4 Set the one place. Set the ten place. 0 1 9 0 1 Occupied station count switch (SW1) SW1 Set the number of occupied stations. Main circuit power supply connector (CNP1) Used to connect the input power supply. Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR (Note) Section 11.3 Chapter 7 RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Chapter 7 Chapter 8 Chapter 15 Section 3.2.2 I/O signal connector (CN6) Used to connect digital I/O signals. Section 4.2 Section 4.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 4.10 Section 14.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 5.8 Section 14.7 Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative option. Section 4.1 Section 4.3 Section 12.1 Section 14.2 Servo motor power connector (CNP3) Used to connect the servo motor. Section 4.1 Section 4.3 Section 12.1 Battery holder Contains the battery for absolute position data backup. Fixed part (3 places) Section 4.1 Section 4.3 Section 12.1 USB communication connector (CN5) Used to connect the personal computer. CC-Link connector (CN1) Wire the CC-Link cable. Cooling fan Section 3.2.5 Section 5.8 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal ( Ground terminal. Rating plate ) Section 4.1 Section 4.3 Section 12.1 Section 1.4 Note. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T-RT, refer to appendix 5. 1 - 18 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-350T Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 7 8 MODE 9 4 5 6 0 1 2 3 0 1 2 3 7 8 9 0 1 7 8 2 3 Section 3.2.4 9 5 6 4 Select the CC-Link communication baud rate. 7 8 5 6 4 Section 5.3 Chapter 11 Baud rate switch (MODE) 5 6 2 3 4 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier. 9 0 1 X10 STATION NO. X1 5 6 4 Section 3.2.3 2 3 7 8 7 8 0 1 2 3 5 6 9 4 Set the one place. Set the ten place. 9 0 1 Occupied station count switch (SW1) SW1 Set the number of occupied stations. Main circuit power supply connector (CNP1) Used to connect the input power supply. Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR Fixed part (3 places) Section 4.1 Section 4.3 Section 12.1 Section 11.3 USB communication connector (CN5) Used to connect the personal computer. Chapter 7 RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Chapter 7 Chapter 8 Chapter 15 CC-Link connector (CN1) Wire the CC-Link cable. Cooling fan Section 3.2.5 Section 3.2.2 Servo motor power connector (CNP3) Used to connect the servo motor. Section 4.1 Section 4.3 Section 12.1 I/O signal connector (CN6) Used to connect digital I/O signals. Section 4.2 Section 4.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 4.10 Section 14.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 5.8 Section 14.7 Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative option. Battery holder Contains the battery for absolute position data backup. Section 4.1 Section 4.3 Section 12.1 Section 14.2 Section 5.8 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal ( Ground terminal. Rating plate 1 - 19 ) Section 4.1 Section 4.3 Section 12.1 Section 1.4 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T4 MR-J3-500T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Section 5.3 Chapter 11 Baud rate switch (MODE) 2 3 X10 STATION NO. X1 9 0 1 9 0 1 4 5 6 4 Section 3.2.3 7 8 7 8 2 3 5 6 2 3 2 3 2 3 7 8 7 8 2 3 Section 3.2.4 Station number switches (STATION NO.) Set the station number of the servo amplifier. 0 1 0 1 5 6 Select the CC-Link communication baud rate. 9 9 4 5 6 0 1 5 6 4 7 8 7 8 4 MODE 5 6 9 4 Set the one place. Set the ten place. 9 0 1 Occupied station count switch (SW1) SW1 Set the number of occupied stations. Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR Cooling fan Section 3.2.5 Section 11.3 USB communication connector (CN5) Used to connect the personal computer. Chapter 7 RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Chapter 7 Chapter 8 Chapter 15 CC-Link connector (CN1) Wire the CC-Link cable. Section 3.2.2 I/O signal connector (CN6) Used to connect digital I/O signals. Section 4.2 Section 4.4 Battery holder Contains the battery for absolute position data backup. Section 5.8 Encoder connector (CN2) Used to connect the servo motor encoder. Section 4.10 Section 14.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 5.8 Section 14.7 Section 4.1 Section 4.3 Section 12.1 Section 14.11 DC reactor terminal block (TE3) Used to connect the DC reactor. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (4 places) Main circuit terminal block (TE1) Used to connect the input power supply and servo motor. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Protective earth (PE) terminal ( Ground terminal. Rating plate 1 - 20 Section 4.1 Section 4.3 Section 12.1 ) Section 1.4 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-700T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Section 5.3 Chapter 11 Baud rate switch (MODE) 2 3 9 X10 STATION NO. X1 0 1 9 0 1 4 5 6 4 Section 3.2.3 7 8 7 8 2 3 5 6 2 3 2 3 Section 3.2.4 Station number switches (STATION NO.) Set the station number of the servo amplifier. 0 1 2 3 Select the CC-Link communication baud rate. 9 0 1 5 6 7 8 7 8 2 3 9 0 1 4 5 6 7 8 5 6 4 7 8 4 MODE 5 6 9 4 Set the one place. Set the ten place. 9 0 1 Occupied station count switch (SW1) SW1 Set the number of occupied stations. Cooling fan Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR Section 3.2.5 Section 11.3 USB communication connector (CN5) Used to connect the personal computer. Chapter 7 RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Chapter 7 Chapter 8 Chapter 15 CC-Link connector (CN1) Wire the CC-Link cable. Section 3.2.2 I/O signal connector (CN6) Used to connect digital I/O signals. Section 4.2 Section 4.4 Battery holder Contains the battery for absolute position data backup. Section 5.8 Encoder connector (CN2) Used to connect the servo motor encoder. Section 4.10 Section 14.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 5.8 Section 14.7 DC reactor terminal block (TE3) Used to connect the DC reactor. Section 4.1 Section 4.3 Section 12.1 Section 14.11 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (4 places) Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 4.1 Main circuit terminal block (TE1) Section 4.3 Used to connect the input power supply and servo motor. Section 12.1 Protective earth (PE) terminal ( ) Ground terminal. Rating plate 1 - 21 Section 1.4 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-11KT(4) to MR-J3-22KT(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Section 5.3 Chapter 11 Baud rate switch (MODE) MODE 4 5 6 2 3 7 8 0 1 Station number switches (STATION NO.) Set the station number of the servo amplifier. 5 6 X10 STATION NO. X1 5 6 2 3 2 3 2 3 0 1 7 8 9 0 1 7 8 2 3 0 1 5 6 9 4 5 6 Section 3.2.3 7 8 7 8 5 6 4 0 1 9 4 9 2 3 7 8 4 Section 3.2.4 9 4 Select the CC-Link communication baud rate. Set the one place. Set the ten place. 9 0 1 Occupied station count switch (SW1) SW1 Set the number of occupied stations. Fixed part (4 places) Cooling fan Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR Section 3.2.5 Section 11.3 USB communication connector (CN5) Used to connect the personal computer. Chapter 7 RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Chapter 7 Chapter 8 Chapter 15 CC-Link connector (CN1) Wire the CC-Link cable. Section 3.2.2 I/O signal connector (CN6) Used to connect digital I/O signals. Section 4.2 Section 4.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 4.10 Section 14.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 5.8 Section 14.7 Battery holder Contains the battery for absolute position data backup. Section 5.8 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Section 1.4 Rating plate Protective earth (PE) terminal ( Ground terminal. 1 - 22 ) Section 4.1 Section 4.3 Section 12.1 Section 14.11 1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. (1) For MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Removal of the front cover a) a) Hold the ends of lower side of the front cover with both hands. Pull up the cover, supporting at point a). Pull out the front cover to remove. 1 - 23 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab a) a) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Pull up the cover, supporting at point a). Setting tab Push the setting tabs until they click. 1 - 24 1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KT(4) to MR-J3-22KT(4) Removal of the front cover c) b) a) 1) Press the removing knob on the lower side of the front cover ( a) and b) ) and release the installation hook. 2) Press the removing knob of c) and release the external hook. 3) Pull it to remove the front cover. Reinstallation of the front cover (Note 1) (Note 1) d) c) (Note 2) b) a) Installation hook 1) Fit the front cover installation hooks on the sockets of body cover ( a) to d) ) to reinstall it. 2) Push the front cover until you hear the clicking noise of the installation hook. Note 1. The cooling fan cover can be locked with enclosed screws (M4 40). 2. By drilling approximately 4 of a hole on the front cover, the front cover can be locked on the body with an enclosed screw (M4 14). 1 - 25 1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100T or less (a) For 3-phase or 1-phase 200V to 230VAC RST (Note 3) Power supply MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) (Note 2) CN5 CC-Link CN3 Line noise filter (FR-BSF01) CN1 CN6 U V W L1 L2 L3 (Note 2) Power factor improving DC reactor (FR-BEL) I/O signal CN2 CN4 P1 (Note 1) Battery MR-J3BAT P2 P C Servo motor Regenerative option Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70T or less. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.2 for the power supply specification. 1 - 26 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC (Note 3) Power supply R S MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) Power factor improving DC reactor (FR-BEL) CN5 (Note 2) Line noise filter (FR-BSF01) CC-Link CN3 CN1 CN6 U V W L1 L2 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT P C Servo motor Regenerative option Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The power factor improving DC reactor cannot be used. 3. Refer to section 1.2 for the power supply specification. 1 - 27 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60T4 MR-J3-100T4 RST (Note 3) Power supply MR Configurator No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Personal computer Servo amplifier (Note 2) CN5 CN3 Line noise filter (FR-BSF01) CC-Link CN1 (Note 2) Power factor improving DC reactor (FR-BEL-H) L1 L2 L3 CN6 I/O signal CN2 CN4 P1 P2 (Note 1) Battery MR-J3BAT Servo motor P C U V W Regenerative option L11 L21 Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.2 for the power supply specification. 1 - 28 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200T(4) RST (Note 3) Power supply No-fuse breaker (NFB) or fuse MR Configurator Magnetic contactor (MC) Personal computer (Note 2) Line noise filter (FR-BSF01) Servo amplifier (Note 2) Power factor improving DC reactor (FR-BEL/ FR-BEL-H) L1 L2 L3 CN5 CN3 P1 CC-Link (Note 4) P2 Regenerative P option C L11 CN1 L22 CN6 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U V W Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.2 for the power supply specification. 4. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T-RT, refer to appendix 5. 1 - 29 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T (Note 3) Power supply RST No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator Personal computer (Note 2) Servo amplifier Line noise filter (FR-BLF) (Note 2) Power factor improving DC reactor(FR-BEL) L1 L2 L3 P1 CN5 CN3 P2 CC-Link CN1 Regenerative option P C L11 CN6 L21 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U V W U Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.2 for the power supply specification. 1 - 30 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350T4 MR-J3-500T(4) (Note 3) Power supply RST MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) CN5 CC-Link CN3 Line noise filter (FR-BLF) (Note 2) (Note 1) Battery MR-J3BAT CN1 CN6 I/O signal CN2 CN4 L11 L21 P1 P2 L3 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) L2 L1 P C Regenerative option U V W Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.2 for the power supply specification. 1 - 31 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700T(4) (Note 3) Power supply RST MR Configurator No-fuse breaker (NFB) or fuse Personal computer Servo amplifier Magnetic contactor (MC) CN5 (Note 2) Line noise filter (FR-BLF) (Note 1) Battery MR-J3BAT L11 L21 CC-Link CN3 CN6 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) I/O signal CN2 CN4 P2 P1 L3 L2 L1 P C U V W Regenerative option Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.2 for the power supply specification. 1 - 32 1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KT(4) to MR-J3-22KT(4) RST (Note 3) Power supply MR Configurator Personal computer No-fuse breaker (NFB) or fuse L21 Servo amplifier L11 Magnetic contactor (MC) (Note 2) Line noise filter (FR-BLF) (Note 1) Battery MR-J3BAT CN5 CN3 CN6 CC-Link I/O signal CN2 CN4 L3 L2 L1 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) P1 P W V U P C Regenerative option Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P. 3. Refer to section 1.2 for the power supply specification. 1 - 33 1. FUNCTIONS AND CONFIGURATION 1.8 Selection of operation method Using the CC-Link communication functions, this servo enables a wide variety of operation methods. The operation method changes depending on the input device, parameter and point table setting. The flow of the operation method that changes depending on the device and parameter setting status is shown in the chart for your reference. Remote input-based point table No. setting auxiliary function valid (Refer to section 5.4) 1 station occupied MR-J3-T occupied station count setting switch SW1 OFF OFF Servo amplifier MR-J3-T OFF ON (Refer to section 3.2.5) Remote input position/speed specifying system selection (RY(n+2)A) OFF 2 stations occupied ON Remote register-based point table No. setting auxiliary function invalid Parameter No.PA30 0 1 2 Remote register-based position data setting/point table No. (speed) setting auxiliary function invalid Remote register-based position data/speed data setting auxiliary function invalid 1 - 34 1. FUNCTIONS AND CONFIGURATION Reference Point table auxiliary function 0 1 Absolute value command specifying system 2 Parameter No.PA01 3 0 1 Point table auxiliary function Incremental value command specifying system Parameter No.PA01 0 1 Parameter No.PA01 0 1 Parameter No.PA01 0 1 0 1 Main description Positioning operation is executed once with position data handled as absolute value. Section 3.8.2 Positioning is started by making the start signal Section valid after selection of 5.4.2 (1) Continuous positioning operation is executed with position data handled as absolute values. Section 3.8.2 remote input. Using the auxiliary function, Section 5.4.2 (4)(b)1) automatic continuous Positioning operation is executed once with position data handled as incremental value. Section 3.8.2 performed with multiple point tables. Section 5.4.2 (2) Continuous positioning operation is executed with position data handled as incremental values. Section 3.8.2 Section 5.4.2 (4)(b)1) Positioning operation is executed once in incremental value command system. Continuous positioning operation is executed in incremental value command system. Section 3.8.2 Section 5.4.2 (1) Remote input absolute value/incremental value selection (RY(n+2)B) Positioning operation is executed once with OFF position data handled Absolute value as absolute value. command Positioning operation is ON specifying system executed once with position data handled as incremental value. Positioning operation is Incremental value executed once in command incremental value specifying system Remote input absolute command system. value/incremental value Positioning operation is selection (RY(n+2)B) executed once with OFF position data handled Absolute value as absolute value. command Positioning operation is ON specifying system executed once with position data handled as incremental value. Positioning operation is Incremental value executed once in command incremental value specifying system Remote input absolute command system. value/incremental value Positioning operation is selection (RY(n+2)B) executed once with position data handled OFF as absolute value. Absolute value command Positioning operation is ON specifying system executed once with position data handled as incremental value. Positioning operation is Incremental value executed once in command incremental value specifying system command system. 1 - 35 the point table with the operation can be Section 3.8.2 Section 5.2.2 (4)(b)2) Section 3.6.3 (1) Section 3.7.6 (3) Section 3.6.3 (2) Section 3.6.3(3) Section 3.8.4 Section 5.4.3(1) Section 3.6.3 (3) Section 5.4.3 (2) Section 3.6.3(3) Section 3.7.6(2) Section 5.4.3(3) Positioning is started by making the start signal valid after selection of the point table with the remote register. The auxiliary function cannot be used. Set the position data directly with the remote register, and use the settings of the point table selected with the remote register as the servo motor speed and acceleration/deceleration time constants. Positioning is started by making the start signal valid. The auxiliary function cannot be used. Set the position data and servo motor speed directly with the remote register. Use the settings of the point table No.1 as the acceleration/deceleration time constants. Positioning is started by making the start signal valid. The auxiliary function cannot be used. 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 36 2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. (For the environmental conditions, refer to section 1.2.) CAUTION Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier. Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur. Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier. When the product has been stored for an extended period of time, consult Mitsubishi. When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier. 2.1 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) 7kW or less (a) Installation of one servo amplifier Control box Control box 40mm or more Wiring allowance Servo amplifier 80mm or more Top 10mm or more 10mm or more Bottom 40mm or more 2- 1 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is available for the servo amplifier of under 3.5kW for 200V class and 400W for 100V class. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, bring the ambient temperature within 0 to 45 (32 to 113 ), or use it at 75% or a smaller effective load ratio. Control box Control box 100mm or more 10mm or more 100mm or more 1mm 1mm Top 30mm or more 30mm or more 30mm or more 30mm or more Bottom 40mm or more 40mm or more Mounting closely Leaving clearance (2) 11k to 22kW (a) Installation of one servo amplifier Control box Control box 40mm or more Servo amplifier Wiring allowance 80mm 10mm or more Top 10mm or more Bottom 120mm or more 2- 2 2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. Control box 100mm or more 10mm or more Top 30mm or more 30mm or more Bottom 120mm or more (3) Others When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.2 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a cooling fan installed on the ceiling. (3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box. 2.3 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables. (3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles. (4) For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section 10.4 for the flexing life. 2- 3 2. INSTALLATION 2.4 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative. POINT Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty. Do not disassemble and/or repair the equipment on customer side. It is recommended to make the following checks periodically. (1) Check for loose terminal block screws. Retighten any loose screws. (2) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions. 2.5 Parts having service lives The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative. Part name Life guideline Smoothing capacitor Servo amplifier Relay Cooling fan Absolute position battery 10 years Number of power-on and number of emergency stop times : 100,000 times 10,000 to 30,000hours (2 to 3 years) Refer to section 5.8 (1) Smoothing capacitor Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment. (2) Relays Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity. (3) Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. 2- 4 3. CC-LINK COMMUNICATION FUNCTIONS 3. CC-LINK COMMUNICATION FUNCTIONS 3.1 Communication specifications POINT This servo is equivalent to a remote device station. For details of the programmable controller side specifications, refer to the CC-Link system master unit manual. Item Specifications Power supply 5VDC supplied from servo amplifier Applicable CC-Link version Ver.1.10 Communication speed 10M/5M/2.5M/625k/156kbps Communication system Broadcast polling system Synchronization system Frame synchronization system CC-Link Encoding system MRZI Transmission path format Bus format (conforming to EIA RS485) CRC (X16+X12+X5+1) Error control system Connection cable CC-Link Ver.1.10-compliant cable (Shielded 3-core twisted pair cable) Transmission format Conforming to HDLC Remote station number (Note) Communication speed Cable Maximum overall cable length length Inter-station cable length Number of servo amplifiers connected 1 to 64 156Kbps 625Kbps 2.5Mbps 5Mbps 10Mbps 1200m 900m 400m 160m 100m 0.2m or more Max. 42 (when 1 station is occupied by 1 servo amplifier), (max. 32 when 2 stations are occupied by 1 servo amplifier), when there are only remote device stations. Can be used with other equipment. Note. If the system comprises of both CC-Link Ver.1.00- and Ver.1.10-compliant cables, Ver.1.00 specifications are applied to the overall cable length and the cable length between stations. For more information, refer to the CC-Link system master/local unit user's manual. 3- 1 3. CC-LINK COMMUNICATION FUNCTIONS 3.2 System configuration 3.2.1 Configuration example (1) Programmable controller side Fit "Type QJ61BT11N", "Type A1SJ61BT11" or "Type A1SJ61QBT11" "Control & Communication Link system master/local module" to the main or extension base unit which is loaded with the programmable controller CPU used as the master station. (2) Wiring Connect the programmable controller CC-Link unit master station and the servo amplifier by a twisted pair cable (3-wire type). Programmable controller CC-Link unit CC-Link Ver.1.10-compliant cable 3- 2 3. CC-LINK COMMUNICATION FUNCTIONS 3.2.2 Wiring method (1) Communication connector The pin layout of the communication connector CN10 on the servo amplifier unit is shown below. Servo amplifier DA DB DG SLD FG CN1 CN1 (2) Connection example The servo amplifier and programmable controller CC-Link master unit are wired as shown below. Refer to section 14.9 (3) for the CC-Link Ver.1.10-compliant cable used for connection. Programmable controller CC-Link master unit Servo amplifier CN1 FG FG SLD SLD DG DG DB DB DA DA (3) Example of connecting multiple servo units As the remote I/O stations of CC-Link, servo amplifiers share the link system and can be controlled/monitored using programmable controller user programs. SLD DG Termination register DB MR-J3- T option unit CC-Link connector (CN1) DA DB DG SLD FG FG MR-J3- T option unit CC-Link connector (CN1) DA DB DG SLD FG Programmable controller CC-Link master unit (Note 1) Termination register DA (Note 2) CC-Link Ver.1.10-compliant cable Note 1. Use the termination resistor supplied with the programmable controller. The resistance of the termination resistor depends on the cable used. For details, refer to the open field network CC-Link catalog (L(NA)74108143). 2. Refer to (4) in this section. 3- 3 3. CC-LINK COMMUNICATION FUNCTIONS (4) How to wire the CC-Link connector (CN1) (a) Strip the sheath of the cable and separate the internal wires and braided shield. (b) Strip the sheaths of the braided shield and internal wires and twist the cores. Braided shield Approx. 10mm 3-core twisted pair cable (c) Match and twist the wires and braided shield of the cable connected to the preceding axis or programmable controller and the corresponding wires and braided shield of the cable connected to the subsequent axis. (d) For the last axis, work the termination resistor supplied to the CC-Link master unit as shown below. Termination register (10mm) (10mm) Cut Remove sheath Remove sheath Fold lead wire Cut (e) Insert the core of the cable into the opening and tighten it with a flat-blade screwdriver so that it will not come off. (Tightening torque: 0.5 to 0.6N m) When inserting the wire into the opening, make sure that the terminal screw is fully loose. To the next station To the preceding station or programmable controller Loosen Tighten CC-Link connector (CN1) Flat blade screwdriver Tip thickness 0.4 to 0.6mm Full wide 2.5 to 3.5mm POINT Do not solder the cores as it may cause a contact fault. Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit, please consult us. Product Torque screwdriver Bit for torque screwdriver Model N6L TDK B-30, flat-blade, H3.5 X 73L 3- 4 Manufacturer/Representative Nakamura Seisakusho Shiro Sangyo 3. CC-LINK COMMUNICATION FUNCTIONS 3.2.3 Station number setting POINT Be sure to set the station numbers within the range of 1 to 64. Do not set the other values. (1) How to number the stations Set the servo station numbers before powering on the servo amplifiers. Note the following points when setting the station numbers. (a) Station numbers may be set within the range 1 to 64. (b) One servo amplifier occupies 1 or 2 stations. (One station of programmable controller remote device station) (c) Max. number of connected units: 42 Note that the following conditions must be satisfied. {(1 a) (2 b) (3 c) (4 d)} 64 a: Number of 1-station occupying units b: Number of 2-station occupying units c: Number of 3-station occupying units (not available for MR-J3-T) d: Number of 4-station occupying units (not available for MR-J3-T) {(16 A) (54 B) (88 C)} 2304 A: Number of remote I/O stations 64 B: Number of remote device stations 42 C: Number of local stations 26 (d) When the number of units connected is 4, station numbers can be set as shown below. CC-Link master unit Programmable controller remote I/O station (1 station occupied) Servo amplifier No.1 (When 2 stations are occupied) Remote device station Servo amplifier No.2 (When 2 stations are occupied) Remote device station Servo amplifier No.3 (When 2 stations are occupied) Remote device station Station No.1 Station No.2 Station No.4 Station No.6 Number of connected units is 4. (2) Station number setting method Set the station number with the station number switches (STATION NO.) on the servo amplifier front. The station number that may be set is any of 1 to 64 in decimal. In the initial status, the station number is set to station 1. X10 STATION No. X1 5 6 5 6 7 8 8 2 3 4 7 2 3 4 9 0 1 Servo amplifier 9 0 1 Set the units. (initial value: 1) Set the tens. (initial value: 0) 3- 5 3. CC-LINK COMMUNICATION FUNCTIONS 3.2.4 Communication baud rate setting Set the transfer baud rate of CC-Link with the transfer baud rate switch (MODE) on the servo amplifier front. The initial value is set to 156kbps. The overall distance of the system changes with the transfer speed setting. For details, refer to the CC-Link system master/local unit user's manual. Servo amplifier MODE No. 0 5 0 1 5 9 5 7 8 2 3 5 6 4 Baud rate 0 (initial value) 1 2 3 4 5 to 9 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps Not used 0 0 3.2.5 Occupied station count setting Set the number of occupied stations with the occupied station count switch (SW1) on the servo amplifier front. The usable I/O device and the number of connectable units change with the set number of occupied stations. Refer to section 3.2.3. In the initial status, the number of stations occupied is set to 1. SW1 setting Servo amplifier Number of occupied stations Initial value 1 station occupied 5 0 5 0 Note. 5 2 station occupied 0 (Note) SW1 This switch hidden under the cover is for manufacturer setting. Do not change this setting by any means. 3- 6 3. CC-LINK COMMUNICATION FUNCTIONS 3.3 Functions 3.3.1 Function block diagram This section explains the transfer of I/O data to/from the servo amplifier in CC-Link, using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally performed at intervals of 3.5 to 18ms (512 points). The link scan time of link refresh changes with the communication speed. For details, refer to the CC-Link system master/local unit user's manual. (2) The I/O refresh and master station sequence program are executed asynchronously. Some programmable controllers allow link scans to be synchronized with programmable controller scans. (3) The FROM instruction from the buffer memory of the CC-Link system master/local unit is used to read data from the servo amplifier, and the TO instruction is used to write data. Some programmable controllers allow automatic refresh to be set to omit the FROM and TO instructions. Buffer memory 3) CC-Link Ver.1.10compliant cable CC-Link interface CPU CC-Link interface 2) Buffer memory access Interface with programmable controller Programmable controller CPU 1) QJ61B11N I/O signal Input Output Servo amplifier CPU Servo amplifier Programmable controller CC-Link unit 3.3.2 Functions The following table lists the functions that may be performed from the programmable controller in the CC-Link system in the CC-Link operation mode or test operation mode. Item Operation mode CC-Link operation mode Monitor Operation Parameter write Parameter read Point table data write Point table data read 3- 7 Test operation mode 3. CC-LINK COMMUNICATION FUNCTIONS 3.4 Servo amplifier setting (1) Servo amplifier side operation modes This servo amplifier has the following operation modes. Operation mode Test operation mode CC-Link operation mode Description Parameter unit or personal computer in which MR Configurator is installed is used to run the servo motor. CC-Link communication functions are used to operate the servo with the programmable controller programs. (2) Operation mode changing (a) Operation mode changing conditions Change the operation mode after making sure that. 1) The servo motor is at a stop. 2) The forward rotation start (RYn1) or reverse rotation start (RYn2) is OFF. (b) Operation mode changing method When changing from test operation to CC-Link operation, deselect test operation by switching power OFF/ON. CC-Link operation mode Test operation mode is selected using a parameter unit or a personal computer in which MR Configurator is installed. Test operation mode Deselect test operation mode by switching power OFF/ON. 3- 8 3. CC-LINK COMMUNICATION FUNCTIONS 3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU 3.5.1 I/O signals (I/O devices) The input signals (input devices) may be used as either the CC-Link or CN6 external input signals. Make selection in parameter No.PD06 to PD11, PD12 and PD14. The output signals (output devices) can be used as both the CC-Link CN6 external output signals. POINT In the factory-shipped status, the forward rotation stroke end (LSP), reverse rotation stroke end (LSN) and proximity dog (DOG) are valid as the CN6 external input signals. (1) When 1 station is occupied RYn/RXn: 32 points each, RWrn/RWwn: 4 points each Programmable controller (Note) Device No. Servo amplifier (RYn) Servo amplifier CN6 Signal connector abbreviation pin No. Signal name (Note) Device No. Programmable controller (RXn) CN6 Signal connector abbreviation pin No. Signal name RYn0 Servo-on SON RXn0 Ready RD RYn1 Forward rotation start ST1 RXn1 In position INP RYn2 Reverse rotation start ST2 RXn2 Rough match CPO RYn3 Proximity dog DOG 2 RXn3 Home position return completion RYn4 Forward rotation stroke end LSP 3 RXn4 Limiting torque RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved RYn6 Automatic/manual selection MDO RXn6 Electromagnetic brake interlock RYn7 Temporary stop/Restart TSTP RXn7 Temporary stop PUS RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF RYn9 Instruction code execution demand COR RYnA Point table No. selection 1 RXn9 Instruction code execution completion COF DI0 ZP MBR RYnB Point table No. selection 2 DI1 RXnA Warning Point table No. selection 3 DI2 RXnB Battery warning BWNG RYnD Point table No. selection 4 DI3 RXnC Movement completion MEND RYnE Point table No. selection 5 DI4 RXnD Dynamic brake interlock RYnF Clear CR RXnE Position range output RXnF Reserved 1)0 to Reserved RY(n 1)9 RY(n 1)A Reset RY(n 1)B to RY(n RX(n Reserved 1)F Reserved 1)9 RX(n 1)A Trouble ALM RX(n Remote station communication 1)B ready CRD RX(n 1)C RX(n Programmable controller RWwn Reserved 1)F Servo amplifier (RWwn) Signal name DB POT RX(n to Address No. WNG 1)1 to RES Servo amplifier Address No. Monitor 1 RWrn 1 Monitor 2 RWrn 1 RWwn 2 Instruction code RWrn 2 Respond code RWwn 3 Writing data RWrn 3 Reading data 3- 9 Programmable controller (RWrn) Signal name Monitor 1 data RWwn Note. "n" depends on the station number setting. 16 TLC RYnC RY(n 14 Monitor 2 data 15 3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Programmable controller (Note 1) Device No. Servo amplifier (RYn) Signal name Servo amplifier CN6 Signal connector abbreviation pin No. (Note 1) Device No. Programmable controller (RXn) Signal name CN6 Signal connector abbreviation pin No. RYn0 Servo-on SON RXn0 Ready RD RYn1 Forward rotation start ST1 RXn1 In position INP RYn2 Reverse rotation start ST2 RXn2 Rough match CPO RYn3 Proximity dog DOG 2 RXn3 Home position return completion RYn4 Forward rotation stroke end LSP 3 RXn4 Limiting torque RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved RYn6 Automatic/manual selection MDO RXn6 Electromagnetic brake interlock RYn7 Temporary stop/Restart TSTP RXn7 Temporary stop PUS RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF RYn9 Instruction code execution demand COR RXn9 Instruction code execution completion COF RYnA Point table No. selection 1 DI0 RXnA Warning RYnB Point table No. selection 2 DI1 RXnB Battery warning BWNG RYnC Point table No. selection 3 DI2 RXnC Movement completion MEND RYnD Point table No. selection 4 DI3 RXnD Dynamic brake interlock RYnE Point table No. selection 5 DI4 RXnE Position range output RYnF Clear CR RXnF RY(n 1)0 to Reserved RY(n 1)F RY(n Position instruction execution 2)0 demand (Note) RY(n Speed instruction execution 2)1 demand (Note) RY(n 2)2 Reserved RY(n 2)3 Point table No. selection 6 RY(n ZP MBR WNG DB POT to Reserved RX(n 1)F 2)0 Position instruction execution completion RX(n 2)1 Speed instruction execution completion RX(n 2)2 Point table No. output 1 PT0 RX(n 2)3 Point table No. output 2 PT1 DI5 RX(n 2)4 Point table No. output 3 PT2 2)4 Point table No. selection 7 DI6 RX(n 2)5 Point table No. output 4 PT3 RY(n 2)5 Point table No. selection 8 DI7 RX(n 2)6 Point table No. output 5 PT4 RY(n 2)6 Internal torque limit selection TL1 RX(n 2)7 Point table No. output 6 PT5 RY(n 2)7 Proportion control PC RX(n 2)8 Point table No. output 7 PT6 RY(n 2)8 Gain changing CDP RX(n 2)9 Point table No. output 8 PT7 RY(n 2)9 Reserved RX(n 2)A RY(n 2)A Position/speed specifying system selection RY(n 2)B Absolute value/incremental value selection RY(n 2)C to RY(n 3)0 to 3)9 RY(n 3)A Reset RY(n 3)B to Reserved RX(n 2)F RX(n 3)0 to Reserved RY(n RY(n to Reserved 2)F 16 TLC RX(n RY(n 14 Reserved RX(n 3)9 RX(n 3)A Trouble ALM RX(n Remote station communication 3)B ready CRD RX(n 3)C to RES RX(n Reserved 3)F Note. "n" depends on the station number setting. 3 - 10 Reserved 3)F 15 3. CC-LINK COMMUNICATION FUNCTIONS Programmable controller (Note 1) Address No. RWwn Servo amplifier (RWwn) Servo amplifier (Note 1) Address No. Signal name (Note 2) Monitor 1 RWrn Programmable controller (RWrn) Signal name Monitor 1 data lower 16 bit RWwn 1 (Note 2) Monitor 2 RWwn 1 RWwn 2 Instruction code RWwn 2 Monitor 1 data upper 16 bit Respond code RWwn 3 Writing data RWwn 3 Reading data RWwn 4 (Note 3) Position command data lower 16 bit/Point table No. RWwn 4 RWwn 5 Position command data upper 16 bit RWwn 5 Monitor 2 data lower 16 bit RWwn 6 (Note 4) Speed command data/Point table No. RWwn 6 Monitor 2 data upper 16 bit RWwn 7 Reserved RWwn 7 Reserved Note 1. "n" depends on the station number setting. 2. Specify the code of the lower 16 bit as the monitor code of 32-bit data. 3. When the parameter No.PC30 setting is " 0", specify the point table No. in RWwn 4. When the parameter No.PC30 setting is " 1" or " 2", specify the position data in RWwn 4/RWwn 5 and turn ON Position instruction execution demand (RY(n 2)0). 4. When the parameter No.PC30 setting is " 1", specify the point table No. in RWwn 6. When the parameter No.PC30 setting is " 2", specify the speed data in RWwn 6, and turn ON Speed instruction execution demand (RY(n 2)1). When setting the parameter No.PC30 to " 2", always set the acceleration/deceleration time constant in the point table No.1. When the parameter No.PC30 setting is " 0", the RWwn 6 value is not used. 3 - 11 3. CC-LINK COMMUNICATION FUNCTIONS 3.5.2 Detailed explanation of I/O signals (1) Input signals (Input devices) The note signs in the remarks column indicates the following descriptions. 1: Can be used as external input signals of CN6 connector by setting parameters No.PD06 to PD08 and parameter No.PD12 PD14. 2: Can be automatic turned ON internally by setting parameters No.PD01 PD04. The device whose Device No. field has an oblique line cannot be used in CC-Link. Signal name (Device name) Device No. Description 1 station occupied 2 stations occupied Remarks Servo-on Turning RYn0 ON powers on the base circuit, making operation ready to start. (Servo on status) Turning it OFF powers off the base circuit, coasting the servo motor. (Servo off status) RYn0 RYn0 1 Forward rotation start 1. In absolute value command system Turning RYn1 ON for automatic operation executes positioning once on the basis of the position data set to the point table. Turning RYn1 ON for a home position return immediately starts a home position return. Keeping RYn1 ON for JOG operation performs rotation in the forward rotation direction. Forward rotation indicates the address increasing direction. 2. In incremental value command system Turning RYn1 ON for automatic operation executes positioning once in the forward rotation direction on the basis of the position data set to the point table. Turning RYn1 ON for a home position return immediately starts a home position return. Keeping RYn1 ON for JOG operation performs rotation in the forward rotation direction. Forward rotation indicates the address increasing direction. RYn1 RYn1 1 Reverse rotation start Use this device in the incremental value command system. Turning RYn2 ON for automatic operation executes positioning once in the reverse rotation direction on the basis of the position data set to the point table. Keeping RYn2 ON for JOG operation performs rotation in the reverse rotation direction. Reverse rotation indicates the address decreasing direction. Reverse rotation start (RYn2) is also used as the start signal of the high-speed automatic positioning function to the home position. RYn2 RYn2 1 3 - 12 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Proximity dog 1 station occupied 2 stations occupied In the shipment status, the proximity dog external input signal (CN6-2) is valid. For use in CC-Link, make it usable in parameter No.PD14. When RYn3 is turned OFF, the proximity dog is detected. The polarity of dog detection can be changed using parameter No.PD16. RYn3 RYn3 1 RYn4 RYn4 RYn5 RYn5 1 2 1 Parameter No.PD16 0 Proximity dog (RYn3) detection polarity (initial value) OFF 1 Forward rotation stroke end Reverse rotation stroke end Remarks Description ON In the factory-shipped status, the forward rotation stroke end is valid as the external input signal (CN6-3) and the reverse rotation stroke end is valid as the external input signal (CN6-4). Before operation, short between CN6-3 and DOCOM, and between CN6-4 and DOCOM. Opening them causes a sudden stop, resulting in servo lock. For use in CC-Link, make it usable in parameter No.PD12. When starting operation, turn RYn4/RYn5 to ON. Turning it to OFF causes a sudden stop, resulting in servo lock. A stopping method can be changed in parameter No.PD20. When not using the forward/reverse rotation stroke end, set "Automatic ON" in parameter No.PD01. (Note) Input signal RYn4 RYn5 1 1 0 1 1 0 0 0 Operation CCW direction CW direction Note. 0: OFF 1: ON Automatic/manual selection Turning RYn6 ON selects the automatic operation mode, and turning it OFF selects the manual operation mode. RYn6 RYn6 Temporary stop/Restart Turning RYn7 ON during automatic operation makes a temporary stop. Turning RYn7 ON again makes a restart. Forward rotation start (RYn1) or Reverse rotation start (RYn2) is ignored if it is turned ON during a temporary stop. When the automatic operation mode is changed to the manual operation mode during a temporary stop, the movement remaining distance is erased. During a home position return or during JOG operation, Temporary stop/Restart input is ignored. RYn7 RYn7 3 - 13 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station occupied 2 stations occupied Monitor output execution demand When RYn8 is turned ON, the following data and signals are set. At the same time, RXn8 turns ON. While RYn8 is ON, the monitor values are kept updated. 1) When 1 station is occupied Remote register RWrn: Data demanded by Monitor 1 (RWwn) Remote register RWrn 1: Data demanded by Monitor 2 (RWwn+1) Remote register RWrn 2: Respond code indicating normal or error 2) When 2 stations are occupied Remote register RWrn: Lower 16 bits of data demanded by Monitor 1 (RWwn) Remote register RWrn 1: Upper 16 bits of data demanded by Monitor 1 (RWwn) Remote register RWrn 5: Lower 16 bits of data demanded by Monitor 2 (RWwn+2) Remote register RWrn 6: Upper 16 bits of data demanded by Monitor 2 (RWwn+2) Remote register RWrn 2: Respond code indicating normal or error RYn8 RYn8 Instruction code execution demand Turning RYn9 ON executes the processing corresponding to the instruction code stored in remote register RWwn 2. After completion of instruction code execution, the respond code indicating normal or error is set to RWrn 2. At the same time, RXn9 turns ON. Refer to section 16.2.4 for details. RYn9 RYn9 Point table No. selection 1 The point table No. and the home position return are selected by RYnA to RY(n 2)5. RYnA RYnA RYnB RYnB RYnC RYnC RYnD RYnD RYnE RYnE Point table No. selection 2 Point table No. selection 3 (Note 1) Remote input Point table No. (Note 2) Point table No. selection 4 Point table No. selection 5 RY RY RY RYnE RYnD RYnC RYnB RYnA (n+2)5 (n+2)4 (n+2)3 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 1 4 0 0 0 0 0 1 0 0 Point table No. selection 8 Clear 1 2 0 Point table No. selection 6 Point table No. selection 7 Remarks RY(n 2)3 254 1 1 1 1 1 1 1 0 255 1 1 1 1 1 1 1 1 RY(n 2)4 Note 1. 0: OFF 1: ON 2. Home position return is a setting When the parameter No.PD22 setting is " 1", the position control counter droop pulses is cleared at the leading edge of RYnF. The pulse width should be 10ms or more. When the parameter No.PD22 setting is " 2", the pulses are always cleared while RYnF is on. 3 - 14 RY(n 2)5 RYnF RYnF 1 2 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station occupied 2 stations occupied Remarks Position instruction demand When RY(n 2)0 is turned ON, the point table No. or position command data set to remote register RWwn 4/RWwn 5 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2. At the same time, RX(n 2)0 turns ON. Refer to section 3.6.3 for details. RY(n 2)0 Speed instruction demand When RY(n 2)1 is turned ON, the point table No. or speed command data set to remote register RWwn 6 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2. At the same time, RX(n 2)1 turns ON. Refer to section 3.6.3 for details. RY(n 2)1 Internal torque limit selection Turning RY(n 2)6 OFF makes the torque limit value of parameter No.PA11 (forward rotation torque limit) parameter No.PA12 (reverse rotation torque limit) valid, and turning it ON makes that of parameter No.PC35 (internal torque limit). (Refer to section 4.6.3) RY(n 2)6 1 Proportion control When RY(n 2)7 is turned ON, the speed amplifier is switched from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse by an external factor, it develops torque in an attempt to compensate for a position shift. When the shaft is locked mechanically after Movement completion (RXnC) is turned OFF, for example, turning Proportion control (RY(n 2)7) ON as soon as Movement completion (RXnC) turns OFF allows control of unnecessary torque developed in an attempt to compensate for a position shift. When the shaft is to be locked for an extended period of time, turn Internal torque limit selection (RY(n 2)6) ON simultaneously with Proportion control (RY(n 2)7) to make the torque not more than the rated torque using Internal torque limit (parameter No.PC35). RY(n 2)7 1 2 Gain changing When RY(n 2)8 is turned ON, the load inertia moment ratio and the corresponding gain values change to the values of parameter No.PB29 to PB32. To change the gain using RY(n 2)8, make the auto tuning invalid. RY(n+2)8 1 Position/speed specifying system selection Select how to give a position command/speed command. (Refer to section 3.6.3.) OFF: Remote input-based position/speed specifying system Specifying the point table No. with Point table No. selection (RYnA to RYnE) gives a position command/speed command. ON : Remote register-based position/speed specifying system Setting the instruction code to the remote register (RWwn 4 to RWwn 6) gives a position command/speed command. Set the parameter No.PC30 (direct specification selection) to " 2". RY(n 2)A 3 - 15 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Absolute value/incremental value selection RY(n 2)B is made valid when the remote register-based position/speed specifying system is selected with Position/speed specifying system selection (RY(n 2)A) and the absolute value command system is selected in parameter No.PD10. Turn RY(n 2)B OFF or ON to select whether the set position data is in the absolute value command system or incremental value command system. OFF: Position data is handled as an absolute value. ON : Position data is handled as an incremental value. Reset Keeping RY(n 1)A or RY(n 3)A ON for 50ms or longer allows an alarm to be deactivated. Some alarms cannot be deactivated by Reset RY(n 1)A or RY(n 3)A. (Refer to section 11.4.1.) If RY(n 1)A or RY(n 3)A is turned ON with no alarm occurring, the base circuit will not be shut off. When " 1 " is set in parameter No.PD20 (function selection D-1), the base circuit is shut off. This device is not designed to make a stop. Do not turn it ON during operation. Forced stop This device is exclusively used as a CN6 external input signal. It cannot be used for CC-Link. Turn EMG off to bring the motor to an forced stop state, in which the base circuit is shut off and the dynamic brake is operated. Turn EMG on in the forced stop state to reset that state. 3 - 16 1 station occupied 2 stations occupied Remarks RY(n 2)B RY(n 1)A RY(n 3)A 1 3. CC-LINK COMMUNICATION FUNCTIONS (2) Output signals (Output device) POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No. Signal name Description 1 station occupied 2 stations occupied Ready In the factory-shipped status, a ready is assigned to the CN6-14 pin as an external output signal. RXn0 turns ON when the servo amplifier is ready to operate after servo-on. RXn0 RXn0 In position RXn1 turns ON when the droop pulse value is within the preset in-position range. The in-position range can be changed using parameter No.PA10. Increasing the in-position range may result in a continuous conduction status during low-speed rotation. RXn1 turns ON at servo-on. RXn1 RXn1 Rough match RXn2 turns ON when the command remaining distance becomes less than the rough match output range set in the parameter. RXn2 turns ON at servo-on. RXn2 RXn2 Home position return completion In the factory-shipped status, the home position return completion is assigned to the CN6-16 pin as an external output signal. RXn3 turns ON when a home position return is completed. RXn3 turns ON at completion of a home position return. In an absolute position detection system, RXn3 turns ON when operation is ready to start, but turns OFF in any of the following cases. 1) Servo-on (RYn0) is turned OFF. 2) Forced stop (EMG) is turned OFF. 3) Reset (RY(n 1)A or RY(n 3)A) is turned ON. 4) Alarm occurs. 5) Forward rotation stroke end (RYn4) or Reverse rotation stroke end (RYn5) is turned OFF. 6) Home position return has not been made after product purchase. 7) Home position return has not been made after occurrence of Absolute position erase (A25) or Absolute position counter warning (AE3). 8) Home position return has not been made after electronic gear change. 9) Home position return has not been made after the absolute position detection system was changed from invalid to valid. 10) Parameter No.PA14 (Rotation direction selection) has been changed. 11) Software limit is valid. 12) While a home position return is being made. When any of 1) to 12) has not occurred and a home position return is already completed at least once, Home position return completion (RXn3) turns to the same output status as Ready (RXn0). RXn3 RXn3 Limiting torque RXn4 turns ON when the torque is reached at the time of torque generation. RXn4 RXn4 Electromagnetic brake interlock RXn6 turns OFF at servo-off or alarm occurrence. At alarm occurrence, it turns OFF independently of the base circuit status. RXn6 RXn6 Temporary stop RXn7 turns ON when deceleration is started to make a stop by Temporary stop/Restart (RYn7). When Temporary stop/Restart (RYn7) is made valid again to resume operation, RXn7 turns OFF. RXn7 RXn7 Monitoring Refer to Monitor output execution demand (RYn8). RXn8 RXn8 3 - 17 3. CC-LINK COMMUNICATION FUNCTIONS Signal name Instruction code execution completion Warning Battery warning Movement completion Dynamic brake interlock Position range Position instruction execution completion Speed instruction execution completion Point table No. output 1 Refer to Instruction code execution demand (RYn9). RXn9 RXn9 RXnA turns ON when a warning occurs. When no warning has occurred, RXnA turns OFF within about 1s after power-on. RXnB turns ON when Open battery cable warning (A92) or Battery warning (A9F) occurs. When no battery warning has occurred, RXnB turns OFF within about 1s after power-on. RXnC turns ON when In position (RXn1) turns ON and the command remaining distance is "0". RXnC turns ON at servo-on. RXnD turns off simultaneously when the dynamic brake is operated. When using the external dynamic brake on the servo amplifier of 11 kW or more, this device is required. (Refer to section 14.6.) For the servo amplifier of 7kw or less, it is not necessary to use this device. RXnE turns ON when the actual current position falls within the range set in the parameter. It is OFF when a home position return is not yet completed or while the base circuit is off. Refer to Speed instruction execution demand (RY(n+2)0). RXnA RXnA RXnB RXnB RXnC RXnC RXnD RXnD RXnE RXnE Refer to Position instruction execution demand (RY(n+2)1). This device is required when using the external dynamic brake with a servo amplifier of 11kW or more. (Refer to section 14.6.) This is not required with servo amplifiers of 7kW or less. As soon as Movement completion (RXnC) turns ON, the point table No. is output in 8-bit code. Point table No. output 2 Point table No. output 3 RX RX RX RX RX RX RX RX (n+2)9 (n+2)8 (n+2)7 (n+2)6 (n+2)5 (n+2)4 (n+2)3 (n+2)2 1 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 1 4 0 0 0 0 0 1 0 0 Point table No. output 5 RX(n+2)1 RX(n+2)2 RX(n+2)4 RX(n+2)5 RX(n+2)6 Point table No. output 6 Point table No. output 7 RX(n+2)0 RX(n+2)3 (Note) Remote output Point table No. Point table No. output 4 Device No. 1 station 2 stations occupied occupied Description RX(n+2)7 254 1 1 1 1 1 1 1 0 255 1 1 1 1 1 1 1 1 RX(n+2)8 Note. 0: OFF 1: ON Point table No. output 8 RX(n+2)2 to RX(n+2)9 turn OFF in any of the following statuses. Power on Servo off During home position return Home position return completion In any of the following statuses, RX(n+2)2 to RX(n+2)9 maintain their pre-change status (ON/OFF). When operation mode is changed When Automatic/manual selection (RYn6) is turned from OFF to ON or from ON to OFF to change the operation mode. During manual operation During execution of automatic positioning to home position 3 - 18 RX(n+2)9 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station occupied 2 stations occupied Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to shut off the base circuit. When no alarm has occurred, RX(n 1)A or RX(n 3)A turns OFF within about 1.5s after power is switched ON. RX(n 1)A RX(n 3)A Remote station communication ready This signal turns ON at power-on and turns off at a trouble occurrence or in the reset (RY(n 1)A or RY(n 3)A) ON status. RX(n 1)B RX(n 3)B (3) Remote registers The signal whose Remote Register field has an oblique line cannot be used. (a) Input (Programmable controller Servo amplifier) Remote register Signal name Description Setting range 1 station occupied 2 stations occupied RWwn RWwn Monitor 1 Demands the status indication data of the servo amplifier. 1) When 1 station is occupied Setting the monitor code of the status indication item to be monitored to RWwn and turning RYn8 to ON sets data to RWrn. RXn8 turns on at the same time. 2) When 2 stations are occupied Setting the monitor code of the status indication item to be monitored to RWwn and turning RYn8 to ON sets data to RWrn. RXn8 turns on at the same time. When demanding 32-bit data, specifying the lower 16-bit code No. and turning RYn8 to ON sets the lower 16-bit data to RWwn and the upper 16-bit data to RWrn. Data is stored in the RXn8. RXn8 turns on at the same time. Refer to section 3.5.3 for the item of the monitor code of the status indication. Refer to section 3.5.3. RWwn 1 RWwn 1 Monitor 2 Demands the status indication data of the servo amplifier. 1) When 1 station is occupied Setting the monitor code of the status indication item to be monitored to RWwn 1 and turning RYn8 to ON sets data to RWrn 1. RXn8 turns on at the same time. 2) When 2 stations are occupied Setting the monitor code of the status indication item to be monitored to RWwn 1 and turning RYn8 to ON sets data to RWrn 5. RXn8 turns on at the same time. When demanding 32-bit data, specifying the lower 16-bit code No. and turning RYn8 to ON sets the lower 16-bit data to RWwn 5 and the upper 16-bit data to RWrn 6. Data is stored in the RXn8. RXn8 turns on at the same time. Refer to section 3.5.3 for the item of the monitor code of the status indication. Refer to section 3.5.3. 3 - 19 3. CC-LINK COMMUNICATION FUNCTIONS Remote register 1 station occupied 2 stations occupied Signal name Description RWwn+2 RWwn+2 Instruction code Sets the instruction code used to perform parameter or point table data read and write, alarm reference or the like. Setting the instruction code No. to RWwn+2 and turning RYn9 to ON executes the instruction. RXn9 turns to ON on completion of instruction execution. Refer to section 3.5.4 (1) for instruction code No. definitions. Refer to section 3.5.4 (1). RWwn+3 RWwn+3 Writing data Sets the written data used to perform parameter or point table data write, alarm history clear or the like. Setting the written data to RWwn+3 and turning RYn9 to ON writes the data to the servo amplifier. RXn9 turns to ON on completion of write. Refer to section 3.5.4 (2) for written data definitions. Refer to section 3.5.4 (2). RWwn+4 Point table No./Position command data lower 16 bit Point table No.: 0 to 255 Absolute value command: Position command data: 999999 to 999999 Incremental value command: Position command data: 0 to 999999 RWwn+5 Position command data upper 16 bit Set the point table No. to be executed in the automatic operation mode when 2 stations are occupied. When the point table No. is set to RWwn+4 and RY(n+2)0 is turned ON, the point table No. is set to the servo amplifier. On completion of setting, RX(n+2)0 turns ON. When the point table is not used, set the position command data. When the lower 16 bits are set to RWwn+4 and the upper 16 bits to RWwn+5, and RY(n+2)0 is turned ON, the position command data in the upper and lower 16 bits are written. On complete of write, RX(n+2)0 turns ON. Use parameter No.PC30 to select whether point table No. setting or position command data setting will be made. Refer to section 3.6.3 for details of Point table No./Position command data. RWwn+6 Point table No./Speed command data When the point table is not used, set the point table No. to be executed or the speed command data (servo motor speed [r/min]). When the point table No. is set to RWwn+6 and RY(n+2)1 is turned ON, the point table No. or speed command data is set to the servo amplifier. On completion of setting, RX(n+2)1 turns ON. Use parameter No.PC30 to select whether point table No. setting or speed command data setting will be made. Refer to section 3.6.3 for details of Point table No./Speed command data. When setting the servo motor speed in this remote register, always set the acceleration/deceleration time constant in the point table No.1. Point table No.: 0 to 255 Speed command data: 0 to permissible speed 3 - 20 Setting range 3. CC-LINK COMMUNICATION FUNCTIONS (b) Output (Servo amplifier Programmable controller) Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to respond code (RWrn+2). Refer to section 3.5.5 for the error code. When 1 station is occupied Remote register Signal name Description RWrn Monitor 1 data The data of the monitor code set to RWwn is set. RWrn+1 Monitor 2 data The data of the monitor code set to RWwn+1 is set. RWrn+2 Respond code "0000" is set when the codes set to RWwn to RWwn+3 are executed normally. RWrn+3 Reading data Data corresponding to the read code set to RWwn+2 is set. When 2 stations are occupied Remote register RWrn RWrn+1 RWrn+2 RWrn+3 Signal name Description Monitor 1 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn are set. Monitor 1 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn are set. A sign is set if there are no data in the upper 16 bits. Respond code "0000" is set when the codes set to RWwn to RWwn+6 are executed normally. Reading data Data corresponding to the read code set to RWwn+2 is set. Monitor 2 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn+1 are set. Monitor 2 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn+1 are set. A sign is set if there are no data in the upper 16 bits. RWrn+4 RWrn+5 RWrn+6 RWrn+7 3 - 21 3. CC-LINK COMMUNICATION FUNCTIONS 3.5.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn+2). At this time, "0000" is set to RWrn, RWrn+1, RWrn+5 and RWrn+6. For monitor data, refer to section 8.5.3 (2). Code No. 1 station occupied Monitored item 2 stations occupied (Servo amplifier Data length 0000h 0000h 0001h 0001h Current position lower 16bit 16bit Current position upper 16bit 16bit 0003h Command position lower 16bit 16bit Command position upper 16bit 16bit 0005h Command remaining distance lower 16bit 16bit Command remaining distance upper 16bit 16bit 0002h 0003h 0004h 0005h 0006h Answer data Programmable controller) Unit STM 10 [mm] or STM 10 [inch] 0007h 0007h 0008h 0008h Point table No. 16bit [No.] 000Ah Feedback pulse value lower 16bit 16bit [pulse] Feedback pulse value upper 16bit 16bit [pulse] 0009h 000Ah 000Bh 000Ch 000Dh 000Eh 000Eh 000Fh Droop pulse value lower 16bit 16bit [pulse] Droop pulse value upper 16bit 16bit [pulse] 0010h 0010h 0011h 0011h Regenerative load factor 16bit [%] 0012h 0012h Effective load factor 16bit [%] 0013h 0013h Peak load factor 16bit [%] Instantaneously occurring torque 16bit [%] [rev] 0014h 0015h 0015h ABS counter 16bit 0016h 0016h Motor speed lower 16bit 16bit 0.1[rev/min] Motor speed upper 16bit 16bit 0.1[rev/min] 0018h 0018h Bus voltage 16bit [V] 0019h 0019h ABS position lower 16bit 16bit [pulse] ABS position middle 16bit 16bit [pulse] 001Bh 001Bh ABS position upper 16bit 16bit [pulse] 001Ch 001Ch Within one-revolution position lower 16bit 16bit [pulse] Within one-revolution position upper 16bit 16bit [pulse] 0017h 001Ah 001Dh 3 - 22 3. CC-LINK COMMUNICATION FUNCTIONS 3.5.4 Instruction codes (RWwn+2 RWwn+3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn+3). Set the command code No. corresponding to the item to RWrn+2. The codes and answer data are all 4digit hexadecimal numbers. Setting any command code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn+2). At this time, "0000" is set to Reading data (RWrn+3). Code No. Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function 0000h Operation mode Reads the current operation mode. 0002h Travel multiplying factor Reads the multiplying factor of the position data in the point table set in parameter No. PA05. 0000: CC-Link operation mode 0001: Test operation mode Travel multiplying factor 0300: 0200: 0100: 0000: 0010h Current alarm (warning) reading Reads the alarm No. or warning No. occurring currently. 1000 100 10 1 0 0 Occurring alarm No./warning No. 0020h Alarm number in alarm history (most recent alarm) 0021h Alarm number in alarm history (first recent alarm) 0022h Alarm number in alarm history (second recent alarm) 0023h Alarm number in alarm history (third recent alarm) 0024h Alarm number in alarm history (fourth recent alarm) 0025h Alarm number in alarm history (fifth recent alarm) 0030h Alarm occurrence time in alarm history (most recent alarm) 0031h Alarm occurrence time in alarm history (first recent alarm) 0032h Alarm occurrence time in alarm history (second recent alarm) 0033h Alarm occurrence time in alarm history (third recent alarm) 0034h Alarm occurrence time in alarm history (fourth recent alarm) 0035h Alarm occurrence time in alarm history (fifth recent alarm) 0 0 Alarm No. that occurred in past Occurrence time of alarm that occurred in past 3 - 23 3. CC-LINK COMMUNICATION FUNCTIONS Code No. 0040h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Input device status 0 Reads the statuses (OFF/ON) of the input devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0 When 2 stations are occupied, DI0, DI1 and DI2 do not function and therefore they are always "0". bit0: SON bit4: LSP bit8: MOR bitC: DI2 bit1: ST1 bit5: LSN bit9: COR bitD: DI3 bit2: ST2 bit6: MDO bitA: DI0 bitE: DI4 bit3: DOG bit7: TSTP bitB: DI1 bitF: 0041h Input device status 1 Reads the statuses (OFF/ON) of the input devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0: PSR bit1: SPR bit2: bit3: DI5 0042h Input device status 2 Reads the statuses (OFF/ON) of the input devices. Output device status 0 Reads the statuses (OFF/ON) of the Output devices. bit4: DI6 bit5: DI7 bit6: TL1 bit7: PC bit8: CDP bit9: bitA: CSL bitB: INC bitC: bitD: bitE: bitF: bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0: bit1: bit2: bit3: 0050h bit0 bit0 bit4: bit5: bit6: bit7: bit8: bit9: bitA: RES bitB: bitC: bitD: bitE: bitF: bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0: RD bit1: INP bit2: CPO bit3: ZP 0051h Output device status 1 Reads the statuses (OFF/ON) of the Output devices. bit0 bit4: TLC bit5: bit6: MBR bit7: PUS bit8: MOF bit9: COF bitA: WNG bitB: BWNG bitC: MEND bitD: bitE: POT bitF: bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0: PSF bit1: SPF bit2: PT0 bit3: PT1 3 - 24 bit0 bit4: PT2 bit5: PT3 bit6: PT4 bit7: PT5 bit8: PT6 bit9: PT7 bitA: bitB: bitC: bitD: bitE: bitF: 3. CC-LINK COMMUNICATION FUNCTIONS Code No. 0052h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Output device status 2 Reads the statuses (OFF/ON) of the Output devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0: bit1: bit2: bit3: 0081h Energization time Reads the energization time from shipment. bit0 bit4: bit5: bit6: bit7: bit8: bit9: bitA: ALM bitB: CRD bitC: bitD: bitE: bitF: Returns the energization time [h]. Energization time 0082h Power ON frequency Reads the number of power-on times from shipment. Returns the number of power-on times. Power ON frequency 00A0h Ratio of load inertia moment Reads the estimated ratio of load inertia moment to servo motor shaft inertia moment. Return unit [times]. Ratio of load inertia moment 00B0h 00B1h 00B2h Home position within-1-revolution position lower 16bit (CYC0) Reads the lower 16 bits of the cycle counter value of the absolute home position. Return unit [pulses]. Home position within-1-revolution position upper 16bit Reads the upper 16 bits of the cycle counter value of the absolute home position. Return unit [pulses]. Home position Multi-revolution data (ABS0) Multi-revolution counter value of absolute home position reading. Return unit [rev]. Cycle counter value Cycle counter value Multi-revolution counter value 00C0h Error parameter No./Point data No. reading Reads the parameter No./point table No. in error. Parameter No. or point table No. Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) Type 1: Parameter No. 2: Point table No. 3 - 25 ) 3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item/Function 0100h to 011Dh Monitor multiplying factor Reads the multiplying factor of the data to be read with the monitor code. The instruction codes 0100 to 011D correspond to the monitor codes 0000 to 001D. 0000 applies to the instruction code that does not correspond to the monitor code. 0200h Parameter group reading Reads the parameter group to be read with code No.8200h to be written. Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Monitor multiplying factor 0003: 0002: 0001: 0000: 1000 100 10 1 0 0 0 Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) 0201h to 02FFh 0301h to 03FFh Parameter data reading Reads the set value of each No. of the parameter group read with code No.0200h. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. If the instruction code is set outside the range set in parameter No.PA19, an error code is returned and the data cannot be read. Data form of parameter Reads the data format of each No. of the parameter group read with code No.0200h. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. If the instruction code is set outside the range set in parameter No.PA19, an error code is returned and the data cannot be read. ) The value set in the parameter No. corresponding to the requested group name is stored. The value set in the parameter No. corresponding to the requested group name is stored. 0 Data format 0: Used unchanged as hexadecimal 1: Must be converted into decimal Decimal point position 0: Without decimal point 1: First least significant digit (without decimal point) 2: Second least significant digit 3: Third least significant digit 4: Fourth least significant digit Parameter write type 0: Valid after write 1: Valid when power is switched on again after write 0401h to 04FFh 0501h to 05FFh The position data (upper 16 bits or lower 16 bits) set in the requested Position data of point table No.1 to 255 Reads the point table data of point table No.1 point table No. is returned. to 255. 0400 to 04FF: Position data in lower 16 bits of point table No.1 to 255 0500 to 05FF: Position data in upper 16 bits of point table No.1 to 255 Example Instruction code 0413: Lower 16 bits of point table No.19 Instruction code 0513: Upper 16 bits of point table No.19 3 - 26 3. CC-LINK COMMUNICATION FUNCTIONS Code No. 0601h to 06FFh Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Servo motor speed of point table No.1 to 255 The servo motor speed set to the requested point table No. is The decimal value converted from the 2 lower returned. digits of the code No. corresponds to the point table No. Servo motor speed 0701h to 07FFh 0801h to 08FFh 0901h to 09FFh 0A01h to 0AFFh Acceleration time constant of point table No.1 to 255 The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Deceleration time constant of point table No.1 to 255 The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Dwell of point table No.1 to 255 The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Auxiliary function of point table No.1 to 255 The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. The acceleration time constant set to the requested point table No. is returned. The deceleration time constant set to the requested point table No. is returned. The dwell set to the requested point table No. is returned. The Auxiliary function set to the requested point table No. is returned. (2) Write instruction codes Set the data, which was requested to be written with the instruction code 8010h to 91FFh. Set the instruction code No. corresponding to the item to Instruction code (RWwn+2) and the written data to Writing data (RWwn+3). The codes and answer data are all 4-digit hexadecimal numbers. When the instruction code which has not been described in this section is set, the error code ( 1 ) is stored in respond code (RWrn+2). Code No. Item 8010h Alarm reset command Deactivates the alarm that occurred. Feedback pulse value display data is clear Resets the display data of the status indication "feedback pulse value" to 0. Parameter group write command Writes the group of parameters that are written to with codes No.8201h to 82FFh and 8301h to 83FFh. Writes the group of parameters that are read with codes No.0201h to 02FFh and 0301h to 03FFh. 8101h 8200h Writing data (RWwn 3) contents (Programmable controller Servo amplifier) 1EA5 1EA5 0 0 0 Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) 3 - 27 ) 3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item 8201h to 82FFh Data RAM instruction of parameter Writes the set value of each No. of the parameter group written by code No.8200h to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. An error code is returned if an instruction code outside the range set in parameter No. PA19 or a value outside the setting range of the corresponding parameter is written. Data EEP-ROM instruction of parameter Writes the set value of each No. of the parameter group written with code No.8200h to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. An error code is returned if an instruction code outside the range set in parameter No. PA19 or a value outside the setting range of the corresponding parameter is written. Position data RAM command of point table Writes the position data of point table No. 1 to 255 to RAM. These values are cleared when power is switched off. 8301h to 83FFh 8401h to 84FFh 8501h to 85FFh Writing data (RWwn+3) contents (Programmable controller Servo amplifier) Convert the decimal values into hexadecimal before setting. Convert the decimal values into hexadecimal before setting. Convert the values into hexadecimal before setting. Point A set of the upper and lower bits makes position data. When changing the data, always set the data of both lower and upper bits in order of lower 16bit data and upper 16-bit data. 8400h to 84FFh: Position data in lower 16 bits of point table No.1 to 255 8500h to 85FFh: Position data in upper 16 bits of point table No.1 to 255 Example Instruction code 8413h: Lower 16 bits of point table No.19 Instruction code 8513h: Upper 16 bits of point table No.19 8601h to 86FFh 8701h to 87FFh Motor speed of point table Convert the values into hexadecimal before setting. Writes the motor speeds of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Acceleration time constant data RAM Convert the values into hexadecimal before setting. command of point table Writes the acceleration time constants of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. 3 - 28 3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item 8801h to 88FFh Deceleration time constant data RAM command of point table Writes the deceleration time constants of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Dwell data RAM command of point table Writes the dwell data of point table No.0 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Auxiliary function data RAM command of point table Writes the auxiliary function data of point table No.0 to 31 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Position data EEP-ROM command of point table Writes the position data of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. 8901h to 89FFh 8A01h to 8AFFh 8B01h to 8BFFh 8C01h to 8CFFh Writing data (RWwn 3) contents (Programmable controller Servo amplifier) Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Point A set of the upper and lower bits makes position data. When changing the data, always set the data of both lower and upper bits in order of lower 16bit data and upper 16-bit data. 8B01h to 8BFFh: Position data in lower 16 bits of point table No.1 to 255 8C01h to 8CFFh: Position data in upper 16 bits of point table No.1 to 255 Example Instruction code 8B13h: Lower 16 bits of point table No.19 Instruction code 8C13h: Upper 16 bits of point table No.19 8D01h to 8DFFh Servo motor speed data EEP-ROM command Convert the values into hexadecimal before setting. of point table Writes the servo motor speeds of point table No.1 to 255 to EEP-ROM. Written to EEPROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. 3 - 29 3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item 8E01h to 8EFFh Acceleration time constant data EEP-ROM command of point table Writes the acceleration time constants of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Deceleration time constant data EEP-ROM command of point table Writes the deceleration time constants of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Dwell data EEP-ROM command of point table Writes the dwell data of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Auxiliary function data EEP-ROM command of point table Writes the auxiliary function data of point table No.1 to 255 to EEP-ROM. Written to EEPROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. 8F01h to 8FFFh 9001h to 90FFh 9101h to 91FFh Writing data (RWwn+3) contents (Programmable controller Servo amplifier) Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. 3 - 30 3. CC-LINK COMMUNICATION FUNCTIONS 3.5.5 Respond codes (RWrn+2) If any of the monitor codes, instruction codes, position command data/point table Nos., speed command data/point table Nos. set to the remote register is outside the setting range, the corresponding error code is set to respond code (RWwn+2). "0000" is set if they are normal. Error related to Monitor code 1/Monitor code 2 Error related to Instruction code/Writing data Error related to Position instruction data/Point table No. Error related to Speed instruction data/Point table No. Code No. 0 1 2 3 Error Normal answer Details Instruction was completed normally. Code error The monitor code not in the specifications was set. Read/write of the point table of No.255 or later was set. Parameter point table selection error The parameter No. disabled for reference was set. Write range error An attempt was made to write the parameter or point table data outside the setting range. 3 - 31 3. CC-LINK COMMUNICATION FUNCTIONS 3.5.6 Setting the CN6 external input signals Using parameter No.PD06 to PD08, PD12 and PD14, you can assign the input devices as the CN6 external input signals. The signals assigned as the CN6 external input devices cannot be used in CC-Link. Refer to section 4.5.1 for the pins to which signals can be assigned. In the initial status, the forward rotation stroke end, reverse rotation stroke end and proximity dog are preset to be usable as the CN6 external input signals. Parameter No.PD12 Device name Servo-on (SON) Reset (RES) Device name Proportion control (PC) Clear (CR) Forward rotation start (ST1) Device name Reverse rotation start (ST2) Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX 0 Internal torque limit selection (TL1) 0 Forward rotation stroke end (LSP) 1 Reverse rotation stroke end (LSN) 1 Device name Gain changing (CDP) C Initial value BIN HEX 0 0 0 0 0 BIN 0: Used in CC-Link BIN 1: Used as CN6 external input signal 3 - 32 3. CC-LINK COMMUNICATION FUNCTIONS Parameter No.PD14 0 Device name Automatic/manual selection (MD0) Initial value BIN HEX 0 0 0 0 0 Device name Temporary stop/Restart (TSTP) Device name Proximity dog (DOG) Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX 0 0 8 0 1 BIN 0: Used in CC-Link BIN 1: Used as CN6 external input signal 3 - 33 3. CC-LINK COMMUNICATION FUNCTIONS 3.6 Data communication timing charts 3.6.1 Monitor codes (1) When 1 station is occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) ON OFF ON OFF Monitor 1 data (RWrn) Monitor 2 data (RWrn+1) Respond code (RWrn+2) Data HOLD Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor output execution demand (RYn8) to ON. Turning Monitor execution demand (RYn8) to ON sets the next data. Data are all hexadecimal numbers. At this time, Monitoring (RXn8) turns to ON at the same time. Monitor data 1 (RWrn): Data demanded by Monitor 1 (RWwn) Monitor data 2 (RWrn+1): Data demanded by Monitor 2 (RWwn+1) For 32-bit data, set the lower 16 bits of the monitor code to Monitor 1 (RWwn) and the upper 16 bits to Monitor 2 (RWwn+1) and read them simultaneously. The monitor data set to the remote register are always updated while Monitor execution demand (RYn8) is ON. When Monitoring (RXn8) turns to OFF, the data set to Monitor data RWrn, RWrn+1 are held. If the monitor code not in the specifications is set to either Monitor 1 (RWwn) or Monitor 2 (RWwn+1), the corresponding error code ( 1) is set to respond code. 3 - 34 3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution ON demand (RYn8) OFF Monitoring (RXn8) ON OFF Monitor 1 data Lower 16bit (RWrn) Monitor 1 data Upper 16bit (RWrn+1) Monitor 2 data Lower 16bit (RWrn+5) Monitor 2 data Upper 16bit (RWrn+6) Respond code (RWrn+2) Data HOLD Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor output execution demand (RYn8) to ON. Turning Monitor execution demand (RYn8) to ON sets the next data. 32-bit data are all divided into the upper 16 bits and lower 16 bits, and set to the remote register. Data are all hexadecimal numbers. At this time, Monitoring (RXn8) turns to ON at the same time. Monitor data 1 lower 16 bit (RWrn): Lower 16 bits of data demanded by Monitor 1 (RWwn) Monitor data 1 upper 16 bit (RWrn+1): Upper 16 bits of data demanded by Monitor 1 (RWwn) Monitor data 2 lower 16 bit (RWrn+5): Lower 16 bits of data demanded by Monitor 2 (RWwn+1) Monitor data 2 upper 16 bit (RWrn+6): Upper 16 bits of data demanded by Monitor 2 (RWwn+1) A sign is set if data does not exist in RWrn+1 RWrn+6. A " " sign is indicated by "0000", and " " by "FFFF". The monitor data set to the remote register are always updated while Monitoring (RXn8) is ON. When Monitoring (RXn8) turns to OFF, the data set to Monitor data RWrn, RWrn+1, RWrn+5, RWrn+6 are held. If the monitor code not in the specifications is set to either Monitor 1 (RWwn) or Monitor 2 (RWwn+1), the corresponding error code ( 1) is set to respond code. 3 - 35 3. CC-LINK COMMUNICATION FUNCTIONS 3.6.2 Instruction codes (1) Read instruction codes (0000h to 0A1Fh) Instruction code (RWwn+2) Instruction code execution demand (RYn9) Instruction code execution completion (RXn9) Reading data (RWrn+3) Respond code (RWrn+2) Data read period Set the read instruction code (refer to section 3.5.4 (1)) to Instruction code (RWwn+2) and turn Instruction code execution demand (RYn9) to ON. Turning Instruction code execution demand (RYn9) to ON sets the data corresponding to the preset read code to Reading data (RWrn+3). Data are all hexadecimal numbers. At this time, Instruction code execution completion (RXn9) turns to ON at the same time. Read the read data set to Reading data (RWrn+3) while Instruction code execution completion (RXn9) is ON. The data set to Reading data (RWrn+3) is held until the next read instruction code is set and Instruction code execution demand (RYn9) is turned to ON. If the instruction code not in the specifications is set to Instruction code (RWwn+2), the corresponding error code ( 1 ) is set to respond code. If any unusable parameter, point table is read, the corresponding error code ( 2 ) is set. Turn Instruction code execution demand (RYn9) to OFF after completion of data read. 3 - 36 3. CC-LINK COMMUNICATION FUNCTIONS (2) Write instruction codes (8000h to 911Fh) Instruction code (RWwn+2) Writing data (RWwn+3) Instruction code execution demand (RYn9) Instruction code processing Write in execution Instruction code execution completion (RXn9) Respond code (RWrn+2) Set the write instruction code (refer to section 3.5.4 (2)) to Instruction code (RWwn+2) and the data to be written (data to be executed) to Writing data (RWwn+3) in hexadecimal, and turn Instruction code execution demand (RYn9) to ON. Turning instruction code execution completion to ON sets the data set in Wiring data (RWwn+3) to the item corresponding to the write instruction code. When write is executed, Instruction code execution completion (RXn9) turns to ON. If the instruction code not in the specifications is set to Instruction code (RWwn+2), the corresponding error code ( 1 ) is set to respond code. Turn Instruction code execution demand (RYn9) to OFF after Instruction code execution completion (RXn9) has turned to ON. 3 - 37 3. CC-LINK COMMUNICATION FUNCTIONS 3.6.3 Remote register-based position/speed setting The functions in this section are usable when Position/speed specifying system selection (RY(n+2)A) is ON (remote register-based position/speed specifying system is selected) with 2 stations occupied. The position command/speed command necessary for positioning can be selected by parameter No.PC30 setting as indicated below. Parameter No.PC30 Set value 0 1 2 Speed command Position command Specify the point table No. Specify the point table No. Set the position data. Set the servo motor speed. (1) When setting the point table No. Specify the point table No. stored in the servo amplifier and execute positioning. Preset " 0" (initial value) in parameter No.PC30 to enable point table No.-setting operation. Point table No. (RWwn+4) Position instruction ON demand OFF (RY(n+2)0) Point table No. designation Position instruction ON execution completion OFF (RX(n+2)0) (Note) Data reserved Respond code (RWrn+2) Forward/reverse rotation start (RYn1 RYn2) 6ms ON OFF Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off. Set the point table No. to point table No. (RWwn+4) and turn Position instruction demand (RY(n+2)0) to ON. Turning RY(n+2)0 to ON stores the position block No. into RAM of the servo amplifier. When the data is stored, Position instruction execution completion (RX(n+2)0) turns to ON. If data outside the setting range is set to Position block No. (RWwn+4), the error code (refer to section 3.5.5) is set to respond code. Turn Forward rotation start (RYn1)/Reverse rotation start (RYn2) to ON after Position instruction execution completion (RX(n+2)0) has turned to ON. 3 - 38 3. CC-LINK COMMUNICATION FUNCTIONS (2) When setting the position command data/point table No. (speed command) Specify the position address with the remote register, and specify the speed command data by specifying the point table No. to use the preset servo motor speed, acceleration time constant and deceleration time constant the speed command data, and execute positioning. Preset " 1" in parameter No.PC30 to enable position command data-set and point table No. (speed instruction)-setting operation. Position instruction data Lower 16bit (RWwn+4) Position instruction data Upper 16bit (RWwn+5) Point table No. (RWwn+6) Position instruction ON demand OFF (RY(n+2)0) Speed instruction ON demand OFF (RY(n+2)1) Position data setting Point table No. designation Position instruction ON execution completion OFF (RX(n+2)0) (Note) Data reserved Speed instruction ON execution completion OFF (RX(n+2)1) Respond code (RWrn+2) Forward rotation Reverse rotation start (RYn1 RYn2) 6ms ON OFF Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off. Set the lower 16 bits of the position instruction data to Position instruction data lower 16 bit (RWwn+4), the upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWwn+5), and point table for speed command No. to point table No. (RWwn+6), and turn Position instruction demand (RY(n+2)0) and Speed instruction demand (RY(n+2)1) to ON. Turning RY(n+2)0 and RY(n+2)1 to ON stores the position command data and point table No. into RAM of the servo amplifier. When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) turn to ON. If data outside the setting range is set to any of Position instruction data lower 16 bit (RWwn+4), Position instruction data upper 16 bit (RWwn+5) and point table No. (RWwn+6), the error code (refer to section 3.5.5) is set to respond code. Turn Forward rotation start (RYn1) Reverse rotation start (RYn2) to ON after Position instruction execution completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) have turned to ON. 3 - 39 3. CC-LINK COMMUNICATION FUNCTIONS (3) When setting the position command data and speed command data Specify the position address and servo motor speed with the remote register, and execute positioning. At this time, use the acceleration time constant and deceleration time constant set in point table No.1. Preset " 2" in parameter No.PC30 to enable position command data- and speed command data-set operation. Position instruction data Lower 16bit (RWwn+4) Position instruction data Upper 16bit (RWwn+5) Speed instruction data (RWwn+6) Position instruction demand (RY(n+2)0) Speed instruction demand (RY(n+2)1) ON OFF ON OFF Position speed data setting (Note) Data reserved Position instruction ON execution completion OFF (RX(n+2)0) Speed instruction ON execution completion OFF (RX(n+2)1) Respond code (RWrn+2) Forward rotation Reverse rotation start (RYn1 RYn2) 6ms ON OFF Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off. Set the lower 16 bits of the position instruction data to Position instruction data lower 16 bit (RWwn+4), the upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWwn+5), and speed instruction data to Speed instruction data (RWwn+6), and turn Position instruction demand (RY(n+2)0) and Speed instruction demand (RY(n+2)1) to ON. Turning RY(n+2)0 and RY(n+2)1 to ON stores the position command data and speed command data into RAM of the servo amplifier. When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) turn to ON. If data outside the setting range is set to any of Position instruction data lower 16 bit (RWwn+4), Position instruction data upper 16 bit (RWwn+5) and Speed command data (RWwn+6), the error code (refer to section 3.5.5) is set to respond code. Turn Forward rotation start (RYn1) Reverse rotation start (RYn2) to ON after Position instruction execution completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) have turned to ON. 3 - 40 3. CC-LINK COMMUNICATION FUNCTIONS 3.7 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in section 3.7.1. 3.7.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied / 2 stations occupied). (1) System configuration Programmable controller Power supply Q62P CPU Q02HCPU Input module Output module QX40 QY40P (X20 to X2F) (Y30 to Y3F) Master station QJ61BT11N (X/Y00 to 1F) X20 to Terminating resistor Y30 Station No.1 Station No.2 Servo amplifier (1 station occupied) Servo amplifier (2 stations occupied) Terminating resistor (2) Master station network parameter setting In the programming examples, network parameters are set as below. Item Start I/O No. Operational setting Data link disorder station settings Case of CPU STOP setting Type Mode All connect count Remote input (RX) Refresh device Remote output (RY) Refresh device Setting condition Item 0000 Remote register (RWr) Clear Refresh device (No check on "Hold input data") Special relay (SB) Refresh Refresh device Master station Remote net (Ver.1 mode) 2 X1000 Remote register (RWw) Refresh device Special relay (SW) Refresh device Setting condition W0 W100 SB0 SW0 Retry count 3 Automatic reconnection station count 1 CPU down select Scan mode setting Y1000 3 - 41 Stop Asynchronous 3. CC-LINK COMMUNICATION FUNCTIONS (3) Relationship of remote I/O (RX, RY) The following shows a relationship between the devices of the programmable controller CPU and the remote I/Os (RX, RY) of the remote device stations. Shaded area shows the devices actually used. Remote device (Station No.1) (1 station occupied) Programmable controller CPU X100F to X1000 X101F to X1010 X102F to X1020 X103F to X1030 X104F to X1040 X105F to X1050 X106F to X1060 X107F to X1070 RX0F to RX00 RX1F to RX10 RY0F to RY00 RY1F to RY10 Remote device (Station No.2) (2 stations occupied) Y100F to Y1000 Y101F to Y1010 Y102F to Y1020 Y103F to Y1030 Y104F to Y1040 Y105F to Y1050 Y106F to Y1060 Y107F to Y1070 RX0F to RX00 RX1F to RX10 RX2F to RX20 RX3F to RX30 RY0F to RY00 RY1F to RY10 RY2F to RY20 RY3F to RY30 3 - 42 3. CC-LINK COMMUNICATION FUNCTIONS (4) Relationship of remote register (RWw, RWr) The following shows a relationship between the devices of the programmable controller CPU and the remote registers (RWw, RWr) of the remote device stations. Shaded area shows the devices actually used. Remote device (Station No.1) (1 station occupied) Programmable controller CPU For writing W100 W101 W102 W103 W104 W105 W106 W107 W108 W109 W10A W10B W10C W10D W10E W10F For reading W000 W001 W002 W003 W004 W005 W006 W007 W008 W009 W00A W00B W00C W00D W00E W00F RWw0 RWw1 RWw2 RWw3 RWr0 RWr1 RWr2 RWr3 Remote device (Station No.2) (2 stations occupied) RWw0 RWw1 RWw2 RWw3 RWw4 RWw5 RWw6 RWw7 RWr0 RWr1 RWr2 RWr3 RWr4 RWr5 RWr6 RWr7 3 - 43 3. CC-LINK COMMUNICATION FUNCTIONS 3.7.2 Reading the servo amplifier status When the servo amplifier on station number 1 becomes ready for the remote station communication, Y30 of the output module turns on. The program is for turning on Y30 when CC-Link communication is normal. Checks data link status of station No.1. Turns on output module (Y30). Remote station communication ready 1 station X100F b15 Remote input RX0F to RX00 RX1F to RX10 * b10 0 0 0 0 0 X1000 b0 b5 0 0 0 0 * 0 0 0 0 0 [Servo amplifier status] *: Set 0 or 1 as the bit is not used. X101F b15 * b10 * * * 0 0 X1010 b0 b5 * * * * * * * * * * [Servo amplifier status] Servo amplifier status (1 station occupied) X1000: Ready (RD) X1001: In position (INP) X1002: Rough match (CPO) X1003: Home position return completion (ZP) X1004: Limiting torque (TLC) X1005: X1006: Electromagnetic brake interlock (MBR) X1007: Temporary stop (PUS) X1008: Monitoring (MOF) X1009: Instruction code execution completion (COF) X100A: Warning (WNG) X100B: Battery warning (BWNG) X100C: Movement completion (MEND) X100D: Dynamic brake interlock (DB) X100E: Position range (POT) X100F: 3 - 44 X1010: X1011: X1012: X1013: X1014: X1015: X1016: X1017: X1018: X1019: X101A: Trouble (ALM) X101B: Remote station communication ready (CRD) X101C: X101D: X101E: X101F: 3. CC-LINK COMMUNICATION FUNCTIONS 3.7.3 Writing the operation commands Perform positioning operation of point table No.2 for the servo amplifier of station 2. Start the operation by turning on X20. Checks data link status of station No.1. Servo-on command (RY00) Servo-on command Point table No. selection command (bit1) (RY0B) Automatic/manual selection command (RY06) Point table establishment time 4ms *1 Forward rotation start command (RY01) Operation command Command demand time 6ms *1 Forward rotation start command reset *1: This is when the high-speed timer limit is set to 1ms. Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. Y100F b15 0 b10 0 0 0 0 1 0 0 0 1 1 [Operation command] Point table Automatic/manual selection (bit1) selection Y101F b15 * b10 * * * * 0 Y1000 b0 b5 b5 * * * * * 1 0 0 1 1 1: ON 0: OFF Servo-on Forward rotation start Y1010 b0 * * * * Remote input RY0F to RY00 RY1F to RY10 Station No.1 *: Set 0 as the bit is not used. * [Operation command] Operation commands (1 station occupied) Y1000: Servo-on (SON) Y1001: Forward rotation start (ST1) Y1002: Reverse rotation start (ST2) Y1003: Proximity dog (DOG) Y1004: Forward rotation stroke end (LSP) Y1005: Reverse rotation stroke end (LSN) Y1006: Automatic/manual selection (MDO) Y1007: Temporary stop/Restart (TSTP) Y1008: Monitor output execution demand (MOR) Y1009: Instruction code execution demand (COR) Y100A: Point table No. selection 1 (DI0) Y100B: Point table No. selection 2 (DI1) Y100C: Point table No. selection 3 (DI2) Y100D: Point table No. selection 4 (DI3) Y100E: Point table No. selection 5 (DI4) Y100F: Clear (CR) 3 - 45 Y1010: Y1011: Y1012: Y1013: Y1014: Y1015: Y1016: Y1017: Y1018: Y1019: Y101A: Reset (RES) Y101B: Y101C: Y101D: Y101E: Y101F: 3. CC-LINK COMMUNICATION FUNCTIONS 3.7.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. H000A Description Cumulative feedback pulse data (hexadecimal) Read the cumulative feedback pulse monitor by turning on X20. Checks data link status of station No.2. Sets monitor code (H000A) of feedback pulse in RWw4. Turns on Monitor output execution demand (RY28). Reads feedback pulse (RWr4, RWr5) to D10 and D11 when monitoring (RX28) turns on. Read command 3 - 46 3. CC-LINK COMMUNICATION FUNCTIONS (2) Reading the parameter Read parameter No.PA04 "Function selection A-1" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No.PA04 setting (hexadecimal) Read the parameter No.PA04 by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Read command Writes parameter group No. write (H8200) to RWw6 and parameter group PA (H0000) to RWw7. Turns on instruction code execution demand (RY29). Turns off instruction code execution demand (RY29) when instruction code execution completion (RX29) turns on. Writes parameter No.PA04 read (H0204) to RWw6. Turns on instruction code execution demand (RY29). Reads function selection A-1 (RWr7) and respond code (RWr6) to D1 and D2 when instruction code execution demand (RX29) turns on. Turns off instruction code execution demand (RY29). 3 - 47 3. CC-LINK COMMUNICATION FUNCTIONS (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. H0010 Description Occurring alarm/warning No. (hexadecimal) Read current alarms by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Read command Writes current alarm read (H0010) to RWw6. Turns on instruction code execution demand (RY29). Reads current alarm (RWr7) and respond code (RWr6) to D1 and D2 when instruction code execution demand (RX29) turns on. Turns off instruction code execution demand (RY29). 3 - 48 3. CC-LINK COMMUNICATION FUNCTIONS 3.7.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the point table No.1 of the servo amplifier of station 2 to "100". The following shows a program example for writing data to the servo amplifier when two stations are occupied. Writing is disabled for the servo amplifier when one station is occupied. Code No. H8D01 Description Write of servo motor speed data of point table No.1 (hexadecimal) Set data K100 Description Servo motor speed data of point table No.1 (decimal) Write the data to the servo motor speed data of point table No.1 by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Write In position command Writes speed data (H8D01) of point table No.1 to RWw6, and speed data (K100) to RWw7. Turns on instruction code execution demand (RY29). Reads respond code (RWr6) to D2 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). 3 - 49 3. CC-LINK COMMUNICATION FUNCTIONS (2) Writing the parameter The following shows a program example when two stations are occupied. Change parameter No.PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No. 8200h Description Parameter group selection Set data H0002 Description Set data (hexadecimal) The parameter No.12 is changed to "100" as follows. Code No. H820C Description Parameter No.PC12 write (hexadecimal) Set data K100 Description Set data (decimal) Write the data to the parameter No.PC12 by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Write command Writes parameter group No. write (H8200) to RWw6 and parameter group PC (H0002) to RWw7. Turns on instruction code execution demand (RY29). Turns off instruction code execution demand (RY29) when instruction code execution completion (RX29) turns on. Writes parameter No.PC12 write (H820C) to RWw6 and data (K100) to RWw7. Turns on instruction code execution demand (RY29). Reads RWw6 to D2 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). 3 - 50 3. CC-LINK COMMUNICATION FUNCTIONS (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the programmable controller. Reset the servo amplifier on the occurrence of a servo alarm by turning on X20. Checks data link status of station No.2. Turns on reset command (RY5A). Turns off reset command (RY5A) when trouble flag (RX5A) turns off. Trouble Reset flag command (b) Deactivate the alarm of the servo amplifier of station 2 using the instruction code. Code No. H8010 Set data H1EA5 Description Alarm reset command (hexadecimal) Description Execution data (hexadecimal) Reset the servo amplifier by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Reset command Writes alarm reset command (H8010) to RWw6 and execution data (H1EA5) to RWw7. Turns on instruction code execution demand (RY29). Reads respond code (RWr6) to D2 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). 3 - 51 3. CC-LINK COMMUNICATION FUNCTIONS 3.7.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Start the forward rotation JOG operation by turning on X22. Start the reverse rotation JOG operation by turning on X23. Checks data link status of station No.1. Remote station communication ready Servo-on command (RY00). Ready Automatic/ manual selection Forward rotation start (RY01). Forward rotation JOG command Reverse rotation start (RY02). Reverse rotation JOG command Sets monitor code (H0001) of current position (lower 16 bits) to RWw0. Sets monitor code (H0002) of current position (upper 16 bits) to RWw1. Turns on monitor command (RY08). Reads current position (RWr0, RWr1) to D10 and D11 when monitoring (RX08) turns on. 3 - 52 3. CC-LINK COMMUNICATION FUNCTIONS (2) Remote register-based position data/speed data setting The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset " 2" in parameter No.PC30. Set data Description K100000 Position command data (decimal) K1000 Speed command data (decimal) Execute positioning operation with position and speed settings specified in the remote register by turning on X20. Checks data link status of station No.2. Servo-on command (RY20) Automatic operation mode selection (RY26) Position/speed specifying system selection (RY4A) Operation command In position Writes position command data (K100000) to RWw8, RWw9, and speed data (K1000) to RWwA. Turns on position instruction demand (RY40). Turns on speed instruction demand (RY41). Reads respond code (RWr6) to D2 when position instruction execution completion (RX40) and speed instruction execution completion (RX41) turn on. Position and speed data establishment time 4ms *1 Turns on forward rotation start command (RY21). Command request time 6ms *1 Turns off forward rotation start command (RY21). Turns off position instruction demand (RY40). Turns off speed instruction demand (RY41). *1: This is when the high-speed timer limit is set to 1ms. Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. 3 - 53 3. CC-LINK COMMUNICATION FUNCTIONS (3) Remote register-based point table No. setting (incremental value command system) The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 with incremental values after specifying the point table No.5 in the direct specification mode. Preset " 0" in parameter No.PA01 and " 0" in parameter No.PA30. Set data K5 Description Point table No. (decimal) Execute positioning operation to the point table No.5 by turning on X20. Checks data link status of station No.2. Servo-on command (RY20) Automatic operation mode selection (RY26) Position/speed specifying system selection (RY4A) Incremental value selection (RY4B) Operation command In position Writes point table No.5 (K5) to RWw8. Turns on position instruction demand (RY40). Reads respond code (RWr6) to D2 when position instruction execution completion (RX40) turns on. Point table establishment time 4ms *1 Turns on forward rotation start command (RY21). Command request time 6ms *1 Turns off forward rotation start command (RY21). Turns off position instruction demand (RY40). *1: This is when the high-speed timer limit is set to 1ms. Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. 3 - 54 3. CC-LINK COMMUNICATION FUNCTIONS 3.8 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in section 3.8.1, 3.8.3. 3.8.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied). Programmable controller Power supply Q62P CPU Q02HCPU Master station QJ61BT11N (X/Y00 to 1F) Input module QX40 (X20 to X2F) X20 to X2C Terminating resistor Station No.1 Terminating resistor Servo amplifier (1 station occupied) Input signal assignment Input signal Signal name General operation when the input is on X20 Reset command Resets the servo amplifier on an occurrence of a servo alarm. X21 Servo-on command Turns on the servo motor. (Servo-on status) X22 Forward rotation JOG command Executes a forward JOG operation in the manual operation mode. X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode. X24 Automatic/manual selection OFF: Manual operation mode ON: Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode. X26 Proximity dog command OFF: Proximity dog is on. (Note) ON: Proximity dog is off. X27 Positioning start command Executes a positioning operation to the point table number specified by X28 to X2C when home position return is incomplete in the automatic operation mode. X28 No. selection 1 Specifies the position for the point table No. selection 1 X29 No. selection 2 Specifies the position for the point table No. selection 2 X2A No. selection 3 Specifies the position for the point table No. selection 3 X2B No. selection 4 Specifies the position for the point table No. selection 4 X2C No. selection 5 Specifies the position for the point table No. selection 5 Note. This is when the parameter No.PD16 is set to " 3 - 55 0 (initial value)" (detects the dog at off). 3. CC-LINK COMMUNICATION FUNCTIONS 3.8.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position" data. Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table command Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Checks data link status of station No.1. Writes current alarm read (H0010) to RWw2 at trouble (RY1A) occurrence. Turns on instruction code execution demand (RY09). Reads current alarm (RWr3) and respond code (RWr2) to D11 and D12 when instruction code execution completion (RX09) turns on. Turns off instruction code execution demand (RY09). Alarm reset command (RY1A) Reset command Servo-on command (RY00) Servo-on command Automatic operation mode selection (RY06) Automatic/manual selection Manual operation mode selection (RY06) Automatic/manual selection Home position return request Home position return Home position return completion command Point table establishment time 4ms *1 Forward rotation start request Command request time 6ms *1 Forward rotation start request reset Proximity dog command (RY03) Proximity dog command Forward rotation start request Forward rotation JOG command Reverse rotation start request Reverse rotation JOG command 3 - 56 3. CC-LINK COMMUNICATION FUNCTIONS Positioning start command In Rough position match Positioning start command Home position return completion Point table establishment time 4ms *1 Forward rotation start request Command request time 6ms *1 Forward rotation start request reset Point table No. selection 1 (RY0A) No.selection 1 Point table No. selection 2 (RY0B) No.selection 2 Point table No. selection 3 (RY0C) No.selection 3 Point table No. selection 4 (RY0D) No.selection 4 Point table No. selection 5 (RY0E) No.selection 5 Forward rotation start (RY01) Reverse rotation start (RY02) Sets monitor code (H001) of current position (lower 16 bits) in RWw0. Sets monitor code (H002) of current position (upper 16 bits) in RWw1. Turns on monitor output execution demand (RY08). Reads current position (Rwr0, RWr1) to D120 and D121 when monitoring (RX08) turns on. *1: This is when the high-speed timer limit is set to 1ms. Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. 3 - 57 3. CC-LINK COMMUNICATION FUNCTIONS 3.8.3 System configuration example when 2 stations are occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifiers (2 station occupied). Programmable controller Power supply Q62P CPU Q02HCPU Master station QJ61BT11N (X/Y00 to 1F) Input module QX40 (X20 to X2F) X20 to X28 Terminating resistor Station No.1 Terminating resistor Servo amplifier (2 stations occupied) Input signal assignment Input signal Signal name General operation when the input is on X20 Reset command Resets the servo amplifier on an occurrence of a servo alarm. X21 Servo-on command Turns on the servo motor. (Servo-on status) X22 Forward rotation JOG command Executes a forward JOG operation in the manual operation mode. X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode. X24 Automatic/manual selection OFF: Manual operation mode ON: Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode. X26 Proximity dog command OFF: Proximity dog is on. (Note) ON: Proximity dog is off. X27 Positioning start command Executes a positioning operation with position and speed settings specified in the remote register when home position return is completed in the automatic operation mode. X28 Position/speed setting system Changes to position/speed specification by the remote register. changing command Note. This is when the parameter No.PD16 is set to " 3 - 58 0 (initial value)" (detects the dog at off). 3. CC-LINK COMMUNICATION FUNCTIONS 3.8.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed" data. Preset the parameter No.PC30 to " 2". Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table command Code No. Description H0016 32-bit data of motor speed (hexadecimal) Code No. Description K50000 Position command data (decimal) K100 Speed command data (decimal) Checks data link status of station No.1. Writes current alarm read (H0010) to RWw2 at trouble (RX3A) occurrence. Turns on instruction code execution demand (RY09). Reads current alarm (RWr3) and respond code (RWr2) to D11 and D12 when instruction code execution completion (RX09) turns on. Turns off instruction code execution demand (RY09). Alarm reset command (RY3A) Reset command Servo-on command (RY00) Servo-on command Automatic operation mode selection (RY06) Automatic/manual selection Manual operation mode selection (RY06) Automatic/manual selection Home position return request Home position return Home position return completion command Point table establishment time 4ms *1 Forward rotation start request Command request time 6ms *1 Forward rotation start request reset Proximity dog command (RY03) Proximity dog command Forward rotation start request Forward rotation JOG command Reverse rotation start request Reverse rotation JOG command 3 - 59 3. CC-LINK COMMUNICATION FUNCTIONS Positioning start command Position/speed specifying system selection (RY2A) Position/speed setting system changing command In Rough position match Home position return completion Writes position command data (K50000) to RWw4, RWw5, and speed data (K100) to RWw6. Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21). Reads respond code (RWr2) to D2 when position instruction execution completion (RX20) and speed instruction execution completion (RX21) turn on. Position and speed data establishment time 4ms *1 Positioning start command Command request time 6ms *1 Positioning start command reset Turns off position instruction demand (RY20). Turns off speed instruction demand (RY21). Forward rotation start (RY01) Reverse rotation start (RY02) Sets monitor code (H0016) of motor speed to RWw0. Turns on monitor output execution demand (RY08). Reads motor speed (RWr0, RWr1) to D120 and D121 when monitoring (RX08) turns on. *1: This is when the high-speed timer limit is set to 1ms. Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. 3 - 60 4. SIGNALS AND WIRING 4. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. WARNING Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop (EMG) and other protective circuits. Servo amplifier CAUTION 24VDC Servo amplifier DOCOM DOCOM DICOM DICOM Control output signal RA Control output signal 24VDC RA Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the servo amplifier. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 4- 1 4. SIGNALS AND WIRING 4.1 Input power supply circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. CAUTION Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Wire the power supply and main circuit as shown below so that the servo-on (RYn0) turns off as soon as alarm occurrence is detected and power is shut off. A no-fuse breaker (NFB) must be used with the input cables of the power supply. (1) For 3-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-350T RA Forced stop ON OFF MC MC SK NFB MC 3-phase 200 to 230VAC Servo amplifier CNP1 L1 CNP3 U L2 L3 N( (Note 1) ) Servo motor (Note 5) U 2 V V 3 W W 4 M 1 P1 P2 Motor PE CNP2 P( ) (Note 2) C D L11 CN2 (Note 3) Encoder cable CN6 24VDC Encoder L21 (Note 4) Forced stop CN6 EMG DOCOM DOCOM DICOM ALM RA Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 4- 2 4. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T RA Forced stop ON OFF MC MC SK NFB MC 1-phase 200 to 230VAC (Note 1) Servo amplifier CNP1 L1 CNP3 U L2 Servo motor (Note 5) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D L11 CN2 (Note 3) Encoder cable CN6 24VDC Encoder L21 (Note 4) Forced stop CN6 EMG DOCOM DOCOM DICOM ALM RA Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 4- 3 4. SIGNALS AND WIRING (3) MR-J3-10T1 to MR-J3-40T1 RA Forced stop ON OFF MC MC SK NFB MC 1-phase 100 to 120VAC (Note 1) Servo amplifier CNP1 L1 CNP3 Blank U Servo motor (Note 5) U 2 L2 V V 3 N W W 4 M 1 P1 P2 Motor PE P (Note 2) C D L11 CN2 (Note 3) Encoder cable CN6 24VDC Encoder L21 (Note 4) Forced stop CN6 EMG DOCOM DOCOM DICOM ALM RA Trouble Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 4- 4 (Note 4) 4. SIGNALS AND WIRING (4) MR-J3-60T4 to MR-J3-200T4 RA Forced stop ON OFF MC MC (Note 6) Stepdown transformer NFB SK MC 3-phase 380 to 480VAC (Note 1) Servo amplifier CNP1 L1 CNP3 U L2 Servo motor (Note 5) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D L11 CN2 (Note 3) Encoder cable CN6 24VDC Encoder L21 (Note 4) Forced stop CN6 EMG DOCOM DOCOM DICOM ALM RA Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 4- 5 4. SIGNALS AND WIRING (5) MR-J3-500T MR-J3-700T RA Forced stop OFF ON (Note 6) Power supply of cooling fan MC MC SK NFB MC 3-phase 200 to 230VAC (Note 2) Servo amplifier TE1 L1 Built-in L2 U regenerative resistor V L3 Servo motor (Note 5) W P U 2 V 3 W 4 Motor M 1 C TE2 L11 PE NFB L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 BU BV (Note 4) Forced stop CN6 CN6 EMG DOCOM DOCOM DICOM ALM 24VDC RA Cooling fan Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 6. A cooling fan is attached to the HA-LP601 and the HA-LP701M servo motors. For power supply specification of the cooling fan, refer to section 4.10.2 (3) (b). 4- 6 4. SIGNALS AND WIRING (6) MR-J3-350T4 to MR-J3-700T4 RA Forced stop OFF ON (Note 7) Power supply of cooling fan MC (Note 6) Stepdown transformer NFB MC SK MC 3-phase 380 to 480VAC (Note 2) Servo amplifier TE1 L1 Built-in L2 regenerative U resistor V L3 Servo motor (Note 5) W P U 2 V 3 W 4 Motor M 1 C TE2 L11 PE NFB L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 BU BV (Note 4) Forced stop CN6 CN6 EMG DOCOM DOCOM DICOM ALM 24VDC RA Cooling fan Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 7. A cooling fan is attached to the HA-LP6014 and the HA-LP701M4 servo motors. For power supply specification of the cooling fan, refer to section 4.10.2 (3) (b). 4- 7 4. SIGNALS AND WIRING (7) MR-J3-11KT to MR-J3-22KT Servo motor thermal relay Trouble Forced stop RA2 RA1 ON OFF MC MC SK NFB MC 3-phase 380 to 480VAC Regenerative resistor Servo amplifier L2 U L3 V C W P (Note 2) Servo motor Dynamic break (Option) TE L1 U V Motor W M (Note 5) (Note 1) P1 NFB PE L11 L21 CN2 (Note 3) Encoder cable Encoder BU BV Cooling fan 24VDC power supply OHS1 BW (Note 6) OHS2 Servo motor thermal relay RA2 (Note 4) Forced stop CN6 EMG DOCOM CN6 DOCOM DICOM ALM 24VDC RA Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. Connect the regenerative resistor. When using the regenerative option, refer to section 14.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 6. Cooling fan power supply of the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required. 4- 8 4. SIGNALS AND WIRING (8) MR-J3-11KT4 to MR-J3-22KT4 Servo motor thermal relay Trouble Forced stop RA2 RA1 ON OFF MC MC SK (Note 7) Stepdown transformer NFB MC 3-phase 200 to 230VAC Regenerative resistor Servo amplifier L2 U L3 V C W P (Note 2) Servo motor Dynamic break (Option) TE L1 U V Motor W M (Note 5) (Note 1) P1 NFB PE L11 L21 CN2 (Note 3) Encoder cable Encoder BU BV Cooling fan 24VDC power supply OHS1 BW (Note 6) OHS2 Servo motor thermal relay RA2 (Note 4) Forced stop CN6 CN6 EMG DOCOM DOCOM DICOM ALM 24VDC RA1 Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 2. Connect the regenerative resistor. When using the regenerative option, refer to section 14.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 5. Refer to section 4.10. 6. Servo amplifiers does not have BW when the cooling fan power supply is 1-phase. 7. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 4- 9 4. SIGNALS AND WIRING 4.2 I/O signal connection diagram Servo amplifier (Note 4) CN6 5 17 1 2 3 4 DICOM DOCOM (Note 9) EMG DOG LSP LSN (Note 3, 5) Forced stop Proximity dog (Note 5) Forward rotation stroke end Reverse rotation stroke end RD RA1 Ready 15 ALM RA2 Trouble (Note 6) 16 ZP RA3 Home position return completion LZ 13 26 LZR 11 LA 24 LAR 12 LB 25 LBR LG 23 Plate SD (Note 8) Personal computer MR-J3USBCBL3M (Option) 14 (Note 9) 10m or less 10m or less (Note 7) MR Configurator (Note 2) CN6 24VDC power supply CN5 Encoder Z-phase pulse (differential line driver) Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver) Control common + CN1 (Note 1) CC-Link Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24VDC 10% 150mA current for interfaces from the outside. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 4.8.2 (1) that gives the current value necessary for the interface. 5. When starting operation, always turn on forced stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN). (Normally closed contacts) 6. Trouble (ALM) turns on in normal alarm-free condition. 7. Use MRZJW3-SETUP 211E. 8. Personal computers or parameter modules can also be connected via the CN3 connector, enabling RS-422 communication. Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and vice versa. They cannot be used together. Personal computer RS-232C/RS-422 conversion cable Recommended product: Interface cable DSV-CABV (Diatrend) To RS232C connector Servo amplifier CN3 or MR-PRU03 parameter module EIA568-compliant cable (10BASE-T cable, etc.) 9. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 4 - 10 4. SIGNALS AND WIRING 4.3 Explanation of power supply system 4.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in chapter 12. Abbreviation Connection target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open. Servo amplifier L1 L2 L3 Main circuit power supply Power supply 3-phase 200V to 230VAC, 50/60Hz 1-phase 200V to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz Servo amplifier Power supply 3-phase 380V to 480VAC, 50/60Hz P1 P2 Power factor improving DC reactor P C D Regenerative option L11 L21 Control circuit power supply N MR-J310T1 to 40T1 L1 L2 MR-J360T4 to 22KT4 L1 L2 L3 1) MR-J3-700T(4) or less When not using the power factor improving DC reactor, connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, disconnect P1 and P2, and connect the power factor improving DC reactor to P1 and P2. 2) MR-J3-11KT(4) to 22KT(4) MR-J3-11KT(4) to 22KT(4) do not have P2. When not using the power factor improving reactor, connect P1 and P. (Factory-wired) When using the power factor improving reactor, connect it to P1 and P. Refer to section 14.11. 1) MR-J3-350T or less MR-J3-200T4 or less When using servo amplifier built-in regenerative resistor, connect P( ) and D. (Factory-wired) When using regenerative option, disconnect P( ) and D, and connect regenerative option to P and C. 2) MR-J3-350T4 500T(4) 700T(4) MR-J3-350T4 500T(4) and 700T(4) do not have D. When using servo amplifier built-in regenerative resistor, connect P and C. (Factory-wired) When using regenerative option, disconnect P and C, and connect regenerative option to P and C. 3) MR-J3-11KT(4) to 22KT(4) MR-J3-11KT(4) to 22KT(4) do not have D. When not using the power regenerative converter and the brake unit, make sure to connect the regenerative option to P and C. Refer to section 14.2 to 14.5. Supply the following power to L11 L21. Servo amplifier U V W MR-J3MR-J310T to 100T to 70T 22KT L1 L2 L3 L1 L2 Power supply 1-phase 200V to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz 1-phase 380V to 480VAC, 50/60Hz MR-J310T to 22KT L11 L21 MR-J310T1 to 40T1 L11 MR-J360T4 to 22KT4 L21 L11 L21 Servo motor power Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Regenerative converter Brake unit Protective earth (PE) When using the power regenerative converter/brake unit, connect it to P and N. Do not connect to servo amplifier MR-J3-350T(4) or less. For details, refer to section 14.3 to 14.5. Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box to perform grounding. 4 - 11 4. SIGNALS AND WIRING 4.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly. 3) The servo amplifier can accept the servo-on (RYn0) about 1 to 2s after the main circuit power supply is switched on. Therefore, when servo-on (RYn0) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further about 5ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.) 4) When the reset (RY(n+1)A or RY(n+3)A) is switched on, the base circuit is shut off and the servo motor shaft coasts. (2) Timing chart Servo-on (RYn0) accepted (2 to 2.5s) Main circuit Control circuit Power supply ON OFF Base circuit ON OFF Servo-on (RYn0) ON OFF Reset (RY(n+1)A or RY(n+3)A) ON OFF Ready (RD) ON OFF 10ms 10ms 95ms 95ms 5ms 10ms 5ms Power-on timing chart 4 - 12 10ms 5ms 10ms 4. SIGNALS AND WIRING (3) Forced stop CAUTION Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off at a forced stop. When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo forced stop warning (AE6). During ordinary operation, do not use the external forced stop (EMG) to alternate stop and run. The servo amplifier life may be shortened. Also, if the forward rotation start (RYn1) and reverse rotation start (RYn2) are on or a pulse train is input during a forced stop, the servo motor will rotate as soon as the warning is reset. During a forced stop, always shut off the run command. Note also that during a forced stop, RYn1 and RYn2 must be off. Servo amplifier 24VDC DICOM (Note) DOCOM Forced stop EMG Note. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3. 4 - 13 4. SIGNALS AND WIRING 4.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 14.1 in section 14.9 for the wire sizes used for wiring. MR-J3-500T to more, MR-J3-350T4 or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-10T to MR-J3-100T (a) Servo amplifier power supply connectors (Note) Servo amplifier power supply connectors Connector for CNP1 54928-0670 (Molex) Servo amplifier Cable finish OD: to 8.8mm Connector for CNP2 54928-0520 (Molex) CNP1 CNP2 CNP3 Connector for CNP3 54928-0370 (Molex) Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are recommended. For CNP1: 51241-0600 (connector), 56125-0118 (terminal) For CNP2: 51240-0500 (connector), 56125-0118 (terminal) For CNP3: 51241-0300 (connector), 56125-0118 (terminal) Crimping tool: CNP57349-5300 Cable finish OD: to 3.8mm (b) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 8 to 9mm Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size 2 Bar terminal type [mm ] AWG For 1 cable (Note 1) 1.25/1.5 16 AI1.5-10BK 2/2.5 14 AI2.5-10BU Note 1. Manufacturer: Phoenix Contact 2. Manufacturer: WAGO 4 - 14 For 2 cable AI-TWIN2 1.5-10BK Crimping tool (Note 2) Variocrimp 4 206-204 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21 (2) MR-J3-200T MR-J3-60T4 to MR-J3-200T4 (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 721-207/026-000(Plug) (WAGO) Servo amplifier Cable finish OD: 4.1mm or less Connector for CNP2 721-205/026-000(Plug) (WAGO) CNP1 CNP2 CNP3 Connector for CNP3 721-203/026-000(Plug) (WAGO) (b) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 8 to 9mm Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size 2 Bar terminal type [mm ] AWG For 1 cable (Note 1) 1.25/1.5 16 AI1.5-10BK 2/2.5 14 AI2.5-10BU Note 1. Manufacturer: Phoenix Contact 2. Manufacturer: WAGO 4 - 15 For 2 cable AI-TWIN2 1.5-10BK Crimping tool (Note 2) Variocrimp 4 206-204 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21 (3) MR-J3-350T (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (Phoenix Contact) Servo amplifier Cable finish OD: to 5mm Connector for CNP3 PC4/3-STF-7.62-CRWH (Phoenix Contact) CNP1 CNP3 CNP2 Cable finish OD: to 3.8mm Connector for CNP2 54928-0520 (Molex) (b) Termination of the cables 1) CNP1 CNP3 Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 7mm Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size 2 [mm ] AWG Bar terminal type For 1 cable For 2 cables 1.25/1.5 16 AI1.5-8BK AI-TWIN2 1.5-8BK 2.0/2.5 14 AI2.5-8BU AI-TWIN2 2.5-10BU 3.5 12 AI4-10Y Crimping tool CRIMPFOX-ZA3 Manufacturer Phoenix Contact 2) CNP2 CNP2 is the same as MR-J3-100T or smaller capacities. Refer to (1) (b) in this section. 4 - 16 4. SIGNALS AND WIRING (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000, 721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows. The following explains for Molex, however use the same procedures for inserting WAGO connectors as well. POINT It may be difficult for a cable to be inserted to the connector depending on wire size or bar terminal configuration. In this case, change the wire type or correct it in order to prevent the end of bar terminal from widening, and then insert it. How to connect a cable to the servo amplifier power supply connector is shown below. (a) When using the supplied cable connection lever 1) The servo amplifier is packed with the cable connection lever. a) 54932-0000 (Molex) [Unit: mm] 20.6 4.9 3.4 10 6.5 Approx.7.7 Approx. 3 MXJ 54932 4.7 7.7 Approx.4.9 3.4 b) 231-131 (WAGO) 4.9 3.4 [Unit: mm] 20.3 7.6 6.5 3 10 1.3 1.5 16 17.5 4 - 17 4. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow. 4) Release the cable connection lever. 4 - 18 4. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] Approx.22 3 0.6 Approx.R0.3 3 to 3.5 Approx.R0.3 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly. 2) If inserted properly, the screwdriver is held. 3) With the screwdriver held, insert the cable in the direction of arrow. (Insert the cable as far as it will go.) 4) Releasing the screwdriver connects the cable. 4 - 19 4. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Push the screwdriver in the direction of arrow. 4) Releasing the screwdriver connects the cable. 4 - 20 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.) 4. SIGNALS AND WIRING (5) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver because the cable cannot be tightened with enough torque. Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is shown as follows. Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not tightened enough to the connector, the cable or connector may generate heat because of the poor contact. 2 (When using a cable of 1.5mm or less, two cables may be inserted into one opening.) Secure the connector to the servo amplifier by tightening the connector screw. For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and 3.5mm diameter (Recommended flat-blade screwdriver: Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6 N m torque to screw. [Unit: mm] 180 To tighten Wire (35) 100 3.5 To loosen 0.6 Flat-blade screwdriver Opening Recommended flat-blade screwdriver dimensions Connector screw Servo amplifier power supply connector To loosen To tighten Flat-blade screwdriver 4 - 21 4. SIGNALS AND WIRING 4.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The servo amplifier front view shown is that of the MR-J3-20T or less. Refer to chapter 12 Outline Drawings for the appearances and connector layouts of the other servo amplifiers. CN5 (USB connector) Personal computer CN6 CN3 MR-PRU03 parameter module CN1 CC-Link communication 1 2 DOG 4 LSN 6 PP EMG 3 LSP 5 DICOM 7 8 14 15 ALM 17 DOCOM 19 NP 9 2 LG 4 6 MRR 1 P5 3 MR 8 12 MDR 5 7 MD LB 9 BAT The 3M make connector is shown. When using any other connector, refer to section 14.1.2. The frames of the CN1 and CN6 connectors are connected to the PE (earth) terminal ( ) in the amplifier. 4 - 22 ZP 18 OPC 20 22 23 11 10 16 21 10 CN2 RD LA 13 LZ LG 25 LBR 24 LAR 26 LZR 4. SIGNALS AND WIRING 4.5 Signal (device) explanation 4.5.1 I/O devices The CN6 connector provides three pins for inputs and three other pins for outputs. Devices assigned to these pins are changeable. To make this change, configure parameter settings of Nos. PD06 to PD11, PD12, and PD14. Refer to section 4.8.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Pin type Input-only pins Output-only pins CN6 connector pin No. I/O division 1 DI-1 Device in initial status Parameter of change target device Forced stop (EMG) 2 Proximity dog (DOG) No.PD06 3 Forward rotation stroke end (LSP) No.PD07 4 Reverse rotation stroke end (LSN) No.PD08 14 Ready (RD) No.PD09 15 DO-1 Trouble (ALM) No.PD10 16 Home position return completion (ZP) No.PD11 4 - 23 4. SIGNALS AND WIRING (1) Input device POINT Input devices assigned to the CN6 connector pins cannot be used with the remote input of the CC-Link communication function. Symbol Connector pin No. Functions/Applications Forced stop EMG CN6-1 Forced stop (EMG) is fixed at CN6-1. Assigning this device to any other pin is not allowed. For device details, refer to section 3.5.1 (1). Servo-on SON Forward rotation start ST1 Reverse rotation start ST2 Proximity dog DOG CN6-2 (Note) Forward rotation stroke end LSP CN6-3 (Note) Reverse rotation stroke end LSN CN6-4 (Note) Device Automatic/manual selection MD0 Temporary stop/Restart TSTP Internal torque limit selection Proportion control For device details, refer to section 3.5.1 (1). TL1 PC Gain changing CDP Reset RES Clear CR Turn CR on to clear the position control counter droop pulses on its leading edge. The pulse width should be 10ms or more. When the parameter No.PD22 setting is " 1", the pulses are always cleared while CR is on. Manual pulse generator multiplication 1 TP0 Used to select the multiplication factor of the manual pulse generator. When it is not selected, the parameter No.PA05 setting is made valid. Manual pulse generator multiplication 2 TP1 (Note) Input device Manual pulse generator multiplication factor TP1 TP0 0 0 0 1 1 time 1 0 10 times 1 1 100 times Note. 0: OFF 1: ON Note. These are pin Nos. assigned at default. 4 - 24 Parameter No.PA05 setting 4. SIGNALS AND WIRING (2) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Device Ready Trouble Symbol Connector pin No. RD CN6-14 (Note) For device details, refer to section 3.5.1 (2). CN6-15 (Note) ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after power-on. The significance of this device is opposite of that of remote output (RX (n 1)A or RX (n 3)A). CN6-16 (Note) For device details, refer to section 3.5.1 (2). ALM Home position return completion ZP In position INP Rough match CPO Limiting torque TLC Electromagnetic brake interlock MBR Temporary stop PUS Warning WNG Battery warning BWNG Movement completion MEND dynamic brake interlock Functions/Applications DB Position range POT Point table No. output 1 PT0 Point table No. output 2 PT1 Point table No. output 3 PT2 Point table No. output 4 PT3 Point table No. output 5 PT4 Point table No. output 6 PT5 Point table No. output 7 PT6 Point table No. output 8 PT7 Speed command reached SA SA turns on when servo-on (SON) is on and the commanded speed is at the target speed. SA always turns on when servo-on (SON) is on and the commanded speed is 0r/min. SA turns off when servo-on (SON) is off or the commanded speed is in acceleration/deceleration. 4 - 25 4. SIGNALS AND WIRING Device Zero speed Symbol Connector pin No. ZSP Functions/Applications ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No.PC17. Example Zero speed is 50r/min Forward rotation direction OFF level 70r/min ON level 50r/min Servo motor speed 0r/min 1) 2) 20r/min (Hysteresis width) 3) Parameter No.PC17 Parameter No.PC17 Reverse ON level rotation 50r/min direction OFF level 70r/min zero speed ON (ZSP) OFF 4) 20r/min (Hysteresis width) ZSP turns on 1) when the servo motor is decelerated to 50r/min, and ZSP turns off 2) when the servo motor is accelerated to 70r/min again. ZSP turns on 3) when the servo motor is decelerated again to 50r/min, and turns off 4) when the servo motor speed has reached -70r/min. The range from the point when the servo motor speed has reached ON level, and ZSP turns on, to the point when it is accelerated again and has reached OFF level is called hysteresis width. Hysteresis width is 20r/min for this servo amplifier. Variable gain selection CDPS CDPS is on during gain changing. Note. These are pin Nos. assigned at default. 4.5.2 Input signals Device Manual pulse generator Symbol Connector pin No. PP CN6-6 NP CN6-19 Functions/Applications Used to connect the manual pulse generator (MR-HDP01). (Refer to section 14.18.) 4.5.3 Output signals Refer to section 4.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Symbol Connector pin No. Encoder A-phase pulse (differential line driver) LA LAR CN6-11 CN6-24 Encoder B-phase pulse (differential line driver) LB LBR CN6-12 CN6-25 Encoder Z-phase pulse (differential line driver) LZ LZR CN6-13 CN6-26 Signal Functions/Applications I/O division Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of /2. The relationships between rotation direction and phase difference of the A- and B-phase pulses can be changed using parameter No. PC19. DO-2 Outputs the zero-point signal of the encoder in the differential line driver system. One pulse is output per servo motor revolution. This signal turns on when the zero-point position is reached. (Negative logic) The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100r/min. or less. DO-2 4 - 26 4. SIGNALS AND WIRING 4.5.4 Power supply Symbol Connector pin No. Digital I/F power supply input DICOM CN6-5 Digital I/F common DOCOM CN6-17 OPC CN6-18 Control common LG CN6-23 Shield SD Plate Signal Open collector power input Functions/Applications I/O division Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. Connect the plus of 24VDC terminal external power supply for the sink interface. Common terminal for input signals such as DOG and EMG. Pins are connected internally. Separated from LG. Connect the plus of 24VDC terminal external power supply for the source interface. When using the MR-HDP01 manual pulse generator, connect OPC and DICOMD, and supply OPC with the positive ( ) voltage of 24VDC. Common terminal for the differential line driver of the encoder pulses (LA LAR LB LBR LZ LZR). Connect the external conductor of the shield cable. 4.6 Detailed description of signals (devices) 4.6.1 Forward rotation start reverse rotation start temporary stop/restart (1) A forward rotation start (RYn1) or a reverse rotation start (RYn2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD). (2) A start in the servo amplifier is made when a forward rotation start (RYn1) or a reverse rotation start (RYn2) changes from OFF to ON. The delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other devices is max. 10ms. 3ms or less 3ms or less Forward rotation Servo motor speed 0r/min 10ms or less Forward rotation start (RYn1) or reverse rotation start (RYn2) Temporary stop/Restart (RYn7) 6ms or more (3) When a programmable controller is used, the ON time of a forward rotation start (RYn1), a reverse rotation start (RYn2) or temporary start/stop (RYn7) signal should be 6ms or longer to prevent a malfunction. (4) During operation, the forward rotation start (RYn1) or reverse rotation start (RYn2) is not accepted. The next operation should always be started after the rough match (RXn2) is output with the rough match output range set to “0” or after the movement completion (RXnC) is output. 4 - 27 4. SIGNALS AND WIRING 4.6.2 Movement completion rough match in position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement completion (MEND), Rough-match, (CPO) and In position (INP) are turned on. To resume operation, confirm the current position and the selected point table No. for preventing unexpected operation. (1) Movement completion The following timing charts show the output timing relationships between the position command generated in the servo amplifier and the movement completion (RYnC). This timing can be changed using parameter No.PA10 (in-position range). RYnC turns ON in the servo-on status. Forward rotation start (RYn1) ON or reverse rotation start (RYn2) OFF 3ms or less Position command and servo motor speed Position command Servo motor speed Forward rotation In-position range 0r/min Movement completion (RXnC) ON OFF When parameter No.PA10 is small Forward rotation start (RYn1) or reverse rotation start (RYn2) Position command and servo motor speed ON OFF 3ms or less Position command Forward rotation In-position range 0r/min Movement completion (RXnC) Servo motor speed ON OFF When parameter No.PA10 is large 4 - 28 4. SIGNALS AND WIRING (2) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No.PC11 (rough match output range). RXn2 turns ON in the servo-on status. Forward rotation start (RYn1) ON or reverse rotation start (RYn2) OFF 3ms or less Forward Position command rotation 0r/min Rough match (RXn2) ON OFF When "0" is set in parameter No.PC11 ON Forward rotation start (RYn1) or reverse rotation start (RYn2) Position command OFF 3ms or less Rough match output range Forward rotation 0r/min Rough match (RXn2) ON OFF When more than "0" is set in parameter No.PC11 (3) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No.PA10 (in-position range). turns on RYn1 in the servo-on status. ON Forward rotation start (RYn1) or reverse rotation start (RYn2) OFF 3ms or less Servo motor speed Forward rotation In-position range 0r/min In position (RXn1) ON OFF When positioning operation is performed once Forward rotation start (RYn1) ON or reverse rotation start (RYn2) OFF 3ms or less In-position range Forward rotation Servo motor speed 0 r/min Reverse rotation In position (RXn1) ON OFF When servo motor reverses rotation direction during automatic continuous operation 4 - 29 4. SIGNALS AND WIRING 4.6.3 Torque limit CAUTION If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position. (1) Torque limit and torque By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque limit), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below. Max. torque CCW direction Torque CW direction 100 0 100 [%] Torque limit value in Torque limit value in parameter No.PA12 parameter No.PA11 (2) Torque limit value selection As shown below, the forward rotation torque limit (parameter No.PA11), reverse rotation torque limit (parameter No.PA12) or internal torque limit 2 (parameter No.PC35) can be chosen using the external torque limit selection (RY(n 2)6). (Note) RY(n 2) 6 Limit value status 0 Parameter No.PC35 1 Parameter No.PC35 Parameter No.PA11 Parameter No.PA12 Parameter No.PA11 Parameter No.PA12 Torque limit to be enabled CCW driving/CW CW driving/CCW regeneration regeneration Parameter No.PA11 Parameter No.PA12 Parameter No.PA11 Parameter No.PA12 Parameter No.PC35 Parameter No.PC35 Note. 0: OFF 1: ON (3) Limiting torque (RXn4) RXn4 turns on when the servo motor torque reaches the torque limited. 4 - 30 4. SIGNALS AND WIRING 4.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION As soon as an alarm occurs, turn off Servo-on (RYn0) and power off. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn the reset (RY(n 1)A or RY(n 3)A) from off to on. However, the alarm cannot be reset unless its cause is removed. (Note 1) Main circuit control circuit power supply ON OFF Base circuit ON OFF Valid Dynamic brake Invalid Servo-on (RYn0) Ready (RD) Trouble (ALM) Reset (RY(n+1)A or RY(n+3)A) ON OFF ON OFF ON OFF ON OFF Power off Brake operation Power on Brake operation 1.5s 50ms or more Alarm occurs. 15 to 60ms (Note 2) Remove cause of trouble. Note 1. Shut off the main circuit power as soon as an alarm occurs. 2. Changes depending on the operating status. (1) Overcurrent, overload 1 or overload 2 If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A32), overload 1 (A50) or overload 2 (A51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation. (2) Regenerative alarm If operation is repeated by switching control circuit power off, then on to reset the regenerative (A30) alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an accident. (3) Instantaneous power failure Undervoltage (A10) occurs when the input power is in either of the following statuses. A power failure of the control circuit power supply continues for 60ms or longer and the control circuit is not completely off. The bus voltage dropped to 200VDC or less for the MR-J3- T, to 158VDC or less for the MR-J3T1, or to 380VDC or less for the MR-J3- T4. (4) Incremental system When an alarm occurs, the home position is lost. When resuming operation after deactivating the alarm, make a home position return. 4 - 31 4. SIGNALS AND WIRING 4.8 Interface 4.8.1 Internal connection diagram Servo amplifier CN6 CN6 DICOM 5 14 RD DOCOM 17 15 ALM 16 ZP CN6 13 26 11 24 12 25 23 LZ LZR LA LAR LB LBR LG 24VDC Forced stop Note 2 Note 1 EMG 1 DOG 2 LSP 3 LSN 4 Approx.5.6k RA (Note 1, 2) RA Approx.5.6k CN5 1 2 D 3 D GND 5 VBUS USB Differential line driver output (35mA or less) Servo motor CN2 7 8 3 4 2 Encoder MD MDR MR MRR LG E Note 1. Devices assigned to these pins can be changed in the parameter settings. 2. For this sink I/O interface. For the source I/O interface, refer to section 4.8.3. 4 - 32 M 4. SIGNALS AND WIRING 4.8.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 4.5.1. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Refer to section 4.8.3 for the source input. Servo amplifier For transistor EMG, 5.6k etc. Approx. 5mA Switch TR DICOM VCES 1.0V ICEO 100 A 24VDC 10% 150mA (2) Digital output interface DO-1 A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier. Refer to section 4.8.3 for the source output. If polarity of diode is reversed, servo amplifier will fail. Servo amplifier ALM, etc. DOCOM Load (Note) 24VDC 10% 150mA Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source. 4 - 33 4. SIGNALS AND WIRING (3) Encoder output pulse DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier LA (LB, LZ) Am26LS32 or equivalent LA (LB, LZ) 100 150 LAR (LBR, LZR) LAR (LBR, LZR) LG SD SD (b) Output pulse Servo motor CCW rotation LA LAR Time cycle (T) is determined by the settings of parameter No.PA15 and PC19. T LB LBR LZ LZR /2 400 s or more OP 4 - 34 High-speed photocoupler 4. SIGNALS AND WIRING 4.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier EMG, etc. Approx. 5.6k Switch DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 150mA (2) Digital output interface DO-1 A maximum of 2.6V voltage drop occurs in the servo amplifier. If polarity of diode is reversed, servo amplifier will fail. Servo amplifier ALM, etc. DOCOM Load (Note) 24VDC 10% 150mA Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source. 4 - 35 4. SIGNALS AND WIRING 4.9 Treatment of cable shield external conductor In the case of the CN2 and CN6 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath. Strip the sheath. (1) For CN6 connector (3M connector) Screw Cable Screw Ground plate (2) For CN2 connector (3M or Molex connector) Cable Ground plate Screw 4 - 36 4. SIGNALS AND WIRING 4.10 Connection of servo amplifier and servo motor WARNING During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 4.10.1 Connection instructions WARNING CAUTION Insulate the connections of the power supply terminals to prevent an electric shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur. POINT Refer to section 14.1 for the selection of the encoder cable. This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor. When the options are not available, use the recommended products. Refer to section 14.1 for details of the options. (1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel. Control box Servo amplifier Servo motor PE terminal (2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. 4 - 37 4. SIGNALS AND WIRING 4.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less Servo amplifier CNP3 U V W 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) Servo motor U V W M (b) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the motor power supply cable pulled from the servo motor should be within 2m long. Refer to section 14.9 for the wire used for the extension cable. 2m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor 50m or less Servo amplifier CNP3 U V W Extension cable (Note) a) Relay connector for extension cable AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) U V W M (Note) b) Relay connector for motor power supply cable Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Relay connector Description Protective structure Connector: RM15WTPZ-4P(71) IP65 a) Relay connector Cord clamp: RM15WTP-CP(5)(71) for extension cable (Hirose Electric) Numeral changes depending on the cable OD. Connector: RM15WTJA-4S(71) b) Relay connector IP65 Cord clamp: RM15WTP-CP(8)(71) for motor power Numeral changes depending on the cable OD (Hirose Electric) supply cable 4 - 38 4. SIGNALS AND WIRING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT B Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off. Soldered part or crimping part facing up Pin No.1 Soldered part or crimping part facing down For CM10-SP10S- Pin No.1 For CM10-SP2S- (a) Wiring diagrams Refer to section 14.9 for the cables used for wiring. 1) When the power supply connector and the electromagnetic brake connector are separately supplied. 50m or less Servo amplifier Servo motor U V W CN3 U V W M 24VDC DOCOM DICOM ALM RA1 (Note 2) MBR RA2 24VDC power supply for electromagnetic brake Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EMG) RA2 RA1 B1 B2 (Note 1) Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PD09 to PD11. 4 - 39 4. SIGNALS AND WIRING 2) When the power supply connector and the electromagnetic brake connector are shared. 50m or less Servo amplifier Servo motor U V W CN3 U V W M 24VDC DOCOM DICOM ALM RA1 (Note 2) MBR RA2 24VDC power supply for electromagnetic brake Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EMG) RA2 RA1 B1 B2 (Note 1) Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PD09 to PD11. (b) Connector and signal allotment The connector fitting the servo motor is prepared as optional equipment. Refer to section 14.1. For types other than those prepared as optional equipment, refer to chapter 3 in Servo Motor Instruction Manual (Vol.2), to select. Servo motor side connectors Servo motor a c b Encoder HF-SP52(4) to 152(4) HF-SP51 81 HF-SP202(4) to 502(4) HF-SP121 to 301 HF-SP421 702(4) HC-RP103 to 203 HC-RP353 503 HC-UP72 152 HC-UP202 to 502 Power supply MS3102A18-10P MS3102A22-22P CM10-R10P (DDK) CE05-2A32-17PD-B CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A22-23PD-B CE05-2A24-10PD-B HC-LP52 to 152 CE05-2A22-23PD-B HC-LP202 CE05-2A24-10PD-B 302 4 - 40 Electromagnetic brake CM10-R2P (DDK) The connector for power is shared MS3102A10SL-4P The connector for power is shared MS3102A10SL-4P 4. SIGNALS AND WIRING Encoder connector signal allotment CM10-R10P 7 10 6 9 5 8 4 3 Terminal No. 2 1 MR 1 2 MRR Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B Signal C D B A 3 View a 4 BAT 5 LG View b Terminal No. Signal A U B V C W D Power supply connector signal allotment CE05-2A22-23PD-B G F A H B E C D View b (earth) Terminal No. Signal A U B V C W D 6 E 7 F 8 P5 G 9 10 SHD H (earth) B2 (Note) B1 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. Power supply connector signal allotment CE05-2A24-10PD-B A F E G D B C View b Terminal No. Signal A U B V C W D Brake connector signal allotment CM10-R2P Terminal No. 2 1 View c (earth) E B1 (Note) F B2 (Note) G Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. 1 2 Terminal No. Signal B1 A B (Note) B2 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. 4 - 41 Brake connector signal allotment MS3102A10SL-4P View c A B Signal B1 (Note) B2 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. 4. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 14.9 for the cables used for wiring. 1) 200V class NFB 50m or less Servo amplifier MC L1 L2 L3 Servo motor TE U V W CN3 U V W M BU BV BW 24VDC Cooling fan (Note 2) DOCOM DICOM ALM RA1 (Note 4) MBR RA2 24VDC power supply for electromagnetic brake Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EMG) RA1 RA2 B1 B2 OHS1 24VDC (Note 3) power supply (Note 1) OHS2 Servo motor thermal relay RA3 Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2. There is no BW when the power supply of the cooling fan is a 1-phase. 3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal. 4. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PD09 to PD11. 4 - 42 4. SIGNALS AND WIRING 2) 400V class (Note4) Cooling fan power supply 50m or less Servo amplifier MC L1 L2 L3 Servo motor TE U V W CN3 U V W NFB M BU BV BW 24VDC Cooling fan (Note 2) DOCOM DICOM ALM RA1 (Note 5) MBR RA2 24VDC power supply for electromagnetic brake Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EMG) RA1 RA2 B1 B2 OHS1 24VDC (Note 3) power supply (Note 1) OHS2 Servo motor thermal relay RA3 Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2. There is no BW when the power supply of the cooling fan is a 1-phase. 3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal. 4. For the cooling fan power supply, refer to (3) (b) in this section. 5. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PD09 to PD11. 4 - 43 4. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Terminal box Encoder connector signal allotment CM10-R10P 10 9 8 7 6 5 4 3 2 1 Terminal No. Signal 1 MR 2 MRR Brake connector signal allotment MS3102A10SL-4P Terminal No. Signal 1 B1 (Note) 1 2 B2 (Note) 3 4 BAT 5 LG 2 6 7 8 P5 9 10 Terminal box inside (HA-LP601(4) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. SHD 701M(4) 11K2(4)) Thermal sensor terminal block (OHS1 OHS2) M4 screw Motor power supply terminal block (U V W) M6 screw Earth terminal M6 screw Cooling fan terminal block (BU BV) M4 screw Terminal block signal arrangement Encoder connector CM10-R10P OHS1 OHS2 U 4 - 44 V W BU BV 4. SIGNALS AND WIRING Terminal box inside (HA-LP801(4) 12K1(4) 11K1M(4) 15K1M(4) 15K2(4) 22K2(4)) Cooling fan terminal block (BU BV BW) M4 screw Thermal sensor terminal block (OHS1 OHS2) M4 screw Terminal block signal arrangement Motor power supply terminal block (U V W) M8 screw Encoder connector CM10-R10P Earth terminal M6 screw BU BV U V BW OHS1OHS2 W Terminal box inside (HA-LP15K1(4) 20K1(4) 22K1M(4)) Encoder connector CM10-R10P U V W Earth terminal M6 screw Motor power supply Cooling fan Thermal sensor terminal block terminal block terminal block (U V W) M8 screw (BU BV BW) M4 screw (OHS1 OHS2) M4 screw 4 - 45 Terminal block signal arrangement U V W BU BV BW OHS1 OHS2 4. SIGNALS AND WIRING Terminal box inside (HA-LP25K1) Motor power supply terminal block (U V Encoder connector CM10-R10P W) M10 screw U V W BU BV BW OHS1OHS2 Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4 screw Earth terminal( ) M6 screw Terminal block signal arrangement U 4 - 46 V W BU BV BW OHS1 OHS2 4. SIGNALS AND WIRING Signal name Power supply Abbreviation U V W Description Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications. Voltage division Servo motor BW 62(50Hz) 3-phase 200 to 230VAC 50Hz/60Hz 76(60Hz) 0.18(50Hz) 0.17(60Hz) HA-LP15K1, 20K1, 22K1M 65(50Hz) 85(60Hz) 0.20(50Hz) 0.22(60Hz) HA-LP25K1 120(50Hz) 175(60Hz) 0.65(50Hz) 0.80(60Hz) 42(50Hz) 1-phase 200 to 220VAC 50Hz 54(60hz) 1-phase 200 to 230VAC 60Hz 0.21(50Hz) 0.25(60Hz) HA-LP8014, 12K14, 11K1M4, 15K1M4, 15K24, 22K24 62(50Hz) 3-phase 380 to 440VAC 50Hz 76(60Hz) 3-phase 380 to 480VAC 60Hz 0.14(50Hz) 0.11(60Hz) HA-LP15K14, 20K14, 22K1M4 3-phase 380 to 460VAC 50Hz 3-phase 380 to 480VAC 60Hz 65(50Hz) 85(60Hz) 0.12(50Hz) 0.14(60Hz) 110(50Hz) 150(60Hz) 0.20(50Hz) 0.22(60Hz) HA-LP6014, 701M4, 11K24 400V class HA-LP25K14 Motor thermal relay Earth terminal OHS1 OHS2 Rated current [A] 0.21(50Hz) 0.25(60Hz) 200V class HA-LP801, 12K1, 11K1M, 15K1M, 15K2, 22K2 (Note) BU BV Power consumption [W] 42(50Hz) 1-phase 200 to 220VAC 50Hz 54(60Hz) 1-phase 200 to 230VAC 60Hz HA-LP601, 701M, 11K2 Cooling fan Voltage/ frequency OHS1 OHS2 are opened when heat is generated to an abnormal temperature. Maximum rating: 125VAC/DC, 3A or 250VAC/DC, 2A Minimum rating: 6VAC/DC, 0.15A For grounding, connect to the earth of the control box via the earth terminal of the servo amplifier. Note. There is no BW when the power supply of the cooling fan is a 1-phase. 4 - 47 4. SIGNALS AND WIRING 4.11 Servo motor with an electromagnetic brake 4.11.1 Safety precautions Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop signal. Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR). SON Circuit must be opened during forced stop (EMG). RA CAUTION EMG 24VDC Electromagnetic brake The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking. Before performing the operation, be sure to confirm that the electromagnetic brake operates properly. POINT Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as the power supply capacity and operation delay time of the electromagnetic brake. Note the following when the servo motor equipped with an electromagnetic brake is used. 1) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. 2) The brake will operate when the power (24VDC) switches off. 3) Switch off the servo-on (RYn0) after the servo motor has stopped. Using parameter No.PC16 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section 4.11.2 in this section. 4 - 48 4. SIGNALS AND WIRING 4.11.2 Timing charts (1) Servo-on (RYn0) command (from controller) ON/OFF Tb [ms] after the servo-on (RYn0) is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop. Coasting Servo motor speed 0 r/min (95ms) Tb ON Base circuit OFF Electromagnetic brake interlock (MBR) Electromagnetic brake operation delay time OFF ON Servo-on(RYn0) OFF Forward rotation start (RYn1) or reverse rotation start (RYn2) Electromagnetic brake (95ms) (Note 1) ON (Note 3) ON OFF Release Activate Release delay time and external relay (Note 2) Note 1. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol.2). 3. After the electromagnetic brake is released, turn ON the RYn1 or RYn2. (2) Forced stop (EMG) ON/OFF Dynamic brake Servo motor speed Base circuit Electromagnetic brake interlock (MBR) Forced stop (EMG) Forward rotation 0r/min Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake release (210ms) (10ms) ON OFF (210ms) (Note) ON Electromagnetic brake operation delay time OFF Invalid (ON) Valid (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 4 - 49 4. SIGNALS AND WIRING (3) Alarm occurrence Forward rotation 0r/min Servo motor speed Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake (10ms) ON Base circuit OFF Electromagnetic brake operation delay time (Note) ON Electromagnetic brake interlock (MBR) OFF No (ON) ALM Yes (OFF) Trouble RX(n+1)A or RX(n+3) Yes (ON) No (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. (4) Both main and control circuit power supplies off (10ms) Servo motor speed ON Base circuit OFF Electromagnetic brake interlock (MBR) ALM Trouble Forward (Note 1) rotation 15 to 60ms 0r/min 10ms (Note 2) ON OFF Electromagnetic brake operation delay time No (ON) Yes (OFF) Yes (ON) RX(n+1)A or RX(n+3)A No (OFF) Main circuit Control circuit Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake power ON OFF Note 1. Changes with the operating status. 2. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 4 - 50 4. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) Servo motor speed Base circuit Electromagnetic brake interlock (MBR) ALM Trouble Forward rotation 0r/min (10ms) (Note 1) 15ms or more Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake ON OFF (Note 3) ON OFF Electromagnetic brake operation delay time (Note 2) No (ON) Yes (OFF) Yes (ON) RX(n+1)A or RX(n+3)A No (OFF) Main circuit power supply ON OFF Note 1. Changes with the operating status. 2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (AE9) occurs and the trouble (ALM) does not turn off. 3. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 4 - 51 4. SIGNALS AND WIRING 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to section 4.10.2 (2). (1) When cable length is 10m or less 24VDC power supply for electromagnetic brake 10m or less MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL Forced stop (EMG) (Note 3) Electromagnetic Trouble brake (MBR) (ALM) + M-A1-L M-A2-L M-A1-H Servo motor M-A2-H (Note 2) AWG20 B1 (Note 1) - AWG20 B2 Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PD09 to PD11. When fabricating the motor brake cable MR-BKS1CBL- M-H, refer to section 14.1.4. (2) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In this case, the motor brake cable should be within 2m long. Refer to section 14.9 for the wire used for the extension cable. 2m or less 24VDC power supply for electromagnetic brake 50m or less (Note 4) Electromagnetic brake (MBR) Extension cable Trouble (To be fabricated) (ALM) Forced stop (EMG) + (Note 1) - (Note 2) a) Relay connector for extension cable MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 3) AWG20 B1 AWG20 B2 (Note 2) b) Relay connector for motor brake cable Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Relay connector a) Relay connector for extension cable b) Relay connector for motor brake cable Description CM10-CR2P(DDK) IP65 Wire size: S, M, L CM10-SP2S(DDK) Protective structure IP65 Wire size: S, M, L 3. There is no polarity in electromagnetic brake terminals (B1 and B2). 4. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PD09 to PD11. 4 - 52 4. SIGNALS AND WIRING 4.12 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310). Control box Servo amplifier NFB L1 Line filter (Note) Power supply Servo motor CN2 MC Encoder L2 L3 L11 L21 U U V V W W M Programmable controller CN3 Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel. Protective earth(PE) Outer box Note. For 1-phase 200 to 230VAC or 1-phase 100 to 120VAC, connect the power supply to L1 L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification. 4 - 53 4. SIGNALS AND WIRING MEMO 4 - 54 5. OPERATION 5. OPERATION WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury. 5.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 5.1.1 Startup procedure Wiring check Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (Section 7.7.4, 8.5.7 (4)), etc. (Refer to section 5.1.2.) Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 5.1.3.) Parameter setting Set the parameters as necessary, such as the used control mode and regenerative option selection with the parameter unit or MR Configurator. (Refer to chapter 6.) Test operation of servo motor alone in test operation mode For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, and check whether the servo motor rotates correctly. (Refer to sections 7.7 and 8.5.7.) For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, and check whether the servo motor rotates correctly. Test operation of servo motor alone by commands Test operation with servo motor and machine connected Connect the servo motor with the machine, give operation commands from the host command device, and check machine motions. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 9.) Actual operation Stop Stop giving commands and stop operation. 5- 1 5. OPERATION 5.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.2.) (b) Connection of servo amplifier and servo motor 1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor. Servo amplifier U U V V Servo motor M W W 2) The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor. Servo amplifier Servo motor M U V W U V W 3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier. Servo amplifier Servo motor M 4) P1-P2 (For 11kW or more, P1-P) should be connected. Servo amplifier P1 P2 (c) When option and auxiliary equipment are used 1) When regenerative option is used under 3.5kW for 200V class and 2kW for 400V class The lead between P terminal and D terminal of CNP2 connector should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used. (Refer to section 14.2.) 5- 2 5. OPERATION 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to section 14.2.) 3) When brake unit and power regenerative converter are used over 5kW The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. Brake unit, power regenerative converter or power regeneration common converter should be connected to P terminal and N terminal. (Refer to section 14.3 to 14.5.) 4) The power factor improving DC reactor should be connected P1 and P2 (For 11kW or more, P1 and P). (Refer to section 14.11.) Power factor Servo amplifier improving DC reactor P1 (Note) P2 Note. Always disconnect P1 and P2 (For 11kW or more, P1 and P). (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN6 connector. This function can be used to perform a wiring check. (Refer to section 7.7.4.) In this case, switch on the control circuit power supply only. (b) 24VDC or higher voltage is not applied to the pins of connectors CN6. (c) SD and DOCOM of connector CN6 is not shorted. Servo amplifier CN6 DOCOM SD 5.1.3 Surrounding environment (1) Cable routing (a) The wiring cables are free from excessive force. (b) The encoder cable should not be used in excess of its flex life. (Refer to section 13.4.) (c) The connector part of the servo motor should not be strained. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like. 5- 3 5. OPERATION 5.2 Startup 5.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (RYn0). 2) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off. 3) Switch on the main circuit power supply and control circuit power supply. When main circuit power/control circuit power is switched on, the servo amplifier display shows "b01" (if the servo amplifier has the station number of 1). In the absolute position detection system, first power-on results in the absolute position lost (A25) alarm and the servo system cannot be switched on. The alarm can be deactivated then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 3000r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop. (2) Power-off 1) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off. 2) Switch off the Servo-on (RYn0). 3) Switch off the main circuit power supply and control circuit power supply. 5.2.2 Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor. Refer to section 4.11 for the servo motor equipped with an electromagnetic brake. (a) Servo-on (RYn0) OFF The base circuit is shut off and the servo motor coasts. (b) Alarm occurrence When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. (c) Forced stop (EMG) OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. The servo forced stop warning (AE6) occurs. (d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the opposite direction. 5- 4 5. OPERATION 5.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 5.2.1 for the power on and off methods of the servo amplifier. Test operation of servo motor alone in JOG operation of test operation mode In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 7.7 and 8.5.7 for the test operation mode. Test operation of servo motor alone by commands In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the command device. Make sure that the servo motor rotates in the following procedure. 1) Switch on the Forced stop (EMG) and Servo-on (RYn0). When the servo amplifier is put in a servo-on status, the Ready (RD) switches on. 2) Switch on the Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN). 3) When the point table is designated to switch on the forward rotation start (RYn1) or reverse rotation start (RYn2), the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check the input signal. Test operation with servo motor and machine connected In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device. Make sure that the servo motor rotates in the following procedure. 1) Switch on the Forced stop (EMG) and Servo-on (RYn0). When the servo amplifier is put in a servo-on status, the Ready (RD) switches on. 2) Switch on the Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN). 3) When the point table is specified from the command device and the forward rotation start (RYn1) or reverse rotation start (RYn2) is turned ON, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc. 4) Then, check automatic operation with the program of the command device. 5- 5 5. OPERATION 5.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (A16) will occur at power-on. Encoder cable MR-EKCBL20M-L/H Parameter No.PC22 setting 0 (initial value) MR-EKCBL30M-H MR-EKCBL40M-H 1 MR-EKCBL50M-H ) mainly. The servo amplifier can be used by merely changing the basic setting parameters (No.PA As necessary, set the gain filter parameters (No.PB ), extension setting parameters (No.PC ) and I/O ). setting parameters (No.PD Parameter group Main description Basic setting parameter (No.PA ) Set the basic setting parameters first. Generally, operation can be performed by merely setting this parameter group. In this parameter group, set the following items. Control mode selection (select the position control mode) Regenerative option selection Absolute position detection system selection Setting of command input pulses per revolution Electronic gear setting Auto tuning selection and adjustment In-position range setting Torque limit setting Command pulse input form selection Servo motor rotation direction selection Encoder output pulse setting Gain filter parameter (No.PB ) If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning, execute indepth gain adjustment using this parameter group. This parameter group must also be set when the gain changing function is used. Extension setting parameter (No.PC ) This parameter group is unique to MR-J3- T servo amplifier. I/O setting parameter (No.PD ) Used when changing the I/O devices of the servo amplifier. 5- 6 5. OPERATION 5.2.5 Point table setting Set necessary items to the point table before starting operation. The following table indicates the items that must be set. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant. Deceleration time constant Set the deceleration time constant. Dwell Set the waiting time when performing automatic continuous operation. Auxiliary function Set when performing automatic continuous operation. Refer to section 5.4.2 for details of the point table. 5.2.6 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. Perform a home position return as necessary. 5- 7 5. OPERATION 5.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3) Waiting for CC-Link communication (Note 1) When alarm warning No. is displayed CC-Link master module power ON CC-Link communication beginning At occurrence of overload (Note 3) Flicker display Not ready At occurrence of overload warning (Note 2) Flicker display Servo ON (Note 3) When alarm occurs, alarm code appears. During forced stop Flicker display Ready Alarm reset or warning 2s later Point table No. display 2s later Servo amplifier power OFF Note 1. Only alarm and warning No. are displayed, but no station No. is displayed. 2. If warning other than AE6 occurs during the servo on, flickering the second place of decimal point indicates that it is during the servo on. 3. The right-hand segments of b01, c02 and d16 indicate the axis number. (Below example indicates Station No.1) Station Station No.1 No.2 Station No.64 5- 8 5. OPERATION (2) Indication list Indication Status b # # Waiting for CC-Link communication (Note 1) $ $ $ Ready for operation (Note 3) A (Note 4) Warning The servo amplifier is being initialized or an alarm has occurred. Two seconds have passed after the servo amplifier is ready to operate by turning ON the servo-on (RYn1). The alarm No./warning No. that occurred is displayed. (Refer to section 11.4.) 8 8 8 CPU error CPU watchdog error has occurred. b 0 0. JOG operation step feed d # #. (Note 1) Alarm Power of the CC-Link master module was switched on at the condition that the power of CC-Link master module is OFF. The CC-Link master module is faulty. The servo was switched on after completion of initialization and the servo amplifier is ready to operate. (This is indicated for 2 seconds.) d # # Ready (Note 1) C # # Not ready (Note 2) Description C # #. (Note 4) Test operation mode positioning operation programmed operation Motor-less operation Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below. ## Description 00 Set to the test operation mode. 01 Station number 1 02 Station number 2 03 Station number 3 : : : : 62 Station number 62 63 Station number 63 64 Station number 64 Note 2. $$$ indicates numbers from 0 to 255, and the number indicates the executing point table number. 3. indicates the warning/alarm No. 4. Requires MR Configurator or MR-PRU03 parameter module. 5- 9 DO forced output single- 5. OPERATION 5.4 Automatic operation mode 5.4.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (RYn1) or reverse rotation start (RYn2). Automatic operation has the absolute value command system, incremental value command system. (a) Absolute value command system As position data, set the target address to be reached. STM Setting range: 999999 to 999999 [ 10 m] (STM feed length multiplication parameter No.PA05) 999999 999999 Position data setting range STM [ 10 m] (b) Incremental value command system As position data, set the moving distance from the current address to the target address. STM Setting range: 0 to 999999 [ 10 m] (STM feed length multiplication parameter No.PA05) Current address Position data Target address |target address - current address| (2) Point table (a) Point table setting Up to 255 point tables may be set. Set the point tables using the MR Configurator Software, the MR-PRU03 parameter unit or CC-Link write instruction code. The following table lists what to set: Refer to section 5.4.2 for details of the settings. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant. Deceleration time constant Set the deceleration time constant. Dwell Set the waiting time when performing automatic continuous operation. Auxiliary function Set when performing automatic continuous operation. 5 - 10 5. OPERATION (b) Selection of point table Using the input signal or CC-Link, select the point table No. with the remote input and remote register from the command device (controller) such as a personal computer. The following table lists the point table No. selected in response to the remote input. When 2 stations are occupied, the point table No. can be selected by remote register setting. (Refer to section 3.6.3.) Remote input (0: OFF 1: ON) 2 stations occupied Selected point table No. 1 station occupied RY(n 2)5 RY(n 2)4 RY(n 2)3 RYnE RYnD RYnC RYnB RYnA 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 1 3 0 0 0 0 0 1 0 0 4 1 1 1 1 1 1 1 0 254 1 1 1 1 1 1 1 1 255 5 - 11 5. OPERATION 5.4.2 Automatic operation using point table (1) Absolute value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. The following table gives a setting example. However, this function cannot be used when the point table No. is selected using the remote register of CC-Link. Name Setting range Unit 10STM m Description (1) When using this point table as absolute value command system Set the target address (absolute value). (2) When using this point table as incremental value command system Set the moving distance. A "-" sign indicates a reverse rotation command. Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible speed of the servo motor. Position data 999999 to 999999 Motor speed 0 to permissible speed Acceleration time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached. Deceleration time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop. Dwell 0 to 20000 Auxiliary function 0 to 3 r/min ms This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. Set "0" in the auxiliary function to make the dwell invalid. Set "1" in the auxiliary function and 0 in the dwell to perform continuous operation. When the dwell is set, the position command of the selected point table is completed, and after the set dwell has elapsed, the position command of the next point table is started. This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. (1) When using this point table in the absolute value command system 0: Automatic operation is performed in accordance with a single point table chosen. 1: Operation is performed in accordance with consecutive point tables without a stop. (2) When using this point table in the incremental value command system 2: Automatic operation is performed in accordance with a single point table chosen. 3: Operation is performed in accordance with consecutive point tables without a stop. When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed. Setting "1" in point table No.255 results in an error. For full information, refer to (4) in this section. (b) Parameter setting Set the following parameters to perform automatic operation. 1) Command mode selection (parameter No.PA01) Select the absolute value command system. Parameter No.PA01 0 Absolute value command system 5 - 12 5. OPERATION 2) Rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) is switched on. Parameter No.PA14 setting Servo motor rotation direction when forward rotation start (RYn1) is switched on 0 CCW rotation with position data CW rotation with position data 1 CW rotation with position data CCW rotation with position data CCW CW 3) Feed length multiplication selection (parameter No.PA05) Set the unit multiplication factor (STM) of position data. Parameter No.PA05 setting Feed unit [μm] Position data input range [mm] 0 1 999.999 to 999.999 1 10 9999.99 to 9999.99 2 100 99999.9 to 99999.9 3 1000 999999 to 999999 (c) Operation Choosing the point table using RYnA to RYnE, RY(n 2)3 to RY(n 2)5 and turning RYn1 ON starts positioning to the position data at the preset speed, acceleration time constant and deceleration time constant. At this time, reverse rotation start (RYn2) is invalid. Item Setting method Description Automatic operation mode selection Automatic/manual selection (RYn6) Turn RYn6 ON. Point table selection Point table No. selection 1 (RYnA) Point table No. selection 2 (RYnB) Point table No. selection 3 (RYnC) Point table No. selection 4 (RYnD) Point table No. selection 5 (RYnE) Point table No. selection 6 (RY(n 2)3) Point table No. selection 7 (RY(n 2)4) Point table No. selection 8 (RY(n 2)5) Refer to section 5.4.1(2). Start Forward rotation start (RYn1) Turn RYn1 ON to start. 5 - 13 5. OPERATION (2) Incremental value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. The following table gives a setting example. Name Setting range Unit Description Position data 0 to 999999 10STM m Set the moving distance. The unit can be changed using feed length multiplication factor selection of parameter No.PA05. Servo motor speed 0 to permissible speed r/min Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible speed of the servo motor. Acceleration time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached. Deceleration time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop. ms This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. Set "0" in the auxiliary function to make the dwell invalid. Set "1" in the auxiliary function and 0 in the dwell to perform continuous operation. When the dwell is set, the position command of the selected point table is completed, and after the set dwell has elapsed, the position command of the next point table is started. Dwell 0 to 20000 Auxiliary function 0 1 This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. 0: Automatic operation is performed in accordance with a single point table chosen. 1: Operation is performed in accordance with consecutive point tables without a stop. When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed. Setting "1" in point table No.255 results in an error. For full information, refer to (4) in this section. (b) Parameter setting Set the following parameters to perform automatic operation. 1) Command mode selection (parameter No.PA01) Select the incremental value command system. Parameter No.PA01 1 Incremental value command system 5 - 14 5. OPERATION 2) Forward rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) signal or reverse rotation start (RYn2) signal is switched on. Parameter No.PA14 setting Servo motor rotation direction Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON 0 CCW rotation (address incremented) CW rotation (address decremented) 1 CW rotation (address incremented) CCW rotation (address decremented) RYn1: ON CCW RYn2: ON CCW CW RYn2: ON CW RYn1: ON Parameter No.PA14: 0 Parameter No.PA14: 1 3) Feed length multiplication selection (parameter No.PA05) Set the unit multiplication factor (STM) of position data. Parameter No.PA05 setting Feed unit [μm] Position data input range [mm] 0 1 0 to 999.999 1 10 0 to 9999.99 2 100 0 to 99999.9 3 1000 0 to 999999 (c) Operation Choosing the point table using RYnA to RYnE, RY(n 2)3 to RY(n 2)5 and turning RYn1 ON starts a motion in the forward rotation direction over the moving distance of the position data at the preset speed and acceleration time constant. Turning RYn2 ON starts a motion in the reverse rotation direction according to the values set to the selected point table. Item Setting method Description Automatic operation mode selection Automatic/manual selection (RYn6) Turn RYn6 ON. Point table selection Point table No. selection 1 (RYnA) Point table No. selection 2 (RYnB) Point table No. selection 3 (RYnC) Point table No. selection 4 (RYnD) Point table No. selection 5 (RYnE) Point table No. selection 6 (RY(n 2)3) Point table No. selection 7 (RY(n 2)4) Point table No. selection 8 (RY(n 2)5) Refer to section 5.4.1(2). Forward rotation start (RYn1) Turn RYn1 ON to start motion in forward rotation direction. Reverse rotation start (RYn2) Turn RYn2 ON to start motion in reverse rotation direction. Start 5 - 15 5. OPERATION (3) Automatic operation timing chart The timing chart is shown below. ON OFF ON OFF Automatic/manual selection (RYn6) Servo-on (RYn0) Point table No. 1 Forward rotation start (RYn1) Reverse rotation start (RYn2) (Note 1) ON OFF ON OFF 2 (Note 2) 4ms or more (Note 2) 4ms or more 6ms or more 3ms or less Servo motor speed Forward rotation 0r/min Reverse rotation In position (RXn1) Rough match (RXn2) Movement completion (RXnC) Point table No.1 Point table No.2 ON OFF ON OFF ON OFF Point table No. output (RX(n+2)2 to RX(n+2)9) Ready (RXn0) Trouble (ALM) 6ms or more 1 2 ON OFF ON OFF Note 1. Reverse rotation start (RYn2) is invalid in the absolute value command system. 2. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. 5 - 16 5. OPERATION (4) Automatic continuous operation POINT This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. (a) What is automatic continuous operation? By merely choosing one point table and making a start (RYn1 or RYn2), operation can be performed in accordance with the point tables having consecutive numbers. Automatic operation is available in two types: varied speed operation and automatic continuous positioning operation. Either type may be selected as follows. 1) In absolute value command specifying system Point table setting Auxiliary function Dwell Automatic continuous operation Speed changing operation Automatic continuous positioning operation When position data is When position data is absolute value incremental value 0 1 3 1 or more 1 3 2) In incremental value command system Point table setting Automatic continuous operation Speed changing operation Automatic continuous positioning operation Dwell Auxiliary function 0 1 1 or more 1 (b) Varied speed operation Speed during positioning operation can be changed by setting the auxiliary function of the point table. Use the number of point tables equal to the number of speeds to be set. By setting "1" to the auxiliary function, operation is performed at the speed set in the next point table during positioning. The position data valid at this time is the data selected at start and the acceleration and deceleration time constants of the subsequent point tables are made invalid. By setting "1" to the auxiliary function of up to point table No.254, operation can be performed at a maximum of 255 speeds. Set "0" to the auxiliary function of the last point table. When performing varied speed operation, always set "0" to the dwell. If "1" or more is set, automatic continuous positioning operation is made valid. The following table gives a setting example. Point table No. Dwell [ms] (Note 1) Auxiliary function 1 0 1 2 0 1 3 0 0 (Note 2) 4 0 1 5 0 1 6 0 1 7 0 0 (Note 2) Variable speed operation Consecutive point table data Consecutive point table data Note 1. Always set "0". 2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 5 - 17 5. OPERATION 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the incremental value command system, the point table No.3 the absolute value system, and the point table No.4 the incremental value command system. Point table No. Position data [ 10STM m] Servo motor speed [r/min] Acceleration time constant [ms] Deceleration time constant [ms] Dwell [ms] (Note 1) Auxiliary function 1 5.00 3000 100 150 0 1 2 3.00 2000 Invalid Invalid 0 3 3 10.00 1000 Invalid Invalid 0 1 4 6.00 500 Invalid Invalid 0 0 (Note 2) Note 1. Always set "0". 2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 0: When point table is used in absolute value command system 1: When point table is used in incremental value command system Acceleration time constant of point table No.1 (100) Servo motor speed Forward rotation Deceleration time constant of point table No.1 (150) Speed (1000) Speed (3000) Speed (2000) Speed (500) 0r/min 3.00 Position address 0 5.00 8.00 10.00 16.00 1 Selected point table No. Forward rotation start (RYn1) 6.00 ON OFF Point table No. out put (RX(n+2)2 to RX(n+2)9) 1 5 - 18 5. OPERATION Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the incremental value command system, and the point table No.3 the absolute value system. Point table No. Position data [ 10STM m] Servo motor speed [r/min] Acceleration time constant [ms] Deceleration time constant [ms] Dwell [ms] (Note 1) Auxiliary function 1 1 5.00 3000 100 150 0 2 7.00 2000 Invalid Invalid 0 1 3 8.00 1000 Invalid Invalid 0 0 (Note 2) Note 1. Always set "0". 2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 0: When point table is used in absolute value command system 1: When point table is used in incremental value command system Acceleration time constant of point table No.1 (100) Deceleration time constant of point table No.1 (150) Speed (3000) Forward rotation 0r/min Servo motor speed Reverse rotation Speed (2000) Speed (1000) Acceleration time constant of point table No.1 (100) 7.00 Position address 0 5.00 Selected point table No. Forward rotation start (RYn1) 12.00 8.00 1 ON OFF Point table No. out put (RX(n+2)2 to RX(n+2)9) 1 5 - 19 5. OPERATION 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table. Point table No. Position data [ 10STM m] Servo motor speed [r/min] Acceleration time constant [ms] Deceleration time constant [ms] Dwell [ms] (Note 1) Auxiliary function 1 5.00 3000 100 150 0 1 2 6.00 2000 Invalid Invalid 0 1 3 3.00 1000 Invalid Invalid 0 0 (Note 2) Note 1. Always set "0". 2. Always set "0" to the auxiliary function of the last point table among the consecutive point tables. Acceleration time constant of point table No.1 (100) Servo motor speed Forward rotation Deceleration time constant of point table No.1 (150) Speed (3000) Speed (2000) Speed (1000) 0r/min 5.00 Position address 0 6.00 5.00 Selected point table No. 3.00 11.00 14.00 1 (Note) ON Forward rotation start (RYn1) OFF Point table No. out put (RX(n+2)2 to RX(n+2)9) 1 Note. Turning on Reverse rotation start (RYn2) starts positioning in the reverse rotation direction. 5 - 20 5. OPERATION (c) Temporary stop/restart When RYn7 is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When RYn7 is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (RYn1 or RYn2) is ignored if it is switched on during a temporary stop. The remaining moving distance is cleared when the operation mode is changed from the automatic mode to the manual mode during a temporary stop. The temporary stop/restart input is ignored during zeroing and jog operation. 1) When the servo motor is rotating Acceleration time constant of point table No.n Servo motor speed Deceleration time constant of point table No.n Forward rotation 0r/min Remaining distance No.n Point table Forward rotation start (RYn1) or reverse rotation start (RYn2) Temporary stop/Restart (RYn7) Temporary stop (RXn7) Rough match (RXn2) In position (RXn1) Movement completion (RXnC) ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Point table No. out put (RX(n+2)2 to RX(n+2)9) No.n 2) During dwell Point table No.n 1 Point table No.n Dwell Servo motor speed Forward rotation 0r/min Temporary stop/Restart (RYn7) Temporary stop (RXn7) Rough match (RXn2) In position (RXn1) Movement completion (RXnC) tb No.n Point table Forward rotation start (RYn1) or reverse rotation start (RYn2) ta tb ta ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Point table No. out put (RX(n+2)2 to RX(n+2)9) No.n 5 - 21 5. OPERATION 5.4.3 Remote register-based position/speed setting This operation can be used when 2 stations are occupied. This section explains operation to be performed when the remote register is used to specify the position command data/speed command data. (1) Absolute value command positioning in absolute value command system The position data set in the absolute value command system are used as absolute values in positioning. Set the input devices and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed setting Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Command system Parameter No.PA01 0 : Absolute value command system is selected. Parameter No.PC30 2 : Remote register-based position/speed specifying system is selected. In the case, always set an acceleration/deceleration time constant in the point table No.1. Remote register-based position/speed specifying system selection Position data Servo motor speed Position command data upper 16 bit (RWwn 5) Set the lower 16 bits of position data to RWwn 4, and the upper 16 bits to RWwn 5. Setting range: 999999 to 999999 Speed command data (RWwn 6) Set the servo motor speed. Position command data lower 16 bit (RWwn 4) Set the position data to RWwn 4/RWwn 5, and the speed command data to RWwn 6, and store them into the servo amplifier. In the absolute value command system, Absolute value/incremental value selection (RY(n 2)B) can be used to select whether the values set to the position data are absolute values or incremental values. The position data set to RWwn 4/RWwn 5 are handled as absolute values when RY(n 2)B is turned OFF or as incremental values when it is turned ON. During operation, how the position data will be handled (absolute values or incremental values) depends on the status of RY(n 2)B when Forward rotation start (RYn1) is turned ON. Here, RY(n 2)B is turned OFF since the position data are handled as absolute values. 5 - 22 5. OPERATION Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RY(n 2)A) Incremental value/absolute value selection (RY(n 2)B) ON OFF ON OFF ON OFF ON OFF Position data (RWwn 4 RWwn 5) Position data 1 Position data 2 Speed data (RWwn 6) Speed data 1 Speed data 2 (Note 2) Position instruction execution demand (RY(n 2)0) Position instruction execution completion (RX(n 2)0) (Note 2) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) Forward rotation start (RYn1) Servo motor speed ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation 0r/min Reverse rotation (Note 1) 6ms or more (Note 1) 6ms or more 3ms or less Incremental value data 1 Incremental value data 2 ON OFF ON Rough match (RXn2) OFF ON Movement completion (RXnC) OFF ON Ready (RD) OFF ON Trouble (ALM) OFF In position (RXn1) Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. 2. For details of the operation timing of RY(n 2)0 and RY(n 2)1, refer to the section 3.6.2 (3). 5 - 23 5. OPERATION (2) Incremental value command positioning in absolute value command system The position data set in the absolute value command system are used as incremental values in positioning. Set the input devices and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed setting Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Command system Parameter No.PA01 0 : Absolute value command system is selected. Remote register-based position/speed specifying system selection Parameter No.PC30 2 : Remote register-based position/speed specifying system is selected. Position data Servo motor speed Position command data upper 16 bit (RWwn 5) Set the lower 16 bits of position data to RWwn 4, and the upper 16 bits to RWwn 5. Setting range: 999999 to 999999 Speed command data (RWwn 6) Set the servo motor speed. Position command data lower 16 bit (RWwn 4) Here, Absolute value/incremental value selection RY(n 2)B is turned ON since the position data are handled as incremental values. 5 - 24 5. OPERATION ON OFF ON Servo-on (RYn0) OFF ON Position/speed specifying system selection (RY(n 2)A) OFF ON Incremental value/absolute value selection (RY(n 2)B) OFF Automatic/manual selection (RYn6) Position data (RWwn 4 RWwn 5) Position data 1 Position data 2 Speed data (RWwn 6) Speed data 1 Speed data 2 (Note 2) Position instruction execution demand (RY(n 2)0) Position instruction execution completion (RX(n 2)0) (Note 2) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) Forward rotation start (RYn1) Servo motor speed ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation 0r/min Reverse rotation (Note 1) 6ms or more (Note 1) 6ms or more 3ms or less Incremental value data 1 Incremental value data 2 ON OFF ON Rough match (RXn2) OFF ON Movement completion (RXnC) OFF ON Ready (RD) OFF ON Trouble (ALM) OFF In position (RXn1) Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. 2. For details of the operation timing of RY(n 2)0 and RY(n 2)1, refer to the section 3.6.2 (3). 5 - 25 5. OPERATION (3) Positioning in incremental value command system Execute positioning in the incremental value command system. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed setting Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Command system Parameter No.PA01 1 : Incremental value command system is selected. Parameter No.PC30 2 : Remote register-based position/speed specifying system is selected. In the case, always set an acceleration/deceleration time constant in the point table No.1. Remote register-based position/speed specifying system selection Position data Servo motor speed Position command data upper 16 bit (RWwn 5) Set the lower 16 bits of position data to RWwn 4, and the upper 16 bits to RWwn 5. Setting range: 0 to 999999 Speed command data (RWwn 6) Set the servo motor speed. Position command data lower 16 bit (RWwn 4) 1" in parameter No.PA01 to select the incremental value command system. In the incremental Set " value command system, the position data are handled as incremental values. Hence, Absolute value/incremental value selection (RY(n 2)B) is invalid. 5 - 26 5. OPERATION Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RY(n 2)A) ON OFF ON OFF ON OFF Position data (RWwn 4 RWwn 5) Position data 1 Position data 2 Speed data (RWwn 6) Speed data 1 Speed data 2 (Note 2) Position instruction execution demand (RY(n 2)0) Position instruction execution completion (RX(n 2)0) (Note 2) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) Forward rotation start (RYn1) Reverse rotation start (RYn2) ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF (Note 1) 6ms or more (Note 1) 6ms or more 3ms or less Servo motor speed Forward rotation 0r/min Reverse rotation Incremental value data 1 Incremental value data 2 ON OFF ON Rough match (RXn2) OFF ON Movement completion (RXnC) OFF ON Ready (RD) OFF ON Trouble (ALM) OFF In position (RXn1) Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. 2. For details of the operation timing of RY(n 2)0 and RY(n 2)1, refer to the section 3.6.2 (3). 5 - 27 5. OPERATION 5.5 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 5.5.1 JOG operation (1) Setting Set the input device and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) are invalid. Item Used device/parameter Description Manual operation mode selection Automatic/manual selection (RYn6) Turn RYn6 OFF. Servo motor rotation direction Parameter No.PA14 Refer to (2) in this section. Jog speed Parameter No.PC12 Set the speed of the servo motor. Acceleration/deceleration time constant Point table No.1 Use the acceleration/deceleration time constants in point table No.1. (2) Servo motor rotation direction Parameter No.PA14 setting Servo motor rotation direction Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON 0 CCW rotation CW rotation 1 CW rotation CCW rotation RYn1: ON CCW RYn2: ON CCW CW RYn2: ON CW RYn1: ON Parameter No.PA14: 0 Parameter No.PA14: 1 (3) Operation By turning RYn1 ON, operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to (2) in this section. By turning RYn2 ON, the servo motor rotates in the reverse direction to forward rotation start (RYn1). 5 - 28 5. OPERATION (4) Timing chart Automatic/manual selection (RYn6) Servo-on (RYn0) ON OFF ON OFF 100ms ON OFF ON Reverse rotation start (RYn2) OFF Forward rotation start (RYn1) Forward rotation jog Reverse rotation jog Forward rotation 0r/min Reverse rotation Servo motor speed ON OFF ON Movement completion (RXnC) OFF ON Ready (RD) OFF ON Trouble (ALM) OFF Rough match (RXn2) 5.5.2 Manual pulse generator (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) are invalid. Item Setting method Description Manual operation mode selection Automatic/manual selection (RYn6) Turn RYn6 OFF. Manual pulse generator multiplication Parameter No.PA05 For more information, refer to (3) in this section. Servo motor rotation direction Parameter No.PA14 Refer to (2) in this section. (2) Servo motor rotation direction Parameter No.PA14 setting Servo motor rotation direction Manual pulse generator: forward rotation Manual pulse generator: reverse rotation 0 CCW rotation CW rotation 1 CW rotation CCW rotation CCW CW Forward rotation 5 - 29 5. OPERATION (3) Manual pulse generator multiplication (a) Using the parameter for setting Use parameter No.PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation. Parameter No.PA05 setting Multiplication ratio of servo motor rotation to manual pulse generator rotation Moving distance 0 1 time 1[ m] 1 10 times 10[ m] 2 100 times 100[ m] (b) Using the input signals for setting (devices) Set the pulse generator multiplication 1 (TP0) and the pulse generator multiplication 2 (TP1) to the CN6 connector pins in the parameters of Nos. PD06 to PD08. (Note) Pulse generator multiplication 2 (TP1) (Note) Pulse generator multiplication 1 (TP0) Multiplication ratio of servo motor rotation to manual pulse generator rotation 0 0 Parameter No.PA05 setting valid 0 1 1 time 1 0 10 times 10[ m] 1 1 100 times 100[ m] Moving distance 1[ m] Note. 0: OFF 1: ON (4) Operation Turn the manual pulse generator to rotate the servo motor. For the rotation direction of servo motor, refer to (2) in this section. 5 - 30 5. OPERATION 5.6 Manual home position return mode 5.6.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off. Hence, home position return is not required when power is switched on again. This servo amplifier has the home position return methods given in this section. Choose the most appropriate method for your machine structure and application. This servo amplifier has the home position return automatic return function which executes home position return by making an automatic return to a proper position if the machine has stopped beyond or at the proximity dog. Manual motion by jog operation or the like is not required. 5 - 31 5. OPERATION (1) Home position return types Choose the optimum home position return according to the machine type, etc. Type Home position return method Features Dog type home position return With deceleration started at the front end of a proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. General home position return method using a proximity dog. Repeatability of home position return is excellent. The machine is less burdened. Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor. Count type home position return With deceleration started at the front end of a proximity dog, the position where the first Z-phase signal is given after advancement over the preset moving distance after the proximity dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. Home position return method using a proximity dog. Used when it is desired to minimize the length of the proximity dog. Data setting type home position return An arbitrary position is defined as a home position. No proximity dog required. Stopper type home position return The position where the machine stops when its part is pressed against a machine stopper is defined as a home position. Since the machine part collides with the machine be fully lowered. The machine and stopper strength must be increased. Home position ignorance (Servo-on position as home position) The position where servo is switched on is defined as a home position. Dog type rear end reference Count type front end reference Dog cradle type Dog type first Z-phase reference The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position. The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position. The position where the first Z-phase signal is issued after detection of the proximity dog front end is defined as a home position. After the proximity dog front end is detected, the current position moves away from the proximity dog in the reverse direction. In this movement, the home position is defined to be where the first Z-phase signal is issued or the position that is the home position shift distance away from where the first Z-phase signal is issued. Dog type front end reference The home position is the front end of the proximity dog. Dogless Z-phase reference The home position is defined to be where the first Zphase signal is issued or the position that is the home position shift distance away from where the first Zphase signal is issued. 5 - 32 The Z-phase signal is not needed. The Z-phase signal is not needed. The Z-phase signal is not needed. 5. OPERATION (2) Home position return parameter When performing home position return, set each parameter as follows. (a) Choose the home position return method with parameter No.PC02 (Home position return type). Parameter No.PC02 0 0 0 Home position return method 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type 8: Dog type first Z-phase reference 9: Dog type front end reference A: Dogless Z-phase reference (b) Choose the starting direction of home position return with parameter No.PC03 (Home position return direction). Set "0" to start home position return in the direction in which the address is incremented from the current position, or "1" to start home position return in the direction in which the address is decremented. Parameter No.PC03 0 0 0 Home position return direction 0: Address increment direction 1: Address decrement direction (c) Choose the polarity at which the proximity dog is detected with parameter No.PD16 (Input polarity setting). Set "0" to detect the dog when the proximity dog device (DOG) is OFF, or "1" to detect the dog when the device is ON. Parameter No.PD16 0 0 0 Proximity dog input polarity 0: OFF indicates detection of the dog 1: ON indicates detection of the dog (3) Instructions 1) Before starting home position return, always make sure that the limit switch operates. 2) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely. 3) Confirm the proximity dog input polarity. Not doing so may cause unexpected operation. 5 - 33 5. OPERATION 5.6.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Remote register-based position/speed setting (Only when two stations are occupied) Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Dog type home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Refer to section 5.6.1 (2) and choose home position return direction. Dog input polarity Parameter No.PD16 Refer to section 5.6.1 (2) and choose dog input polarity. Home position return speed Parameter No.PC04 Set speed until detection of dog. Creep speed Parameter No.PC05 Set speed after detection of dog. Home position shift distance Parameter No.PC06 Set when shifting the home position starting at the first Z-phase signal after passage of proximity dog rear end. Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constants of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. Manual home position return mode selection 0 :Dog type home position return is selected. (2) Length of proximity dog To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity dog (DOG), the proximity dog should have the length which satisfies formulas (5.1) and (5.2). L1 L1 V td V 60 td .............................................................................. (5.1) 2 : Proximity dog length [mm] : Home position return speed [mm/min] : Deceleration time [s] L2 2 S.................................................................................... (5.2) L2 : Proximity dog length [mm] S : Moving distance per servo motor revolution [mm] 5 - 34 5. OPERATION (3) Timing chart Automatic/manual selection ON (RYn6) OFF Selected point table No. Forward rotation start (RYn1) Reverse rotation start (RYn2) Servo motor speed 0 (Note) ON 4ms or more 6ms or more OFF ON OFF Forward rotation 0r/min Point table No.1 Point table No.1 deceleration time constant acceleration time Home position return speed parameter No.PC04 constant Home position shift distance parameter No.PC06 Creep speed parameter No.PC05 Home position 3ms or less td Home position address parameter No.PC07 Proximity dog Z-phase Proximity dog (DOG) Rough match (RXn2) ON OFF ON OFF ON OFF Movement completion (RXnC) ON Home position return completion (RXn3/ZP) ON OFF OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. (4) Adjustment In dog type home position return, adjust to ensure that the Z-phase signal is generated during dog detection. Locate the rear end of the proximity dog (DOG) at approximately the center of two consecutive Zphase signals. The position where the Z-phase signal is generated can be monitored in "Within one-revolution position" of "Status display" of the MR Configurator or the parameter unit. 0 Servo motor Z-phase 131072 0 Proximity dog Proximity dog ON (DOG) OF 5 - 35 5. OPERATION 5.6.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.PC08 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length. This home position return method is used when the required proximity dog length cannot be reserved to use dog type home position return or when the proximity dog (DOG) is entered electrically from a controller or the like. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Remote register-based position/speed setting (Only when two stations are occupied) Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Count type home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Dog input polarity Parameter No.PD16 Home position return speed Creep speed Parameter No.PC04 Parameter No.PC05 Home position shift distance Parameter No.PC06 Manual home position return mode selection 1: Count type home position return is selected. Refer to section 5.6.1 (2) and choose home position return direction. Refer to section 5.6.1 (2) and choose dog input polarity. Set speed until detection of dog. Set speed after detection of dog. Set when shifting the home position, starting at the first Z-phase signal given after passage of the proximity dog front end and movement over the moving distance. Set the moving distance after passage of proximity dog front end. Moving distance after proximity dog Parameter No.PC08 Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constants of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 36 5. OPERATION (2) Timing chart ON Automatic/manual selection OFF (RYn6) Selected point table No. 0 Forward rotation start (RYn1) Reverse rotation start (RYn2) Servo motor speed (Note) ON 4ms or more 6ms or more OFF ON OFF Forward rotation 0r/min Point table No.1 Home position return speed Point table No.1 deceleration time constant acceleration time parameter No.PC04 constant Creep speed parameter No.PC05 Proximity dog (DOG) Rough match (RXn2) Home position 3ms or less Moving distance after proximity dog parameter No.PC08 Z-phase Home position shift distance parameter No.PC06 Proximity dog Home position address parameter No.PC07 ON OFF ON OFF ON OFF Movement completion (RXnC) ON Home position return completion (RXn3/ZP) ON OFF OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 37 5. OPERATION 5.6.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation can be used for movement. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Remote register-based position/speed setting (Only when two stations are occupied) Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Data setting type home position return Parameter No.PC02 Home position return position data Parameter No.PC07 Manual home position return mode selection 2: Data setting type home position return is selected. Set the current position at home position return completion. (2) Timing chart Automatic/manual selection ON (RYn6) OFF Selected point table No. 0 Forward rotation start (RYn1) Reverse rotation start (RYn2) Servo motor speed Rough match (RXn2) (Note) 4ms or more ON 6ms or more OFF ON OFF Forward rotation 0r/min Home position address parameter No.PC07 3ms or less ON OFF ON Movement completion (RXnC) OFF Home position return completion (RXn3/ZP) ON OFF Movement to the home position Operation for home position return Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 38 5. OPERATION 5.6.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that position is defined as a home position. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Remote register-based position/speed setting (Only when two stations are occupied) Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Stopper type home position return Parameter No.PC02 Manual home position return mode selection 3: Stopper type home position return is selected. Home position return direction Parameter No.PC03 Refer to section 5.6.1 (2) and choose the home position return direction. Home position return speed Parameter No.PC04 Set the speed till contact with the stopper. Stopper time Parameter No.PC09 Time from when the part makes contact with the stopper to when home position return data is obtained to output home position return completion (ZP). Stopper type home position return torque limit value Parameter No.PC10 Set the servo motor torque limit value for execution of stopper type home position return. Home position return acceleration time constant Point table No.1 Use the acceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 39 5. OPERATION (2) Timing chart ON Automatic/manual selection (RYn6) OFF Selected point table No. 0 (Note 1) 4ms or more ON Forward rotation start (RYn1) 6ms or more OFF ON Reverse rotation start (RYn2) OFF Torque limit value Servo motor speed Parameter No.PC35 Forward rotation 0r/min Point table No.1 acceleration time constant (Note 3) Parameter No.PC10 Home position return speed parameter No.PC04 Parameter No.PC35 Home position address parameter No.PC07 3ms or less Stopper Stopper time parameter No.PC09 ON Limiting torque (RYn4) (Note 2) OFF ON Rough match (RYn2) OFF Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. 2. Turns ON when the torque reaches the value set to Forward rotation torque limit (parameter No.PA11), Reverse rotation torque limit (parameter No.PA12) or Internal torque limit (parameter No.PC35). 3. The torque limit that is enabled at this point is as follows. (Note) Internal torque limit selection (RY(n 2)6) 0 1 Limit value status Parameter No.PC35 Parameter No.PC35 Parameter No.PC10 Parameter No.PC10 Torque limit to be enabled Parameter No.PC10 Parameter No.PC10 Parameter No.PC35 Note. 0: OFF 1: ON The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 40 5. OPERATION 5.6.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. POINT When executing this home position return, changing to the home position return mode is not necessary. (1) Devices, parameter Set the input devices and parameter as follows. Item Device/Parameter used Home position ignorance Parameter No.PC02 Description 4: Home position ignorance is selected. Set the current position at home position return completion. Home position return position data Parameter No.PC07 (2) Timing chart Servo-on (RYn0) ON OFF Home position address parameter No.PC07 Servo motor speed Rough match (RXn2) 0r/min ON OFF Movement completion (RXnC) ON Home position return completion (RXn3/ZP) ON Ready (RD) OFF OFF ON OFF The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 41 5. OPERATION 5.6.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 400 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher. The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position. A home position return that does not depend on the Z-phase signal can be made. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Remote register-based position/speed setting (Only when two stations are occupied) Position/speed specifying system selection Turn RY(n (RY(n 2)A) Dog type rear end reference home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Refer to section 5.6.1 (2) and select the home position return direction. Dog input polarity Parameter No.PD16 Refer to section 5.6.1 (2) and select the dog input polarity. Home position return speed Parameter No.PC04 Set the speed till the dog is detected. Creep speed Parameter No.PC05 Set the speed after the dog is detected. Home position shift distance Parameter No.PC06 Set when the home position is moved from where the axis has passed the proximity dog rear end. 2)A ON. 5: Select the dog type rear end reference. Moving distance after proximity dog Parameter No.PC08 Set the moving distance after the axis has passed the proximity dog rear end. Home position return acceleration/ deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 42 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 Forward rotation start (RYn1) ON 4ms or more (Note) OFF 6ms or more Reverse rotation start (RYn2) ON OFF Moving distance after proximity dog Home position return speed Servo motor speed Forward rotation 0r/min Home position shift distance Creep speed 3ms or less Home position address parameter No.PC07 Proximity dog Proximity dog (DOG) Rough match (RXn2) Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF ON OFF ON OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC17 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 43 5. OPERATION 5.6.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 400 pulses will occur in the home position. The error of the home position is larger as the home position return speed is higher. The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position. A home position return that does not depend on the Z-phase signal can be made. The home position may change if the home position return speed varies. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Remote register-based position/speed setting (Only when two stations are occupied) Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Count type dog front end reference home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Refer to section 5.6.1 (2) and select the home position return direction. Dog input polarity Parameter No.PD16 Refer to section 5.6.1 (2) and select the dog input polarity. Home position return speed Parameter No.PC04 Set the speed till the dog is detected. Creep speed Parameter No.PC05 Set the speed after the dog is detected. Home position shift distance Parameter No.PC06 Set when the home position is moved from where the axis has passed the proximity dog rear end. Moving distance after proximity dog Parameter No.PC08 Set the moving distance after the axis has passed the proximity dog rear end. Home position return acceleration/ deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. Manual home position return mode selection 5 - 44 6: Select the count type dog front end reference. 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 Forward rotation start (RYn1) ON 4ms or more (Note) OFF 6ms or more Reverse rotation start (RYn2) ON OFF Moving distance after proximity dog Home position return speed Servo motor speed Forward rotation 0r/min Home position shift distance Creep speed 3ms or less Home position address parameter No.PC07 Proximity dog (DOG) Proximity dog (DOG) Rough match (RXn2) Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF ON OFF ON OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 45 5. OPERATION 5.6.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Remote register-based position/speed setting (Only when two stations are occupied) Dog cradle type home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Dog input polarity Parameter No.PD16 Home position return speed Creep speed Parameter No.PC04 Parameter No.PC05 Home position shift distance Parameter No.PC06 Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 46 7: Select the dog cradle type. Refer to section 5.6.1 (2) and select the home position return direction. Refer to section 5.6.1 (2) and select the dog input polarity. Set the speed till the dog is detected. Set the speed after the dog is detected. Set when the home position is moved from the Z-phase signal position. 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. Forward rotation start (RYn1) 0 ON 4ms or more (Note) OFF 6ms or more Reverse rotation start (RYn2) ON OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance Creep speed 3ms or less Home position address parameter No.PC07 Proximity dog Z-phase Proximity dog (DOG) Rough match (RXn2) ON OFF ON OFF ON OFF ON Movement completion (RXnC) OFF Home position return completion (RXn3/ZP) ON OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 47 5. OPERATION 5.6.10 Dog type first Z-phase reference home position return After the proximity dog front end is detected, the current position moves in the reverse direction at creep speed. After this moving away from the proximity dog, the home position is determined to be where the first Zphase pulse is issued. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Remote register-based position/speed setting (Only when two stations are occupied) Dog cradle type home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Dog input polarity Parameter No.PD16 Home position return speed Creep speed Parameter No.PC04 Parameter No.PC05 Home position shift distance Parameter No.PC06 Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 48 8: Select the dog cradle type. Refer to section 5.6.1 (2) and select the home position return direction. Refer to section 5.6.1 (2) and select the dog input polarity. Set the speed till the dog is detected. Set the speed after the dog is detected. Set when the home position is moved from the Z-phase signal position. 5. OPERATION (2) Timing chart ON Automatic/manual selection (RYn6) OFF Selected point table No. 0 4ms or more (Note) ON Forward rotation start (RYn1) OFF 6ms or more ON Reverse rotation start (RYn2) OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance Home position address parameter No.PC07 3ms or less Creep speed Proximity dog Z-phase ON OFF Proximity dog (DOG) Rough match (RXn2) Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF ON OFF ON OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 49 5. OPERATION 5.6.11 Dog type front end reference home position return method The home position is determined to be the position of the front end of the proximity dog. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Remote register-based position/speed setting (Only when two stations are occupied) Dog cradle type home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Dog input polarity Parameter No.PD16 Home position return speed Parameter No.PC04 Creep speed Parameter No.PC05 Home position shift distance Parameter No.PC06 Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 50 9: Select the dog cradle type. Refer to section 5.6.1 (2) and select the home position return direction. Refer to section 5.6.1 (2) and select the dog input polarity. Set the speed till the dog is detected. Set the speed after the dog is detected. Set when the home position is moved from the Z-phase signal position. 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 4ms or more (Note) Forward rotation start (RYn1) ON OFF 6ms or more Reverse rotation start (RYn2) ON OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Moving distance after proximity dog Home position shift distance 3ms or less Proximity dog Proximity dog (DOG) Rough match (RXn2) Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF ON OFF ON OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 51 5. OPERATION 5.6.12 Dogless Z-phase reference home position return method The home position is determined to be where the first Z-phase pulse is issued after the home position return is started. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off. Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Remote register-based position/speed setting (Only when two stations are occupied) Dog cradle type home position return Parameter No.PC02 Home position return direction Parameter No.PC03 Home position return speed Parameter No.PC04 Creep speed Parameter No.PC05 Home position shift distance Parameter No.PC06 Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Home position return position data Parameter No.PC07 Set the current position at home position return completion. 5 - 52 A: Select the dog cradle type. Refer to section 5.6.1 (2) and select the home position return direction. Set the speed till the dog is detected. Set the speed after the dog is detected. Set when the home position is moved from the Z-phase signal position. 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 4ms or more (Note) Forward rotation start (RYn1) ON OFF 6ms or more Reverse rotation start (RYn2) ON OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance 3ms or less Creep speed Z-phase Rough match (RXn2) Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF ON OFF ON OFF Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication. The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed. 5 - 53 5. OPERATION 5.6.13 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made. (1) When the current position is at the proximity dog When the current position is at the proximity dog, an automatic return is made before home position return. Home position return direction Proximity dog Home position return start position Makes an automatic return to a position before the proximity dog, then executes home position return at this position. (2) When the current position is beyond the proximity dog At a start, a motion is made in the home position return direction and an automatic return is made on detection of the stroke end (LSP or LSN). The motion stops past the front end of the proximity dog, and home position return is resumed at that position. If the proximity dog cannot be detected, the motion stops on detection of the LSP or LSN switch and A90 occurs. Stroke end (LSP or LSN) Home position return direction Proximity dog Home position return start position Makes an automatic return to a position before the proximity dog, then executes home position return at this position. Software limit cannot be used with these functions. 5 - 54 5. OPERATION 5.6.14 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed. In an absolute position detection system, manual home position return is not required after power-on. Please perform a manual home position return beforehand after a power-on. Set the input signals and parameter as follows. Item Device/Parameter used Manual home position return mode selection Automatic/manual selection (RYn6) Description Turn RYn6 ON. Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) turned off. Home position return speed Parameter No.PC04 Set the speed till the dog is detected. Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constant of point table No.1. Set up the home position return speed of the automatic positioning function to the home position by parameter No.PC04. Use the data of point table No.1 to set the acceleration time constant and deceleration time constant. When reverse rotation start (RYn2) is ON, it will position automatically at the home position. Forward rotation start (RYn1) Reverse rotation start (RYn2) ON OFF ON OFF Home position return speed parameter No.PC04 Servo motor speed Deceleration time constant of point table No.1 Forward rotation 0r/min Acceleration time constant of point table No.1 5 - 55 Home position 5. OPERATION 5.7 Roll feed display function in roll feed mode With the roll feed display function, the servo amplifier can operate in the roll feed mode. The roll feed mode uses the incremental system. (1) Parameter settings No. Digit to be set Name Setting value Setting item 0 (initial value) PA03 Absolute position detection system Operation system PC28 Function selection C-7 Selection between current position display and command position display 1 Description Make sure to set the incremental system. The absolute position detection system cannot be used. Select roll feed display. (2) Roll feed display function At start up, the roll feed display function clears the status display of the current position and command position to zero. Servo motor speed Forward rotation 0r/min Display of current position or command position 0 Start 10.00 0 Start 8.00 (3) Operation procedure Changes are made only on the status display of the current position and commanded position. The same operation procedure as that in each operation mode can be used. Operation procedure Automatic operation Manual operation Automatic operation according to the point table Details Section 5.4.2 JOG operation Section 5.5.1 Manual pulse generator operation Section 5.5.2 Home position return mode Section 5.6 5 - 56 5. OPERATION 5.8 Absolute position detection system CAUTION If an absolute position erase alarm (A25) or an absolute position counter warning (AE3) has occurred, always perform home position setting again. Not doing so may cause unexpected operation. POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series. HF-MP, HF-KP, HC-SP, HC-RP, HC-UP, HCLP, and HA-LP. After disconnecting the encoder cable, always execute home position setting and then positioning operation. When the following parameters are changed, the home position is lost when turning on the power after the change. Execute the home position return again when turning on the power. Parameter No.PA06 (Electronic gear numerator) Parameter No.PA07 (Electronic gear denominator) Parameter No.PA14 (Rotation direction selection) Parameter No.PC07 (Home position return position data) This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position detection system. Hence, an absolute position detection system can be configured up by merely loading an absolute position data back-up battery and setting parameter values. (1) Restrictions An absolute position detection system cannot be built under the following conditions. 1) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning. 2) Operation performed in incremental value command type positioning system. (2) Specifications Item System Battery Description Electronic battery backup system. 1 piece of lithium battery ( primary battery, nominal 3.6V) Type: MR-J3BAT. Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure 3000r/min (Note 2) Battery backup time Approx. 10,000 hours (battery life with power off) Battery storage period 5 years from date of manufacture. Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. 2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of whether power is kept on or off. 5 - 57 5. OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-J3BAT Encoder cable Use a standard model. (Refer to section 14.1.) (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programming controller power is on or off. Therefore, once the home position is defined at the time of machine installation, home position return is not needed when power is switched on thereafter. If a power failure or a fault occurs, restoration is easy. Home position return data Point table No. selection, etc. I/O circuit EEP-ROM memory Current position LSO 1XO Position data, speed data (current position read) Backup at power off 1X LS Detection of position Speed detection within one revolution Speed control Position control Servo amplifier MR-J3BAT Servo motor 1 pulse/rev. Cumulative revolution counter High-speed serial communication Within one-revolution counter (5) Battery installation procedure WARNING Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. POINT The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions. Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand. Before starting battery changing procedure, make sure that the main circuit power is switched OFF with the control circuit power ON. When battery is changed with the control power OFF, the absolute position data is lost. 5 - 58 5. OPERATION (a) For MR-J3-350T or less MR-J3-200T4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier. Insert connector into CN4. (b) For MR-J3-500T or more MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute position detection system valid. Parameter No.PA03 1 Selection of absolute position detection system 0: Incremental system 1: Absolute position detection system 5 - 59 5. OPERATION MEMO 5 - 60 6. PARAMETERS 6. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. In this servo amplifier, the parameters are classified into the following groups on a function basis. Parameter group Main description Basic setting parameters (No.PA ) Make basic setting with these parameters. Generally, the operation is possible only with these parameter settings. Gain/filter parameters (No.PB ) Use these parameters when making gain adjustment manually. Extension setting parameters (No.PC ) These parameters are inherent to the MR-J3- T servo amplifier. I/O setting parameters (No.PD ) Use these parameters when changing the I/O devices of the servo amplifier. Mainly setting the basic setting parameters (No.PA time of introduction. 6.1 Basic setting parameters (No.PA ) allows the setting of the basic parameters at the ) 6.1.1 Parameter list No. Symbol Name Initial value PA01 *STY Control mode 0000h PA02 *REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 0000h PA05 *FTY Feeding function selection 0000h PA06 *CMX Electronic gear numerator 1 PA07 *CDV Electronic gear denominator PA08 ATU Auto tuning mode PA09 RSP Auto tuning response PA10 INP In-position range PA11 TLP Forward rotation torque limit PA12 TLN PA13 PA14 *POL PA15 *ENR PA16 1 0001h 12 100 m 100.0 % Reverse rotation torque limit 100.0 % For manufacturer setting 0002h Rotation direction selection 0 Encoder output pulses 4000 For manufacturer setting 0000h PA17 0000h PA18 PA19 0000h *BLK Unit Parameter write inhibit 000Ch 6- 1 pulse/rev 6. PARAMETERS 6.1.2 Parameter write inhibit Initial value Parameter No. Symbol PA19 *BLK Name Parameter write inhibit Unit 000Ch Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes. The following table indicates the parameters which are enabled for reference and write by the setting of parameter No.PA19. Operation can be performed for the parameters marked . Parameter No.PA19 setting 0000h 000Bh 000Ch (initial value) Setting operation Basic setting parameters No.PA Reference Write Reference Write Reference Write Reference 100Bh Write Parameter No. PA19 only Reference 100Ch Write Parameter No. PA19 only 6- 2 Gain/Filter parameters No.PB Extension setting parameters No.PC I/O setting parameters No.PD 6. PARAMETERS 6.1.3 Selection of command system Initial value Parameter No. Symbol PA01 *STY Name Control mode Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the command system. Parameter No.PA01 0 0 0 Selection of command system (Refer to section 5.4) 0: Absolute value command system 1: Incremental value command system 6.1.4 Selection of regenerative option Initial value Parameter No. Symbol PA02 *REG Name Regenerative option Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Wrong setting may cause the regenerative option to burn. If the regenerative option selected is not for use with the servo amplifier, parameter error (A37) occurs. Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power regeneration common converter. Parameter No.PA02 0 0 Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fan is required) 84: MR-RB34-4(Cooling fan is required) 85: MR-RB54-4(Cooling fan is required) FA: When the supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW. 6- 3 6. PARAMETERS 6.1.5 Using absolute position detection system Initial value Parameter No. Symbol PA03 *ABS Name Absolute position detection system Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Set this parameter when using the absolute position detection system. Parameter No.PA03 0 0 0 Selection of absolute position detection system (refer to section 5.7) 0: Used in incremental system 1: Used in absolute position detection system 6.1.6 Follow-up for absolute value command system in incremental system Initial value Parameter No. Symbol Name PA04 *AOP1 Function selection A-1 0000h Unit Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. If this parameter is made valid, the home position is not lost in the servo-off or forced stop state, and the operation can be resumed when the servo-on (RYn0) or forced stop (EMG) is deactivated. Parameter No.PA04 0 0 0 Servo-on (RYn0) -off, forced stop (EMG) -off follow-up for absolute value command in incremental system 0: Invalid 1: Valid Normally, when this servo amplifier is used in the absolute value command method of the incremental system, placing it in a servo off or forced stop status will erase the home position. When "1" is set in this parameter, the home position will not be erased if the servo amplifier is placed in a servo-off or forced stop status or if the alarm that can be deactivated by resetting occurs. The operation can be resumed when the servo-on (RYn0) or forced stop (EMG) is deactivated or an alarm is deactivated by resetting (RES). 6- 4 6. PARAMETERS 6.1.7 Feeding function selection Initial value Parameter No. Symbol PA05 *FTY Name Feeding function selection 0000h Unit Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the feed length multiplication and the manual pulse generator input multiplication. Parameter No.PA05 0 0 Setting value Feed length multiplication factor (STM) [times] Feed unit [ m] 0 1 2 3 1 10 100 1000 1 10 100 1000 Position data input range [mm] Manual pulse generator multiplication factor 0: 1 time 1: 10 times 2: 100 times 6- 5 Absolute value command system 999.999 to 9999.99 to 99999.9 to 999999 to 999.999 9999.99 99999.9 999999 Incremental value command system 0 to 999.999 0 to 9999.99 0 to 99999.9 0 to 999999 6. PARAMETERS 6.1.8 Electronic gear Initial value Parameter Name Unit Setting range No. Symbol PA06 *CMX Electronic gear numerator 1 0 to 65535 PA07 *CDV Electronic gear denominator 1 1 to 65535 False setting will result in unexpected fast rotation, causing injury. CAUTION POINT This parameter is made valid when power is switched off, then on after setting. 1 CMX 2000. If you set any The range of the electronic gear setting is 10 CDV value outside this range, a parameter error (A37) occurs. Setting "0" in parameter No.PA06 automatically sets the encoder resolution pulse. (1) Concept of electronic gear Use the electronic gear (parameters No.PA06, PA07) to make adjustment so that the servo amplifier setting matches the moving distance of the machine. Also, by changing the electronic gear value, the machine can be moved at any multiplication ratio to the moving distance on the servo amplifier. Motor Parameters No.PA06 Parameters No.PA07 Moving distance CMX CDV Deviation counter + - CMX CDV Encoder feedback pulses Electronic gear Parameters No.PA06,PA07 Encoder The following examples are used to explain how to calculate the electronic gear value. POINT The following specification symbols are needed for electronic gear calculation. Pb : Ball screw lead [mm] n : Reduction ratio Pt : Servo motor resolution [pulse/rev] S : Travel per servo motor revolution [mm/rev] (a) Ball screw setting example Machine specifications n=NL/NM=1/2 NL Ball screw lead: Pb 10 [mm] Reduction ratio: n 1/2 Servo motor resolution: Pt 262144 [pulse/rev] CMX CDV pt S n pt pb 1000 262144 1/2 10 1000 n Pb=10[mm] NM Servo motor 262144[pulse/rev] 262144 5000 Hence, set 32768 to CMX and 625 to CDV. 6- 6 32768 625 6. PARAMETERS r=160[mm] (b) Conveyor setting example Machine specifications Pulley diameter: r 160 [mm] Reduction ratio: n 1/3 Servo motor resolution: Pt 262144 [pulse/rev] pt S CMX CDV pt n r n NL NM n=NL/NM=1/3 262144 1/3 160 1000 1000 Servo motor 262144[pulse/rev] 262144 167551.61 32768 20944 Reduce CMX and CDV to the setting range or less, and round off the first decimal place. Hence, set 32768 to CMX and 20944 to CDV. 6.1.9 Auto tuning Initial value Parameter No. Symbol Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Unit 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details. (1) Auto tuning mode (parameter No.PA08) Select the gain adjustment mode. Parameter No.PA08 0 0 0 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No. (Note) 0 Interpolation mode PB06 PB08 PB09 PB10 1 Auto tuning mode 1 PB06 PB07 PB08 PB09 PB10 2 Auto tuning mode 2 PB07 PB08 PB09 PB10 3 Manual mode Note. The parameters have the following names. Parameter No. Name PB06 Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10 Speed integral compensation 6- 7 Setting range 6. PARAMETERS (2) Auto tuning response (parameter No.PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Setting Response Guideline for machine resonance frequency [Hz] Setting Response Guideline for machine resonance frequency [Hz] 1 Low response 10.0 17 Low response 67.1 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.1 8 23.0 24 154.4 9 25.9 25 173.9 10 29.2 26 195.9 11 32.9 27 220.6 12 37.0 28 248.5 13 41.7 29 279.9 14 47.0 30 315.3 15 52.9 31 59.6 32 16 Middle response 355.1 Middle response 400.0 6.1.10 In-position range Parameter No. Symbol PA10 INP Name In-position range Initial value Unit Setting range 100 m 0 to 10000 Set the range, where In position (RXn1) and Movement completion (RXnC) are output, in the command pulse unit before calculation of the electronic gear. With the setting of parameter No.PC24, the range can be changed to the encoder output pulse unit. Servo motor Droop pulse Command pulse Command pulse In-position range [ m] Droop pulse In position (RXn1) ON OFF 6- 8 6. PARAMETERS 6.1.11 Torque limit Parameter No. Symbol Name Initial value Unit Setting range PA11 TLP Forward rotation torque limit 100.0 % 0 to 100.0 PA12 TLN Reverse rotation torque limit 100.0 % 0 to 100.0 The torque generated by the servo motor can be limited. (1) Forward rotation torque limit (parameter No.PA11) Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode. Set this parameter to "0.0" to generate no torque. (2) Reverse rotation torque limit (parameter No.PA12) Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode. Set this parameter to "0.0" to generate no torque. 6- 9 6. PARAMETERS 6.1.12 Selection of servo motor rotation direction Initial value Parameter No. Symbol PA14 *POL Name Rotation direction selection Unit 0 Setting range 0 1 POINT This parameter is made valid when power is switched off, then on after setting. Select servo motor rotation direction relative to the input pulse train. Parameter No.PA14 Setting Servo Motor Rotation Direction Forward rotation start (Ryn1) ON Reverse rotation start (Ryn2) ON 0 CCW CW 1 CW CCW Forward rotation (CCW) Reverse rotation (CW) 6.1.13 Encoder output pulse Parameter No. Symbol PA15 *ENR Name Encoder output pulse Initial value Unit Setting range 4000 pulse/ rev 1 to 65535 POINT This parameter is made valid when power is switched off, then on after setting. Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.PC19 to choose the output pulse setting or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range. 6 - 10 6. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No.PC19. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below. A B-phase output pulses 5600 1400[pulse] 4 (2) For output division ratio setting Set " 1 " in parameter No.PC19. The number of pulses per servo motor revolution is divided by the set value. Output pulse Resolution per servo motor revolution [pulses/rev] Set value For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below. A B-phase output pulses 262144 1 8 4 8192[pulse] (3) When outputting pulse train similar to command pulses Set parameter No.PC19 to " 2 ". The feedback pulses from the servo motor encoder are processed and output as shown below. The feedback pulses can be output in the same pulse unit as the command pulses. Motor Feedback pulses Encoder Parameter No.PA06 PA07 CDV CMX 6 - 11 A-phase/B-phase output pulses 6. PARAMETERS 6.2 Gain/filter parameters (No.PB ) 6.2.1 Parameter list No. Symbol PB01 PB02 FILT VRFT PB03 PB04 PB05 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PB19 PB20 PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 PB29 FFC GD2 PG1 PG2 VG2 VIC VDC NH1 NHQ1 NH2 NHQ2 LPF VRF1 VRF2 Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control tuning mode (Advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch shape selection 1 Machine resonance suppression filter 2 Notch shape selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Initial value 0000h 0000h 0000h 0 500 7.0 24 37 823 33.7 980 0 4500 0000h 4500 0000h Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to servo motor inertia moment 3141 100.0 100.0 0.00 0.00 0000h 0000h 0000h 0000h 10 1 7.0 PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB33 VRF1B Gain changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration suppression control resonance frequency setting PB35 For manufacturer setting 37 823 33.7 100.0 100.0 0.00 PB36 0.00 PB37 100 PB38 0 PB39 0 VFBF *MVS *CDP CDL CDT GD2B PB40 0 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 0000h 6 - 12 Unit % Multiplier ( 1) rad/s rad/s rad/s ms Hz Hz rad/s Hz Hz ms Multiplier ( 1) rad/s rad/s ms Hz Hz 6. PARAMETERS 6.2.2 Detail list Symbol Name and function Initial value PB01 FILT Adaptive tuning mode (Adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No.PB13) and notch shape selection (parameter No.PB14). 0000h Response of mechanical system No. Machine resonance point Notch depth Frequency Notch frequency Frequency 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.PB13 Parameter No.PB14 2 Manual mode Note. Parameter No.PB13 and PB14 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the filter tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the machine resonance suppression filter 1 and notch shape selection. However, this does not occur when the servo off. 6 - 13 Unit Setting range 6. PARAMETERS No. Symbol PB02 VRFT Name and function Initial value Vibration suppression control tuning mode (Advanced vibration suppression control) The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning. Setting this parameter to " 1" (vibration suppression control tuning mode) automatically changes the vibration suppression control - vibration frequency (parameter No.PB19) and vibration suppression control - resonance frequency (parameter No.PB20) after positioning is done the predetermined number of times. Droop pulse Automatic adjustment Command Machine side position Unit Setting range 0000h Droop pulse Command Machine side position 0 0 0 Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF (Note) 1 Vibration suppression control tuning mode (Advanced vibration suppression control) Parameter No.PB19 Parameter No.PB20 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the vibration suppression control tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the vibration suppression control - vibration frequency and vibration suppression control - resonance frequency. However, this does not occur when the servo off. PB03 PB04 For manufacturer setting Do not change this value by any means. FFC 0000h Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed. 6 - 14 0 % 0 to 100 6. PARAMETERS No. Symbol PB05 Name and function Initial value For manufacturer setting Do not change this value by any means. 500 Unit Setting range PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 9.1.1) In this case, it varies between 0 and 100.0. 7.0 Multiplier ( 1) 0 to 300.0 PB07 PG1 Model loop gain Set the response gain up to the target position. Increase the gain to improve track ability in response to the command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used. 24 rad/s 1 to 2000 PB08 PG2 Position loop gain Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. 37 rad/s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 manual mode and interpolation mode is selected, the result of auto tuning is automatically used. 823 rad/s 20 to 50000 PB10 VIC Speed integral compensation Used to set the integral time constant of the speed loop. Lower setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. 33.7 ms 0.1 to 1000.0 PB11 VDC Speed differential compensation Used to set the differential compensation. Made valid when the proportion control (RY(n 2)7) is switched on. 980 PB12 PB13 For manufacturer setting Do not change this value by any means. NH1 0 to 1000 0 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1. Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored. 6 - 15 4500 Hz 100 to 4500 6. PARAMETERS No. Symbol PB14 NHQ1 Name and function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial value Unit 0000h Refer to name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting range Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored. PB15 NH2 PB16 NHQ2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2. Set parameter No.PB16 (notch shape selection 2) to " 1" to make this parameter valid. 4500 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2. 0000h 0 Machine resonance suppression filter 2 selection 0: Invalid 1: Valid PB17 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Automatic setting parameter The value of this parameter is set according to a set value of parameter No.PB06 (Ratio of load inertia moment to servo motor inertia moment). 6 - 16 Hz 100 to 4500 Refer to name and function column. 6. PARAMETERS No. Symbol PB18 LPF PB19 PB20 Unit Low-pass filter Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No.PB23 is set to " 1 ", this parameter can be set manually. 3141 rad/s 100 to 18000 VRF1 Vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No.PB02 is set to " 2", this parameter can be set manually. 100.0 Hz 0.1 to 100.0 VRF2 Vibration suppression control resonance frequency setting Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No.PB02 is set to " 2", this parameter can be set manually. 100.0 Hz 0.1 to 100.0 For manufacturer setting Do not change this value by any means. PB22 PB23 Setting range Initial value PB21 Name and function VFBF 0.00 0.00 Low-pass filter selection Select the low-pass filter. 0 0 0000h Refer to name and function column. 0000h Refer to name and function column. 0 Low-pass filter selection 0: Automatic setting 1: Manual setting (parameter No.PB18 setting) When automatic setting has been selected, select the filter that has the band VG2 10 width close to the one calculated with [rad/s] 1 + GD2 PB24 *MVS Slight vibration suppression control selection Select the slight vibration suppression control. When parameter No.PA08 (auto tuning mode) is set to " parameter is made valid. 3", this 0 0 0 Slight vibration suppression control selection 0: Invalid 1: Valid 6 - 17 6. PARAMETERS No. Symbol PB25 PB26 *CDP Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Gain changing selection Select the gain changing condition. (Refer to section 10.6.) 0000h Unit Setting range Refer to name and function column. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings. 0: Invalid 1: Gain changing (RX(n+2)8) is ON 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (Valid when gain changing (RX(n+2)8) is ON) 1: Valid at less than condition (Valid when gain changing (RX(n+2)8) is OFF) PB27 CDL Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.PB26. The set value unit changes with the changing condition item. (Refer to section 10.6.) 10 kpps pulse r/min 0 to 9999 PB28 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No.PB26 and PB27. (Refer to section 10.6.) 1 ms 0 to 100 PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). 7.0 Multiplier ( 1) 0 to 300.0 PB30 PG2B Gain changing position loop gain Set the position loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). 37 rad/s 1 to 2000 PB31 VG2B Gain changing speed loop gain Set the speed loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). Note. The setting range of 50000 applies to the servo amplifier whose software version is A3 or later. The setting range of the servo amplifier whose software version is older than A3 is 20 to 20000. When the software version of MR Configurator is A3 or earlier, 20001 or more cannot be set. Use the display/operation section of the servo amplifier to set 20001 or more. 823 rad/s 20 to 20000 PB32 VICB Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). 33.7 ms 0.1 to 5000.0 6 - 18 6. PARAMETERS No. Name and function Setting range Initial value Unit PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. 100.0 Hz 0.1 to 100.0 PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. 100.0 Hz 0.1 to 100.0 PB35 0.00 PB36 Symbol For manufacturer setting Do not change this value by any means. 0.00 PB37 100 PB38 0 PB39 0 PB40 0 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 0000h 6 - 19 6. PARAMETERS 6.3 Extension setting parameters (No.PC ) 6.3.1 Parameter list No. Symbol PC01 Name and function Initial value For manufacturer setting 0000h Unit PC02 *ZTY Home position return type 0000h PC03 *ZDIR Home position return direction 0001h PC04 ZRF Home position return speed 500 r/min PC05 CRF Creep speed 10 r/min PC06 ZST Home position shift distance 0 m 0 STM m STM m PC07 *ZPS Home position return position data PC08 DCT Moving distance after proximity dog 1000 PC09 ZTM Stopper type home position return stopper time 100 PC10 ZTT Stopper type home position return torque limit value 15.0 PC11 CRP Rough match output range PC12 JOG Jog speed 0 100 10 10 ms % 10STM m r/min PC13 *STC S-pattern acceleration/deceleration time constant 0 ms PC14 *BKC Backlash compensation 0 pulse For manufacturer setting 0000h PC15 PC16 MBR Electromagnetic brake sequence output 100 ms PC17 ZSP Zero speed 50 r/min PC18 *BPS Alarm history clear 0000h PC19 *ENRS Encoder output pulse selection PC20 *SNO Station number setting PC21 *SOP RS-422 communication function selection 0000h 0 PC22 *COP1 Function selection C-1 0000h PC23 0000h For manufacturer setting PC24 *COP3 Function selection C-3 0000h PC25 0000h For manufacturer setting PC26 *COP5 Function selection C-5 0000h PC27 0000h For manufacturer setting PC28 *COP7 Function selection C-7 PC29 station 0000h 0000h For manufacturer setting 0000h PC30 *DSS Remote register-based position/speed specifying system selection 0000h PC31 LMPL Software limit 0 10STM m PC32 LMPH PC33 LMNL Software limit 0 10STM m PC34 LMNH PC35 TL2 PC36 PC37 *LPPL Internal torque limit 2 100.0 For manufacturer setting 0000h Position range output address % 0 10STM m 0 10STM m PC38 *LPPH PC39 *LNPL Position range output address PC40 *LNPH PC41 For manufacturer setting 0000h PC42 0000h PC43 0000h PC44 0000h PC45 0000h PC46 0000h PC47 0000h PC48 0000h 6 - 20 6. PARAMETERS No. Symbol PC49 Name and function Initial value For manufacturer setting Unit 0000h 0000h PC50 6.3.2 Detail list No. Symbol PC01 PC02 *ZTY Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h Home position return type Used to set the home position return system. (Refer to section 5.6.) 0000h Refer to name and function column. 0001h Refer to name and function column. 0 0 0 Home position return system 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type 8: Dog type right-before Z-phase reference 9: Dog type front end reference A: Dogless Z-phase reference PC03 *ZDIR Home position return direction Used to set the home position return direction. 0 0 0 Home position return direction 0: Address increment direction 1: Address decrement direction PC04 PC05 ZRF CRF Home position return speed Used to set the servo motor speed for home position return. (Refer to section 5.6.) 500 Creep speed Used to set the creep speed after proximity dog detection. (Refer to section 5.6.) 10 r/min 0 to permissible speed r/min 0 to permissible speed PC06 ZST Home position shift distance Used to set the shift distance starting at the Z-phase pulse detection position inside the encoder. (Refer to section 5.6.) 0 m 0 to 65535 PC07 *ZPS Home position return position data Used to set the current position on completion of home position return. (Refer to section 5.6.) 0 10STM m 32768 to 32767 PC08 DCT Moving distance after proximity dog Used to set the moving distance after proximity dog in count type home position return. (Refer to section 5.6.) 1000 10STM m 0 to 65535 PC09 ZTM Stopper type home position return stopper time In stopper type home position return, used to set the time from when the machine part is pressed against the stopper and the torque limit set in parameter No.PC10 is reached to when the home position is set. (Refer to section 5.6.5.) 100 6 - 21 ms 5 to 1000 6. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PC10 ZTT Stopper type home position return torque limit value Used to set the torque limit value relative to the max. torque in [%] in stopper type home position return. (Refer to section 5.6.5.) 15.0 % 1 to 100.0 PC11 CRP Rough match output range Used to set the command remaining distance range where the rough match (RXn2) is output. 0 PC12 JOG Jog speed Used to set the jog speed command. PC13 *STC PC14 *BKC PC15 10STM m 0 to 65535 100 r/min 0 to permissible speed S-pattern acceleration/deceleration time constant Set when inserting S-pattern time constant into the acceleration/deceleration time constant of the point table. (Refer to section 6.3.3.) This time constant is invalid for home position return. 0 ms 0 to 1000 Backlash compensation Used to set the backlash compensation made when the command direction is reversed. This function compensates for the number of backlash pulses in the opposite direction to the home position return direction. For the home position ignorance (servo-on position as home position), this function compensates for the number of backlash pulses in the opposite direction to the first rotating direction after establishing the home position by switching ON the servo-on (RYn0). In the absolute position detection system, this function compensates for the backlash pulse count in the direction opposite to the operating direction at power-on. 0 pulse 0 to 32000 For manufacturer setting Do not change this value by any means. 0000h PC16 MBR Electromagnetic brake sequence output Used to set the delay time (Tb) between when the electromagnetic brake interlock (MBR) switches off and when the base circuit is shut off. 100 ms 0 to 1000 PC17 ZSP Zero speed Used to set the output range of the zero speed (ZSP). Zero speed signal detection has hysteresis width of 20r/min. 50 r/min 0 to 10000 PC18 *BPS Alarm history clear Used to clear the alarm history. 0000h 0 0 0 Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0). 6 - 22 Refer to name and function column. 6. PARAMETERS No. Symbol PC19 *ENRS Name and function Initial value Encoder output pulse selection Use to select the, encoder output pulse direction and encoder output pulse setting. Unit 0000h Setting range Refer to name and function column. 0 0 Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output . Servo motor rotation direction Set value 0 1 CCW CW A-phase A-phase B-phase B-phase A-phase A-phase B-phase B-phase Encoder output pulse setting selection (refer to parameter No.PA15). 0: Output pulse designation 1: Division ratio setting 2: Ratio is automatically set to command pulse unit Setting "2" makes the parameter No.PA15 (encoder output pulse) setting invalid. PC20 *SNO Station number setting Used to specify the station number for RS-422 serial communication and USB communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made. PC21 *SOP RS-422 communication function selection Select the communication I/F and select the RS-422 communication conditions. 0 0 station 0 to 31 0000h Refer to name and function column. 0000h Refer to the name and function field. 0 RS-422 communication baud rate selection 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps] 3: 57600 [bps] 4: 115200[bps] RS-422 communication response delay time 0: Invalid 1: Valid, reply sent after delay time of 800 s or more PC22 *COP1 Function selection C-1 Select the encoder cable communication system selection. 0 0 0 Encoder cable communication system selection 0: Two-wire type 1: Four-wire type The following encoder cables are of 4-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H The other encoder cables are all of 2-wire type. Incorrect setting will result in an encoder alarm 1 (A16) or encoder alarm 2 (A20). 6 - 23 6. PARAMETERS No. Symbol PC23 PC24 *COP3 Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Function selection C-3 Select the unit of the in-position range. 0000h 0 0 0 Unit Setting range Refer to name and function column. In-position range unit selection 0: Command input unit 1: Servo motor encoder unit PC25 For manufacturer setting Do not change this value by any means. 0000h PC26 *COP5 Function selection C-5 Select the stroke limit warning (A99). 0000h 0 0 0 Refer to name and function column. Stroke limit warning (A99) selection 0: Valid 1: Invalid When this parameter is set to "1", A99 will not occur if the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns OFF. PC27 For manufacturer setting Do not change this value by any means. 0000h PC28 *COP7 Function selection C-7 Select the display method of the current position and command position. 0 0 Electronic gear fraction clear selection 0: Invalid 1: Valid By setting it to "1", the fraction of the last command by the electronic gear is cleared when starting automatic operation. Current position and command position display selection Setting value Display method 0 Positioning display 1 Roll feed display Operation mode Status display Current position Automatic The actual current position where the machine home Manual position is assumed as 0 is displayed. Automatic The actual current position where the automatic operation start position is assumed as 0 is displayed. Manual Command position The command current position where the machine home position is assumed as 0 is displayed. The count starts from 0 when the start signal is turned on, and the command current position to the target position is displayed. During a stop, the command position of the selected point table is displayed. The command position of the selected point table is displayed. 6 - 24 0000h Refer to name and function column. 6. PARAMETERS No. Symbol PC29 PC30 *DSS Name and function Initial value For manufacturer setting Do not change this value by any means 0000h Remote register-based position/speed specifying system selection This parameter is made valid when Position/speed specification selection (RY(n 2)A) is turned ON with 2 stations occupied. Select how to receive the position command and speed command. When 1 station is occupied, selection of "0001" or "0002" will result in a parameter error. 0000h Unit Setting range Refer to name and function column. 0 0 0 Speed command Set value Position command 0 Specify the point table No. 1 Specify the point table No. Set the position data. 2 Set the servo motor speed. (Note) Note. In the case, always set an acceleration/deceleration time constant in the point table No.1. PC31 PC32 Software limit LMPH Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ". (Refer to section 6.3.6.) Set the same sign to parameters No.PC31 and No.PC32. Setting of different signs will result in a parameter error. LMPL 0 10STM m 999999 to 999999 0 10STM m 999999 to 999999 Set address: Upper 3 Lower 3 digits digits Parameter No.PC31 Parameter No.PC32 The software limit is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits. PC33 PC34 Software limit LMNH Used to set the address decrement side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ". (Refer to section 6.3.6.) Set the same sign to parameters No.PC33 and PC34. Setting of different signs will result in a parameter error. LMNL Set address: Upper 3 Lower 3 digits digits Parameter No.PC33 Parameter No.PC34 The software limit is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits. PC35 PC36 TL2 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced. 100.0 For manufacturer setting Do not change this value by any means. 0000h 6 - 25 % 0 to 100.0 6. PARAMETERS No. Symbol Name and function *LPPL Position range output address PC38 *LPPH Used to set the address increment side position range output address. Set the same sign to parameters No.PC37 and PC38. Setting of different signs will result in a parameter error. In parameters No.PC37 to PC40, set the range where position range (RXnE) turns on. PC37 Initial value Unit Setting range 0 10STM m 999999 to 999999 0 10STM m 999999 to 999999 Set address: Upper 3 Lower 3 digits digits Parameter No.PC37 Parameter No.PC38 Position range output address is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits. PC39 *LNPL Position range output address PC40 *LNPH Used to set the address decrement side position range output address. Set the same sign to parameters No.PC39 and PC40. Setting of different signs will result in a parameter error. Set address: Upper 3 digits Lower 3 digits Parameter No.PC39 Parameter No.PC40 Position range output address is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits. PC41 For manufacturer setting PC42 Do not change this value by any means. 0000h 0000h PC43 0000h PC44 0000h PC45 0000h PC46 0000h PC47 0000h PC48 0000h PC49 0000h PC50 0000h 6 - 26 6. PARAMETERS 6.3.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/ deceleration time constant (parameter No.PC13), a smooth start/stop can be made. When the S-pattern time constant is set, smooth positioning is executed as shown below. Note that the time equivalent to the S-pattern time constant setting increases until positioning (RXnC) is complete. Acceleration time constant Rated speed Deceleration time constant Preset speed Servo motor speed 0 [r/min] Ta Tb Ts Ta Ts Tb Ta: Time until preset speed is reached Tb: Time until stop Ts: S-pattern acceleration/deceleration time constant (parameter No.PC13) Setting range 0 to 1000ms 6.3.4 Alarm history clear The alarm history can be confirmed by using the MR Configurator. The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using parameter No.PC18 (alarm history clear) before starting operation. Clearing the alarm history automatically returns to " 0". This parameter is made valid by switching power off, then on after setting. Parameter No.16 0 0 0 Alarm history clear 0: Invalid (not cleared) 1: Valid (cleared) 6.3.5 Rough match output Rough match (RXn2) is output when the command remaining distance reaches the value set in parameter STM No.PC11 (rough match output range). The setting range is 0 to 65535 [ 10 m]. Command remaining distance ( 10STM m) set in parameter No.PC11 Actual servo motor speed Servo motor Command pulse speed Rough match (RXn2) ON OFF In position (RXnC) ON OFF 6 - 27 6. PARAMETERS 6.3.6 Software limit A limit stop using a software limit (parameter No.PC31 to PC34) is made as in stroke end operation. When a motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at power-on but made invalid during home position return. This function is made invalid when the software limit setting is the same as the software limit setting. A parameter error (A37) will occur if the software limit setting is less than the software limit setting. Inhibited area Movable area Movable Unmovable Current position Software limit 6 - 28 6. PARAMETERS 6.4 I/O setting parameters (No.PD ) 6.4.1 Parameter list No. Symbol PD01 *DIA1 Input signal automatic ON selection 1 0000h For manufacturer setting 0000h PD03 *DIA3 Input signal automatic ON selection 3 0000h PD04 *DIA4 Input signal automatic ON selection 4 0000h For manufacturer setting 0000h PD02 PD05 Name Initial value PD06 *DI2 Input signal device selection 2 (CN6-2) 002Bh PD07 *DI3 Input signal device selection 3 (CN6-3) 000Ah PD08 *DI4 Input signal device selection 4 (CN6-4) 000Bh PD09 *DO1 Output signal device selection 1 (CN6-14) 0002h PD10 *DO2 Output signal device selection 2 (CN6-15) 0003h PD11 *DO3 Output signal device selection 3 (CN6-16) 0024h PD12 DIN1 External DI function selection 1 0C00h For manufacturer setting 0000h PD13 PD14 DIN3 PD15 PD16 *DIAB PD17 External DI function selection 3 0800h For manufacturer setting 0000h Input polarity selection 0000h For manufacturer setting 0000h PD18 PD19 0000h *DIF Response level setting 0002h PD20 *DOP1 Function selection D-1 0010h PD21 0000h For manufacturer setting PD22 *DOP3 Function selection D-3 0000h PD23 0000h For manufacturer setting PD24 *DOP5 Function selection D-5 0000h PD25 0000h For manufacturer setting PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h 6 - 29 Unit 6. PARAMETERS 6.4.2 Detail list No. Symbol PD01 *DIA1 Initial value Name and function Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. 0000h Initial value BIN HEX 0 0 0 0 0 Device name Servo-on (SON) Device name Proportion control (PC) Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX 0 0 Device name Forward rotation stroke end (LSP) 0 Reverse rotation stroke end (LSN) 0 0 Initial value BIN HEX 0 0 0 0 0 Device name Forced stop (EMG) BIN 0: Used in CC-Link or as external input signal. BIN 1: Automatic ON For example, to turn ON SON, the setting is " PD02 4". For manufacturer setting Do not change this value by any means. 0000h 6 - 30 Unit Setting range Refer to name and function column. 6. PARAMETERS No. Symbol PD03 *DIA3 Initial value Name and function Input signal automatic ON selection 3 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. Automatic/manual selection (MD0) Setting range 0000h Refer to name and function column. 0000h Refer to name and function column. 0 0 0 Device name Unit Initial value BIN HEX 0 0 0 0 0 BIN 0: Used in CC-Link or as external input signal. BIN 1: Automatic ON PD04 *DIA4 Input signal automatic ON selection 4 Select the input devices to be automatically turned ON. 0 0 Device name Initial value BIN HEX Point table No. selection 1 (DI0) 0 Point table No. selection 2 (DI1) 0 Point table No. selection 3 (DI2) 0 Point table No. selection 4 (DI3) 0 Device name 0 Initial value BIN HEX Point table No. selection 5 (DI4) 0 Point table No. selection 6 (DI5) 0 Point table No. selection 7 (DI6) 0 Point table No. selection 8 (DI7) 0 0 BIN 0: Used in CC-Link or as external input signal. BIN 1: Automatic ON PD05 For manufacturer setting Do not change this value by any means. 0000h 6 - 31 6. PARAMETERS No. Symbol PD06 *DI2 Initial value Name and function Output signal device selection 2 (CN6-2) Any input device can be assigned to the CN6-2 pin. Unit Setting range 002Bh Refer to name and function column. 000Ah Refer to name and function column. 000Bh Refer to name and function column. 0 0 Select the input device of the CN6-2 pin The devices that can be assigned are indicated in the following table. Setting (Note) Input device Name Abbreviation 00 No assignment function 02 Servo-on SON 03 Reset RES 04 Proportion control PC 06 Clear CR 07 Forward rotation start ST1 08 Reverse rotation start ST2 09 Internal torque limit selection TL1 0A Forward rotation stroke end LSP 0B Reverse rotation stroke end LSN 0D Gain changing CDP 20 Automatic/manual selection MD0 24 Manual pulse generator multiplication 1 TP0 25 Manual pulse generator multiplication 2 TP1 27 Temporary stop/restart TSTP 2B Proximity dog DOG Note. The other setting values than shown in this table are for manufacturer setting. PD07 *DI3 Output signal device selection 3 (CN6-3) Any input device can be assigned to the CN6-3 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD06. 0 0 Select the input device of the CN6-3 pin PD08 *DI4 Output signal device selection 4 (CN6-4) Any input device can be assigned to the CN6-4 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD06. 0 0 Select the input device of the CN6-4 pin 6 - 32 6. PARAMETERS No. Symbol PD09 *DO1 Initial value Name and function Output signal device selection 1 (CN6-14) Any output signal can be assigned to the CN6-14 pin. Unit Setting range 0002h Refer to name and function column. 0003h Refer to name and function column. 0 0 Select the output device of the CN6-14 pin The devices that can be assigned are indicated in the following table. Setting (Note) Output device Name Symbol 00 Always OFF 02 Ready RD 03 Trouble ALM 04 In position INP 05 Electromagnetic brake interlock MBR 06 Dynamic brake interlock DB 07 Limiting torque TLC 08 Warning WNG 09 Battery warning 0A Speed command reached BWNG SA 0C Zero speed ZSP 0F Variable gain selection 23 Rough match 24 Home position return completion CDPS CPO ZP 25 Position range POT 26 Temporary stop PUS 27 Movement completion 38 Point table No. output 1 PT0 39 Point table No. output 2 PT1 3A Point table No. output 3 PT2 3B Point table No. output 4 PT3 3C Point table No. output 5 PT4 3D Point table No. output 6 PT5 3E Point table No. output 7 PT6 3F Point table No. output 8 PT7 MEND Note. The other setting values than shown in this table are for manufacturer setting. PD10 *DO2 Output signal device selection 2 (CN6-15) Any output signal can be assigned to the CN6-15 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD09. 0 0 Select the output device of the CN6-15 pin 6 - 33 6. PARAMETERS No. Symbol PD11 *DO3 Initial value Name and function Output signal device selection 3 (CN6-16) Any output signal can be assigned to the CN6-16 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD09. Unit Setting range 0024h Refer to name and function column. 0C00h Refer to name and function column. 0 0 Select the output device of the CN6-16 pin PD12 DIN1 External DI function selection 1 This function sets any signal imported from the CN6 connector. part is for manufacturer setting. Do not set the value by any means. Device name Servo-on (SON) Reset (RES) Device name Proportion control (PC) Clear (CR) Forward rotation start (ST1) Device name Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX Reverse rotation start (ST2) 0 Internal torque limit (TL1) 0 Forward rotation stroke end (LSP) 1 Reverse rotation stroke end (LSN) 1 Device name Gain changing (CDP) C Initial value BIN HEX 0 0 0 0 0 BIN 0: Used in CC-Link BIN 1: Used in CN6 external input signal PD13 For manufacturer setting Do not change this value by any means. 0000h 6 - 34 6. PARAMETERS No. Symbol PD14 DIN3 Initial value Name and function External DI function selection 3 This function sets any signal imported from the CN6 connector. part is for manufacturer setting. Do not set the value by any means. 0800h 0 Device name Automatic/manual selection (MD0) Temporary stop/Restart (TSTP) Device name Proximity dog (DOG) Setting range Refer to name and function column. Initial value BIN HEX 0 0 0 0 Device name Unit 0 Initial value BIN HEX 0 0 0 0 0 Initial value BIN HEX 0 0 8 0 1 BIN 0: Used in CC-Link BIN 1: Used in CN6 external input signal PD15 PD16 *DIAB For manufacturer setting Do not change this value by any means. 0000h Input polarity selection Used to set the proximity dog input polarity. (Refer to section 5.6.) 0000h 0 0 0 Refer to name and function column. Proximity dog input polarity 0: OFF indicates detection of the dog 1: ON indicates detection of the dog PD17 For manufacturer setting Do not change this value by any means. PD18 PD19 *DIF 0000h 0000h Response level setting Used to select the input. 0002h 0 0 0 Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.88[ms] 2: 1.77[ms] 3: 2.66[ms] 4: 3.55[ms] 5: 4.44[ms] 6 - 35 Refer to name and function column. 6. PARAMETERS No. Symbol PD20 *DOP1 Name and function Function selection D-1 Select the stop processing at forward rotation stroke end (LSN)/reverse rotation stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or RY(n 3)A) ON. Initial value 0010h Unit Setting range Refer to name and function column. 0 Stopping method used when forward rotation stroke end (LSP), reverse rotation stroke end (LSN) device or software limit is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Deceleration to a stop by deceleration time constant) 3: Sudden stop (Stop by remaining move distance clear) Selection of base circuit status at reset (RY(n+1)A or RY(n+3)A)ON 0: Base circuit not switched off 1: Base circuit switched off Stopping method used when software limit is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Deceleration to a stop by deceleration time constant) 3: Sudden stop (Stop by remaining move distance clear) As in the following parameter settings, when the home position is lost by the forward rotation stroke end, reverse rotation stroke end, or the software limit detection, the home position return completion (ZP) turns on by turning OFF/ON the servo-on (RYn0). In this case, there is no need to perform the home position return again. 1. In absolute position detection system Parameter No.PA03: 1 (Select the absolute position detection system) Parameter No.PA01: 0 (Select the absolute value command system) 2. In incremental system Parameter No.PA03: 0 (Select the incremental system) Parameter No.PA01: 0 (Select the absolute value command system) Parameter No.PA04: 1 (Follow-up valid) PD21 For manufacturer setting Do not change this value by any means. 0000h PD22 *DOP3 Function selection D-3 Set the clear (RYnF). 0000h 0 0 0 Clear (RYnF) selection 0: Droop pulses are cleared on the leading edge. 1: While on, droop pulses are always cleared. PD23 For manufacturer setting Do not change this value by any means. 0000h 6 - 36 Refer to name and function column. 6. PARAMETERS No. Symbol PD24 *DOP5 Initial value Name and function Function selection D-5 Select the output status of the warning (WNG). 0 0 0000h 0 Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n+1)A or RX(n+3)A) output status at warning occurrence. Setting Remote output 0 Output device Remote output 1 Output device (Note) Device status 1 RXnA 0 RX(n+1)A or 1 0 RX(n+3)A ON WNG OFF ON ALM OFF RXnA RX(n+1)A or RX(n+3)A WNG ALM 1 0 1 0 ON OFF ON OFF Warning occurred. Warning occurred. Note. 0: OFF 1: ON PD25 PD26 For manufacturer setting Do not change this value by any means. 0000h 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h 6 - 37 Unit Setting range 6. PARAMETERS 6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off. Parameter No.PD20 Stopping method used when forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Deceleration to a stop by deceleration time constant) 3: Sudden stop (Stop by remaining move distance clear) Setting value of parameter No.PD20 Operation status When rotating at constant speed 0 (Initial value) Remarks When decelerating to stop Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Servo motor speed LSP or LSN Servo motor speed 0r/min LSP or LSN ON OFF 1 Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration 0r/min ON OFF Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Amount of droop pulse Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Amount of droop pulse Servo motor speed LSP or LSN Servo motor speed 0r/min LSP or LSN ON OFF 2 0r/min ON OFF Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Acceleration/ Deceleration time constant Servo motor speed 0r/min S-pattern acceleration/ deceleration time constant Acceleration/ Deceleration time constant Decelerates to stop LSP or LSN ON OFF 3 Servo motor speed LSP or LSN 0r/min ON OFF Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration S-pattern acceleration/ deceleration time constant Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration S-pattern acceleration/ deceleration time constant Servo motor speed LSP or LSN 0r/min ON OFF amount of droop pulse Amount of droop pulse Continues decelerating to stop Servo motor speed LSP or LSN 6 - 38 0r/min ON OFF amount of droop pulse Amount of droop pulse Clears droop pulses and stops. Erases the home position. A difference occurs between the command position and the current position. Execute a home position return again. Moves for the amount of droop pulse and stops. Erases the home position. A difference occurs between the command position and the current position. Execute a home position return again. Decelerates to stop at the deceleration time constant. Continues to rotate for the amount of S-pattern acceleration/decelerati on time constant delay. Keeps the home position. Moves for the amount of droop pulse and stops. Continues to rotate for the amount of S-pattern acceleration/decelerati on time constant delay. Keeps the home position. 6. PARAMETERS 6.4.4 Stopping method when a software limit is detected A stopping method of the servo motor when a software limit (parameter No.PC31 to PC34) is detected can be selected. The software limit imposes a limit on the command position, which is controlled in the servo amplifier. Therefore, actual stop position does not reach to the software limit set position. Parameter No.PD20 Stopping method used when software limit is detected 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Deceleration to a stop by deceleration time constant) 3: Sudden stop (Stop by remaining move distance clear) Setting value of parameter No.PD20 Operation status When rotating at constant speed 0 (Initial value) Remarks When decelerating to stop Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Servo motor speed Servo motor speed 0r/min 0r/min Software limit detected Software limit detected 1 Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Amount of droop pulse Servo motor speed Amount of droop pulse Servo motor speed 0r/min 0r/min Software limit detected 2 Software limit detected Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Acceleration/ Deceleration time constant Servo motor speed 0r/min S-pattern acceleration/ deceleration time constant Acceleration/ Deceleration time constant Servo motor speed 0r/min Continues decelerating to stop Software limit detected Decelerates to stop Clears droop pulses and stops. Erases the home position. A difference occurs between the command position and the current position. Execute a home position return again. Moves for the amount of droop pulse and stops. Erases the home position. A difference occurs between the command position and the current position. Execute a home position return again. Decelerates to stop at the deceleration time constant. Continues to rotate for the amount of S-pattern acceleration/decelerati on time constant delay. Keeps the home position. Software limit detected 3 Servo motor speed 0r/min Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration S-pattern acceleration/ deceleration time constant Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration S-pattern acceleration/ deceleration time constant amount of droop pulse Amount of droop pulse amount of droop pulse Amount of droop pulse Servo motor speed 0r/min Software limit detected Software limit detected 6 - 39 Moves for the amount of droop pulse and stops. Continues to rotate for the amount of S-pattern acceleration/decelerati on time constant delay. Keeps the home position. 6. PARAMETERS MEMO 6 - 40 7. MR Configurator 7. MR Configurator The MR Configurator uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 7.1 Specifications Item Description The following table shows MR Configurator software version for each servo amplifier. MR Configurator Compatibility with a servo amplifier Model Software version MRZJW3-SETUP221E Baud rate [bps] Monitor Alarm Compatible servo amplifier 100V class 200V class 400V class B0 C0 or later 115200, 57600, 38400, 19200, 9600 Display, I/O interface display, high speed monitor, trend graph Display, history, amplifier data Diagnostic No motor rotation, system information, tuning data, absolute encoder data, Axis name setting. Parameters Parameter list, device setting, turning, change list, detailed information Test operation Advanced function Point data Jog operation, positioning operation, motor-less operation, Do forced output, program operation, single-step feed, parameter copy. Machine analyzer, gain search, machine simulation, Robust disturbance compensation. Point table File operation Data read, save, delete, print Others Automatic demo, help display 7- 1 7. MR Configurator 7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment (Note 1) Description IBM PC/AT compatible where the English version of Windows 98, Windows Me, Windows 2000 Professional, Windows XP Professional, Windows XP Home Edition, Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise operates R R OS R R R R Processor (Note 2, 3) Personal computer R R R R Pentium 133MHz or more (Windows 98, Windows 2000 Professional) Pentium 150MHz or more (Windows Me) Pentium 300MHz or more (Windows XP Professional, Windows XP Home Edition) 32-bit (x86) processor of 1GHz or higher (Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise) R R R R R R R R R R R R R 24MB or more (Windows 98) 32MB or more (Windows Me, Windows 2000 Professional) 128MB or more (Windows XP Professional, Windows XP Home Edition) 512MB or more (Windows Vista Home Basic) 1GB or more (Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise) R R R R Memory R R R R R R Hard Disk 130MB or more of free space Browser Internet Explorer 4.0 or more Display One whose resolution is 800 600 or more and that can provide a high color (16 bit) display. Connectable with the above personal computer. Keyboard Connectable with the above personal computer. Mouse Connectable with the above personal computer. Printer USB cable RS-422/232C conversion cable Connectable with the above personal computer. MR-J3USBCBL3M DSV-CABV (Diatrend) is recommended. Note 1. Windows and Windows Vista are the registered trademarks of Microsoft Corporation in the United States and other countries. Pentium is the registered trademarks of Intel Corporation. 2. On some personal computers, MR Configurator may not run properly. 3. 64-bit Windows XP and 64-bit Windows Vista are not supported. 7- 2 7. MR Configurator (2) Connection with servo amplifier (a) For use of USB Personal computer Servo amplifier USB cable MR-J3USBCBL3M (Option) To USB connector CN5 (b) For use of RS-422 Personal computer Servo amplifier CN3 RS-422/232C conversion cable To RS-232C DSV-CABV connector (Diatrend) (c) For use of RS-422 to make multidrop connection Servo amplifier Servo amplifier CN3 Servo amplifier CN3 CN3 Personal computer (Note 2) RS-422/232C conversion cable DSV-CABV (Diatrend) (Note 2) (Note 2) (Note 1) To RS-232C connector (Note 3) Note 1. Refer to section 15.1 for cable wiring. 2. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector. 3. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor. 7- 3 7. MR Configurator 7.3 Station selection Click "Setup" on the menu bar and click "System settings" on the menu. When the above choices are made, the following window appears. a) (1) Station number selection Choose the station number in the combo box ( a) ). POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication. (2) Closing of the station selection window Click the "OK" button to close the window. 7- 4 7. MR Configurator 7.4 Parameters Click "Parameters" on the menu bar and click "Parameter list" on the menu. When the above choices are made, the following window appears. g) c) h) a) j) i) d) b) k) l) e) f) (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the "Write" button to write the new parameter setting to the servo amplifier. (2) Parameter value verify ( b) ) Click the "Verify" button to verify all parameter values being displayed and the parameter values of the servo amplifier. (3) Parameter value batch-read ( c) ) Click the "Read All" button to read and display all parameter values from the servo amplifier. 7- 5 7. MR Configurator (4) Parameter value batch-write ( d) ) Click the "Write All" button to write all parameter values to the servo amplifier. (5) Parameter default value indication ( e) ) Click the "Set to default" button to show the initial value of each parameter. (6) Basic settings for parameters ( g) ) Used to make the basic settings such as control mode selection and absolute position detection system selection. (7) Basic setting parameters ( h) ) Used to make the basic settings for the servo amplifier. Select a parameter to be changed the setting, enter a new value to "Set value" and click "Enter". (8) Gain/Filter parameters ( i) ) Used to adjust the gain manually. Select a parameter to be changed, enter a new value to "Set value" and click "Enter". (9) Extension setting parameters ( j) ) Used to make the setting unique to MR-J3- T servo amplifier. Select a parameter to be changed, enter a new value to "Set value" and click "Enter". (10) I/O setting parameters ( k) ) Used to change the I/O device of the servo amplifier. Select a parameter to be changed, enter a new value to "Set value" and click "Enter". (11) Parameter block ( l) ) Used to set the availability of parameter write. (12) Parameter data file read Used to read and display the parameter values stored in the file. Use the "Project" menu on the menu bar to read. (13) Parameter value storage Used to store all parameter values being displayed on the window into the specified file. Use the "Project" menu on the menu bar to store. (14) Parameter data list print Used to print all parameter values being displayed on the window. Use the "Project" menu on the menu bar to print. (15) Parameter list window closing ( f) ) Click the "Close" button to close the window. If the "Close" button is clicked without (1) parameter value write or (4) parameter value batch-write being performed, the parameter value changed is made invalid. 7- 6 7. MR Configurator 7.5 Point table POINT The value of the parameter No. PA05 set on the parameter setting screen is not engaged with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length multiplication) value to the same as set in the parameter No. PA05 on the point table list screen. Click "Point-data" on the menu bar and click "Point table" on the menu. When the above choices are made, the following window appears. g) f) e) c) a) b) d) h) (1) Point table data write ( a) ) Click the point table data changed and press the "Write" button to write the new point table data to the servo amplifier. (2) Point table data verify ( b) ) Click the "Verify" button to verify all data being displayed and the data of the servo amplifier. (3) Point table data batch-read ( c) ) Click the "Read All" button to read and display all point table data from the servo amplifier. (4) Point table data batch-write ( d) ) Click the "Write All" button to write all point table data to the servo amplifier. 7- 7 7. MR Configurator (5) Point table data insertion ( e) ) Click the "Insert" button to insert one block of data into the position before the point table No. chosen. The blocks after the chosen point table No. are shifted down one by one. (6) Point table data deletion ( f) ) Click the "Delete" button to delete all data in the point table No. chosen. The blocks after the chosen point table No. are shifted up one by one. (7) Point table data change ( g) ) Click the data to be changed, enter a new value into the "Enter" input field, and press the enter key or Enter Data button. (8) Point table data file read Used to read and display the point table data stored in the file. Use the "Project" menu on the menu bar to read. (9) Point table data storage Used to store all point table data being displayed on the window into the specified file. Use the "Project" menu on the menu bar to store. (10) Point table data list print Used to print all point table data being displayed on the window. Use the "Project" menu on the menu bar to print. (11) Point table data list window closing ( h) ) Click the "Close" button to close the window. 7- 8 7. MR Configurator 7.6 Device assignment method POINT To use a device as an external I/O signal, the settings for the parameter No. PD12 and PD14 are required after the device is assigned according to the device setting described below. (1) How to open the setting screen Click "Parameters" on the menu bar and click "Device setting" in the menu. Making selection displays the following window. 7- 9 7. MR Configurator (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. a) b) d) c) 1) Read of function assignment ( a) ) Click the "Read" button reads and displays all functions assigned to the pins from the servo amplifier. 2) Write of function assignment ( b) ) Click the "Write" button writes all pins that are assigned the functions to the servo amplifier. 3) Verify of function assignment ( c) ) Click the "Verify" button verifies the function assignment in the servo amplifier with the device information on the screen. 4) Initial setting of function assignment ( d) ) Click the "Set to Default" button initializes the function assignment. 7 - 10 7. MR Configurator (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. a) b) Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window. 1) Assignment checking, automatic ON setting ( a) ) Press this button to display the screen that shows the assignment list and enables auto ON setting. Refer to (2)(c) in this section for more information. 2) Quitting Click "Close" button to exit from the window. ( b) ) 7 - 11 7. MR Configurator (c) Function device assignment checking auto ON setting display Click the "Assignment check / auto ON setting" button in the DIDO function display window displays the following window. a) b) c) d) e) The assigned functions are indicated by. The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON. 1) Auto ON read of function assignment ( a) ) Click "Read" button reads the functions set for auto ON from the interface unit and extension IO unit. 2) Auto ON write of function assignment ( b) ) Click "Write" button writes the functions currently set for auto ON to the interface unit and extension IO unit. 3) Auto ON verify of function assignment ( c) ) Click "Verify" button verifies the current auto ON setting in the interface unit and extension IO unit with the auto ON setting on the screen. 4) Auto ON initial setting of function assignment ( d) ) Click "Set to Default" button initializes the auto ON setting. 5) Quitting the function device assignment checking/auto ON setting window ( e) ) Click "Close" button exits from the window. 7 - 12 7. MR Configurator 7.7 Test operation CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation using the forced stop (EMG). 7.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator. The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG. (Refer to section 7.6.) When an alarm occurs, the JOG operation is automatically canceled. Click "Test" on the menu bar and choose "Jog" on the menu. Clicking displays the confirmation window for switching to the test operation mode. Click the "OK" button to display the setting screen of the Jog operation. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. Turn the servo off, confirm that the operation is in the stop status, and click the "OK" button to display the setting screen for the Jog operation. 7 - 13 7. MR Configurator c) a) d) b) e) g) h) f) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Start button operation selection Check the check box for operating the servo motor only while pressing the button. Uncheck the check box for stopping the operation by pressing the "Stop" or "Software forced stop" button. (4) Servo motor start ( c), d) ) (a) When stopping the operation by pressing the "Stop" or "Software forced stop" button Click the "Forward" button to rotate the servo motor in the CCW rotation direction. Click the "Reverse" button to rotate the servo motor in the CW rotation direction. (b) When operating the servo motor only while pressing the button While pressing the "Forward" button, the servo motor rotates in the CCW rotation direction. While pressing the "Reverse" button, the servo motor rotates in the CW rotation direction. (5) Servo motor stop ( e) ) (a) When stopping the operation by pressing the "Stop" or "Software forced stop" button Click the "Stop" button to stop the rotation of the servo motor. (b) When operating the servo motor only while pressing the button Release the "Forward" or "Reverse" button to stop the rotation of the servo motor. (6) LSP/LSN (stroke end) automatic ON setting ( g) ) Put a check mark in the check box to automatically turn ON LSP/LSN. After selecting the check box, the LSP and the LSN of external signal are ignored. (7) Servo motor software forced stop ( h) ) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used. Click the "Software forced stop" button again to make the "Forward" and "Reverse" buttons enabled. (8) Jog operation window closing ( f) ) Click the "Close" button to cancel the jog operation mode and close the window. (9) Switching to CC-Link operation mode To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the servo amplifier. 7 - 14 7. MR Configurator 7.7.2 Positioning operation POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and DOCOM. (Refer to section 7.6.) When an alarm occurs, the positioning operation is automatically canceled. Click "Test" on the menu bar and click "Positioning" on the menu. Clicking displays the confirmation window for switching to the test operation mode. Click the "OK" button to display the setting screen of the Positioning operation. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. After confirming that the operation is in the stop status, click the "OK" button to display the setting screen for the positioning operation. 7 - 15 7. MR Configurator a) d) e) b) f) c) g) i) j) h) l) k) m) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the "Move distance" input field and press the enter key. (4) Servo motor start ( d), e) ) Click the "Forward" button to rotate the servo motor in the forward rotation direction. Click the "Reverse" button to rotate the servo motor in the reverse rotation direction. (5) Temporary stop of servo motor ( f) ) Click the "Pause" button to stop the servo motor temporarily. (6) Servo motor restart ( g) ) Click the "Restart" button during the temporary stop to restart the rotations for the remaining move distance. Enter a new value into the "Motor speed" input field and press the enter key. (7) Move distance clear ( h) ) Click the "Remaining distance clear" during the temporary stop to clear the remaining move distance. (8) LSP/LSN (stroke end) automatic ON setting ( i) ) Put a check mark in the check box to automatically turn ON LSP/LSN. After selecting the check box, the LSP and the LSN of external signal are ignored. (9) Automatic ON setting for the movement to the Z-phase signal ( j) ) To move to the first Z-phase signal of the move distance + move direction, put a check mark in the check box. 7 - 16 7. MR Configurator (10) Pulse move distance unit selection (k) Select with the option buttons whether the moving distance set is in the command input pulse unit or in the encoder pulse unit. (11) Servo motor software forced stop (1)) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used. Click the "Software forced stop" button again to make the "Forward" and "Reverse" buttons enabled. (12) Positioning operation window closing ( m) ) Click the "Close" button to cancel the positioning operation mode and close the window. (13) Switching to CC-Link operation mode To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the servo amplifier. 7 - 17 7. MR Configurator 7.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals. The sequence of the host programmable controller (PC) can be checked without connection of a servo motor. Click "Test" on the menu bar and click "Operation w/o Motor" on the menu. When the above choices are made, the following window appears. a) b) (1) Execution of motor-less operation ( a) ) Click "Start" to perform motor-less operation. (2) Termination of motor-less operation ( b) ) Click "Close" to close the window. Note that just clicking the "Close" button does not cancel motor-less operation. To cancel motor-less operation, turn ON the power of the servo amplifier and switch to the CC-Link operation mode once. 7 - 18 7. MR Configurator 7.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically canceled. Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click "Test" on the menu bar and click "Forced output" on the menu. Clicking displays the confirmation window for switching to the test operation mode. Click the "OK" button to display the setting screen of the DO forced output. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. After confirming that the operation is in the stop status, click the "OK" button to display the setting screen for the DO forced output. When the above choices are made, the following window appears. a) b) c) 7 - 19 7. MR Configurator (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal status to the servo amplifier. (2) DO forced output window closing ( c) ) Click the "Close" button to cancel the DO forced output mode and close the window. (3) Switching to CC-Link operation mode To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the servo amplifier. 7.7.5 Single-step feed POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG. (Refer to section 7.6.) When an alarm occurs, the 1-step feed is automatically canceled. Operation is performed in accordance with the preset point table No. Click "Test" on the menu bar and click "Single-step Feed" on the menu. Clicking displays the confirmation window for switching to the test operation mode. 7 - 20 7. MR Configurator Click the "OK" button to display the setting screen of the Single-step feed. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. After confirming that the operation is in the stop status, click the "OK" button. b) a) c) d) e) f) g) (1) Point table No. setting ( a) ) Enter the point table No. into the "Point table No." input field and press the enter key. (2) Servo motor start ( b) ) Click the "Start" button to rotate the servo motor. (3) Temporary stop of servo motor ( c) ) Press the "Pause" button to stop the servo motor temporarily. (4) Servo motor stop ( c) ) Click the "Pause" button again during a temporary stop of the servo motor to clear the remaining moving distance. (5) Servo motor restart ( d) ) Click the "Restart" button during the temporary stop to restart the rotations for the remaining move distance. (6) Move distance clear ( e) ) Click the "Remaining distance clear" during the temporary stop to clear the remaining move distance. 7 - 21 7. MR Configurator (7) Servo motor software forced stop ( f) ) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button again to make the "Start" button enabled. (8) Single-step feed window closing ( g) ) Click the "Close" button to cancel the single-step feed mode and close the window. (9) Switching to CC-Link operation mode To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the servo amplifier. 7 - 22 7. MR Configurator 7.8 Alarm 7.8.1 Alarm display POINT If a menu is clicked or any other operation is performed during alarm occurrence, the following message window appears. The example given here is the window that indicates an occurrence of Encoder error 1 (A16). The current alarm can be displayed. To display the current alarm, click "Alarm" on the menu bar and click "Display" on the menu. When the above choices are made, the following window appears. a) b) 7 - 23 7. MR Configurator (1) Current alarm display The window shows the alarm number, name, cause and occurrence time. The following example is the window that indicates an occurrence of Encoder error 1 (A16). (2) Alarm reset ( a) ) Click the "Reset alarm" button to reset the current alarm and clear alarms on the window. The alarm at this time is stored as the latest alarm. (3) Closing the current alarm window ( b) ) Click the "Close" button to close the window. 7.8.2 Batch display of data at alarm occurrence Monitor data during alarm occurrence is displayed. To display monitor data, click "Alarm" on the menu bar and click "Amplifier data" on the menu. When the above choices are made, the following window appears. 7 - 24 7. MR Configurator Click the "Read" button to read the monitor data at error occurrence from the servo amplifier. Read results are displayed as follows. 7 - 25 7. MR Configurator 7.8.3 Alarm history Click "Alarm" on the menu bar and click "History" on the menu. When the above choices are made, the following window appears. a) b) (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear ( a) ) Click the "Clear" button to clear the alarm history stored in the servo amplifier. (3) Closing of alarm history window ( b) ) Click the "Close" button to close the window. 7 - 26 8. PARAMETER UNIT (MR-PRU03) 8. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter unit and MR Configurator together. Perform simple data setting, test operation, parameter setting, etc. without MR Configurator by connecting the MR-PRU03 parameter unit to the servo amplifier. 8- 1 8. PARAMETER UNIT (MR-PRU03) 8.1 External appearance and key explanations This section gives the external appearance and explanations of the keys. Key explanations Key MON ALM/ DGN Mode key Display LCD (16 characters x 4 lines) Used to display the following or others: Parameter setting Monitor DATA PARAM TEST PRU03 Fn Monitor mode key Used to display the monitor screen. Alarm/diagnosis mode Used to display the alarm/DO forced output/diagnosis selection screen. Parameter mode key Used to display parameter selection screen. Press this key while holding down the "SHIFT" key to display the point table setting screen. Test operation mode key Used to display the exit/JOG operation/positioning operation/motorless operation/DO forced output/single-step feed selection screen. Function key Used to perform various operations in the test operation mode. Used to display the parameter range and point table setting range. SHIFT ESC 8 9 7 E F 4 B C D A 5 1 2 0 1STEP TEST 6 3 ESC FWD ESC key Used to display the screen at one step upper hierarchical level. (not the pervious screen) Used to display the setting selection screen (the initial screen) of the monitor mode. Scroll key Used to move the cursor across the screen or scroll the screen. Press this key while holding down the "SHIFT" key to move to the previous or next screen. Used to change parameter No. or point table No. REV STOP RESET FWD Test Operation key Fn PARAM Used to enter hexadecimal values. Press the "4" to "9" keys while holding down the "SHIFT" key to enter A to F. Press the " " keys while holding down the "SHIFT" key to move to the previous or next screen. REV STOP RESET Forward rotation key Used to start the forward rotation in the test operation mode (JOG operation/positioning operation). Symbol key/reverse rotation key Used to start the reverse rotation in the test operation mode (JOG operation/positioning operation). Used together with the "SHIFT" key to enter negative values. To exit the negative value entry mode, press the "SHIFT" key again and press the "-" key. ("-" disappears.) Stop/reset key Used to stop temporarily in the JOG operation/positioning operation/single-step feed. The "RESET" key is valid when the "Fn" key is not pressed (i.e. at a stop). Used to reset alarms or alarm history, or clear cumulated monitor data or inputs. Normal operation cannot be stopped with this key. Enter key Used to determine the selection, numerical values, etc. Used to determine to exit the test operation mode, or enter the motor-less operation. Used to switch ON/OFF in the DO output screen. Enter key DATA Numerical key MON ALM/ DGN Operation key SHIFT SHIFT key 0 to 9 F 1STEP Numerical keys Used to enter parameter No., setting values, etc. Press the "4" to "9" keys while holding down the "SHIFT" key to enter A to F. Decimal point key Used to enter a decimal point. Used to start the single-step feed. 8- 2 8. PARAMETER UNIT (MR-PRU03) 8.2 Specifications Item Description Model MR-PRU03 Power supply Supplied from the servo amplifier Basic setting parameters, Gain/filter parameters, Extension setting parameters, I/O setting parameters Parameter mode Current position, Command position, Command remaining distance, Point table No., Feedback pulse value, Servo motor speed, Droop pulse value, Regenerative load factor, Effective load factor, Peak load factor, Instantaneous torque, Within one-revolution position, ABS counter, Load inertia moment ratio, Bus voltage Functions Monitor mode (Status display) Diagnosis mode External I/O display, motor information Alarm mode Current alarm, Alarm history Jog operation, Positioning operation, DO forced output, Motor-less operation, Single-step feed Test operation mode Point data, Servo motor speed, Acceleration/deceleration time constant, Dwell, Auxiliary function Point table mode Display section LCD system (16 characters Environment Ambient temperature 10 to 55 Ambient humidity 4 lines) (14 to 131 ) (non-freezing) 90%RH or less (non-condensing) Storage temperature range 20 to 65 Storage humidity range ( 4 to 149 ) (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Ambience Mass [g] ([lb]) 130 (0.287) 8.3 Outline dimension drawings [Unit: mm] 72 15 10.5 16.5 24 48 13 23.75 11.75 Punched hole 1.25 5-M3 screw 5- 4 hole Front face Side face 40 Back face 8- 3 40 Panel cut dimension 8. PARAMETER UNIT (MR-PRU03) 8.4 Connection with servo amplifier 8.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable. Servo amplifier Parameter unit (MR-PRU03) CN3 10BASE-T cable, etc. (EIA568-compliant cable) (2) Cable internal wiring diagram Parameter unit (MR-PRU03) connector side GND 1 5V 2 3 TXD 4 RXD 5 RXD 6 TXD GND 7 NC 8 Servo amplifier CN3 connector (RJ45 connector) 1 LG 2 P5D 3 RDP 4 SDN 5 SDP 6 RDN 7 LG 8 NC 10m or less 8- 4 8. PARAMETER UNIT (MR-PRU03) 8.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier CN3 CN3 CN3 Parameter unit (MR-PRU03) (Note 2) (Note 1) (Note 2) (Note 2) (Note 2) (Note 1) (Note 2) (Note 1) (Note 2) (Note 3) Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector. 2. Use the 10BASE-T cable (EIA568-compliant), etc. 3. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor. 8- 5 8. PARAMETER UNIT (MR-PRU03) (2) Cable internal wiring diagram Wire the cables as shown below. (Note 3) 30m or less (Note 1) Axis 1 servo amplifier CN3 connector (RJ45 connector) (Note 4, 5) 1 LG 2 P5D 3 RDP 4 SDN 5 SDP 6 RDN 7 LG 8 NC Parameter unit GND 1 5V 2 SDP 3 RDN 4 RDP 5 SDN 6 GND 7 NC 8 (Note 4) 1 2 3 4 5 6 7 8 (Note 5) 1 2 3 4 5 6 7 8 (Note 1) Axis 2 servo amplifier CN3 connector (RJ45 connector) 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 6) Branch connector (Note 5) 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 1, 7) Axis n servo amplifier CN3 connector (RJ45 connector) (Note 4) 1 LG 2 P5D 3 RDP 4 SDN 5 SDP 6 RDN 7 LG 8 NC LG P5D RDP SDN SDP RDN LG NC 1 2 3 4 5 6 7 8 (Note 5) 1 2 3 4 5 6 7 8 (Note 6) Branch connector 1 2 3 4 5 6 7 8 1 2 RDP 3 (Note 2) 4 150 5 RDN 6 7 8 (Note 6) Branch connector Note 1. Recommended connector (Hirose Electric) Plug: TM10P-88P Connection tool: CL250-0228-1 2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor. 3. The overall length is 30m or less in low-noise environment. 4. The wiring between the branch connector and servo amplifier should be as short as possible. 5. Use the EIA568-compliant cable (10BASE-T cable, etc.). 6. Recommended branch connector: BMJ-8 (Hakko Electric Machine Works) 7. n 32 (Up to 32 axes can be connected.) 8- 6 8. PARAMETER UNIT (MR-PRU03) 8.5 Display Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier. In this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation procedure in each mode. 8.5.1 Outline of screen transition Servo amplifier power ON MR-PRU03 parameter unit setting Initializing (Note) Normal transition (i.e. no communication error is detected) ESC ALM/ DGN MON Monitor mode Alarm/ Diagnosis mode DATA PARAM Parameter mode SHIFT DATA PARAM Point table mode TEST Test operation mode Note. If initialization communication fails, a communication error is displayed. Press the "ESC" key to return to the PRU setting screen. 8- 7 8. PARAMETER UNIT (MR-PRU03) 8.5.2 MR-PRU03 parameter unit setting MR-PRU03 parameter unit setting Station number Set and enter the station number. (e.g. To enter 31th axis) 3 1 ESC Baud rate selection Press the " " keys to select, and press the " " key to set. Press the " " keys to select Contrast adjustment from 0 to 63, and press the " " key to set. Buzzer Press the " 1 " key to select ON or the " 0 " key to select OFF, and press the " " key to set. Version info PRU03 software number is displayed. Note. Press the "SHIFT" key and "ESC" key together on any screen to return to the station number setting screen. 8- 8 8. PARAMETER UNIT (MR-PRU03) 8.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the display. Refer to (2) in this section for details. 11. Regenerative load ratio MON 1. Current position 12. Effective load ratio 2. Command position 13. Peak load ratio 3. Command remaining distance 14. Instantaneous torque 4. Point table No. 15. Within one-revolution position 5. Cumulative feedback pulses 16. ABS counter 6. Servo motor speed 17. Load inertia moment ratio 7. Droop pulses 18. Bus voltage 8. For manufacturer setting 19. For manufacturer setting 9. For manufacturer setting 20. For manufacturer setting 10. For manufacturer setting 21. For manufacturer setting 8- 9 8. PARAMETER UNIT (MR-PRU03) (2) Monitor display list The following table lists the items and descriptions of monitor display. Status display Display on parameter unit Unit Description Display range Cur posit 10STM mm The current position from the machine home position of 0 is displayed. 9999999 to 9999999 Command position Cmd Posit 10STM mm The command position is displayed. 9999999 to 9999999 Command remaining distance Cmd remin 10STM mm The command remaining distance of the currently selected point table is displayed. Current position Point table No. Cumulative feedback pulses Servo motor speed Droop pulse 999999999 to 999999999 0 to 255 Pnttbl No The point table No. being executed is displayed. Pulse F/B pulse Feedback pulses from the servo motor encoder are counted and displayed. When the value exceeds 999999, characters are displayed smaller. Press the "RESET" key of the parameter unit to reset the display value to zero. 999999999 to 999999999 r/min The servo motor speed is displayed. "-" is added to the speed of the servo motor rotating in the reverse rotation. The value rounded off is displayed in 0.1r/min. 7200 to 7200 pulse The number of droop pulses in the deviation counter is displayed. "- " is added to the reverse pulses. When the value exceeds ±999999, characters are displayed smaller. The number of pulses displayed is in the encoder pulse unit. 999999999 to 999999999 Speed F/B Droop Pls Regn Load The ratio of regenerative power to permissible regenerative power is displayed in %. When regenerative option is used, the ratio to the permissible regenerative power is displayed. 0 to 100 Effective load ratio Effc Load The continuous effective load current is displayed. The effective value is displayed relative to the rated current of 100%. 0 to 300 Peak load ratio Peak Load The maximum torque is displayed. The highest value in the past 15 seconds is displayed relative to the rated torque of 100%. 0 to 400 Instantaneous torque Instn Trq Torque that occurred instantaneously is displayed. The value of the torque that occurred is displayed in real time relative to the rate torque of 100%. 0 to 400 Within one-revolution position Cyc posit pulse Position within one revolution is displayed in encoder pulses. The value returns to 0 when it exceeds the maximum number of pulses. The value is incremented in the CCW direction of rotation. 0 to 262143 ABS counter Abs count rev Travel value from the home position in the absolute position detection systems is displayed in terms of the absolute position detectors counter value. Load inertia moment ratio Moment Rt Multiplier ( 1) The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed. P-N Volt V Regenerative load ratio Bus voltage The voltage (across P-N or P - N ) of the main circuit converter is displayed. 8 - 10 32768 to 32767 0.0 to 300.0 0 to 900 8. PARAMETER UNIT (MR-PRU03) 8.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings involving alarms, alarm history, external I/O signal (DIDO) display, device and diagnosis. ALM/ DGN Alarm Current alarm (When undervoltage (A10) occurred.) When parameter error (A37) occurred. The alarm number of the current alarm is displayed. This screen is displayed once an alarm occurred regardless of the display mode selected. The parameter No. of the erroneous parameter is displayed when parameter error (A37) occurred. Parameter error (A37) also occurs in response to a point table error. (Refer to section 11.5.) STOP RESET Alarm history I/O display Diagnosis Alarms are reset by the error reset command.Press the "1" key to execute, or the "0" key to cancel. For six alarms including the latest alarm and five other alarms in alarm history (0 to 5), their alarm numbers and energization time elapsed before the alarm occurrence are displayed. The alarm history can be cleared. (Refer to (2) in this section.) ON/OFF status of DIDO is displayed. : ON : OFF Software number The software number is displayed. Motor information The motor information is displayed. Total power-on time The total power-on time (P-on) and the number of power-on times (SW.) since shipped are displayed. 8 - 11 8. PARAMETER UNIT (MR-PRU03) (2) Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history before starting operation. ALM/ DGN Select "ALM Hist". STOP RESET For six alarms including the latest alarm and five other alarms in alarm history (0 to 5), their alarm numbers and energization time elapsed before the alarm occurrence are displayed. The alarm history clear menu is displayed. Select "1" to clear the alarm history. 1) 8 - 12 8. PARAMETER UNIT (MR-PRU03) 8.5.5 Parameter mode The flowchart below shows the procedure for setting parameters. DATA PARAM Select a parameter group. e.g. To select the gain/filter parameter, press: e.g. To select parameter No.PB10, press: 1 0 e.g. To set setting value "1234", press: 1 2 3 The parameter number, abbreviation and setting value are displayed. Press the "Fn" key to display the range. First parameter number is displayed. 4 Write Write is completed. The following message appears if switching power off or on is needed to enable the setting. 8 - 13 8. PARAMETER UNIT (MR-PRU03) 8.5.6 Point table mode The flowchart below shows the procedure for setting point table data. SHIFT DATA PARAM e.g. To set point table No."255" press: Table read screen 2 5 5 Select a point table No. e.g. To set setting value "4567.89", press: Select an item with " keys the " or numeric keys. Point table data is displayed. POS : Point data : Servo motor SPD speed : Acceleration ACC time constant DEC : Deceleration time constant DWELL : Dwell : Auxiliary AUX function Position data display 4 5 6 1STEP 8 9 7 Servo motor speed display Enter Acceleration time constant display Deceleration time constant display (Note) Dwell display Auxiliary function display e.g. To set setting value "0", press: 0 Press the "Fn" key to display the range. Note. This applies to all types of data. 8 - 14 Enter 8. PARAMETER UNIT (MR-PRU03) 8.5.7 Test operation mode CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation using the forced stop (EMG). POINT Test operation cannot be executed without turning the servo OFF. Exiting test/JOG operation/positioning operation/motor-less operation/DO forced stop/single-step feed can be performed in this mode. The following shows how to set each operation. When the servo motor equipped with an electromagnetic brake is used, make sure to program a sequence circuit which will operate the electromagnetic brake by the servo amplifier electromagnetic brake interlock (MBR). TEST JOG operation Positioning operation Motor-less operation DO forced output Single-step feed 8 - 15 8. PARAMETER UNIT (MR-PRU03) (1) Jog operation Jog operation can be performed when there is no command from the external command device. Connect EMG-DOCOM to start jog operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below. Initial setting Setting range Speed [r/min] Item 200 0 to instantaneous permissible speed (Note) Acceleration/deceleration time constant [ms] 1000 0 to 20000 Note. Acceleration time constant refers to time required to reach the rated speed from stop status (0r/min), and deceleration time constant refers to time required to reach 0r/min from the rated speed. The following shows the operation condition settings and the operation procedures. JOG operation e.g. 4000r/min is set Servo motor speed 4 0 0 0 Servo motor speed in JOG operation is displayed. Acceleration/deceleration e.g. 4000ms is set time constant 4 0 0 0 Acceleration/deceleration time constant in JOG operation is displayed. Operation screen Hold down the " Fn " and " FWD " keys to run the servo motor in the forward rotation direction. Hold down the " Fn " and " Take off the " FWD " or " Take off the " Fn REV REV " keys to run the servo motor in the reverse rotation direction. " key while holding down the " " key to stop immediately. Test operation mode cancel Fn " key to stop. Test operation mode has been canceled. ESC Returns to the initial screen of the test operation mode. Select "RESTORE". This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed. If the parameter unit cable is disconnected during jog operation, the servo motor will be decelerated to a stop. To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the servo amplifier. (b) Status display You can monitor the status display even during JOG operation. At this time, the "FWD", "REV" and "STOP" keys can be used. 8 - 16 8. PARAMETER UNIT (MR-PRU03) (2) Positioning operation Positioning operation can be performed once when there is no command from the external command device. Connect EMG-DOCOM to start positioning operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below. Item Initial setting Setting range 200 0 to instantaneous permissible speed Speed [r/min] (Note 2) Acceleration/deceleration time constant [ms] 1000 0 to 20000 (Note 1) Travel distance [pulse] 4000 0 to 99999999 Note 1. The unit of move distance can be changed using feed length multiplication factor selection of parameter No.PA05. 2. Acceleration time constant refers to time required to reach the rated speed from stop status (0r/min), and deceleration time constant refers to time required to reach 0r/min from the rated speed. The following shows the operation condition settings and the operation procedures. e.g. 1500r/min is set Servo motor speed Positioning operation 1 5 0 0 Servo motor speed in positioning operation is displayed. Acceleration/deceleration e.g. 2000r/min is set time constant 2 0 0 0 Acceleration/deceleration time constant in positioning operation is displayed. Pulse unit Select a unit of pulse move distance. 0: CMD (in command pulse unit) 1: ENC (in encoder pulse unit) e.g. To set move distance 10000, press: Move distance 1 0 0 0 0 Move distance is displayed. Operation screen Press the " Fn " and " FWD " keys to start rotating the servo motor in the forward direction. When the preset move distance is reached, the servo motor stops. Press the " Fn " and " REV " keys to start rotating the servo motor in the reverse direction. When the preset move distance is reached, the servo motor stops. Press the " STOP " key to stop the motor temporarily, and press the " RESET Take off the " Fn Fn " or " REV " key to restart. " key to stop the motor immediately and clear the remaining distance. Test operation mode cancel Test operation mode has been canceled. ESC Returns to the initial screen of the test operation mode. Select "RESTORE". 8 - 17 This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed. 8. PARAMETER UNIT (MR-PRU03) If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop. (b) Status display You can monitor the status display even during positioning operation. At this time, the "FWD", "REV" and "STOP" keys can be used. (3) Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input devices. This operation can be used to check the sequence of a sequencer or the like. (a) Operation/cancel After turning off the SON signal, choose motor-less operation. After that, perform external operation as in ordinary operation. The following shows the operation procedures. Enter Motor-less operation Being executed The screen appears asking whether to execute motor-less operation. To cancel motor-less operation, turn ON the power of the servo amplifier and switch to the CC-Link operation mode once. (b) Status display You can monitor the status display even during motor-less operation. (4) DO forced output Each output signal can be forced on/off independently of the servo status. This function is used for the servo wiring check, etc. Connect EMG-DOCOM to start DO forced output. The following shows the operation procedures. e.g. To turn ON output of CN6-3, DO forced output press the " " keys to select, and press the " " key to set. Output pins and their status are displayed. : Output ON : Output OFF Test operation mode has been canceled. Test operation mode cancel ESC Returns to the initial screen of the test operation mode. Select "RESTORE". 8 - 18 This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed. 8. PARAMETER UNIT (MR-PRU03) (5) Single-step feed Operation is performed in accordance with the preset point table No. Connect EMG-DOCOM to start single-step feed. The following shows the operation condition settings and the operation procedures. e.g. To select point table No.255, press: Single-step feed 2 5 5 The point table No. setting screen is displayed. Press the " Fn " and " keys to start. 1STEP " After the start, press the " STOP " key while holding down the " Fn " key to stop temporarily. RESET Take off the " Fn " key to stop immediately. When stopped, the remaining distance is cleared. Test operation mode has been canceled. Test operation mode cancel ESC Returns to the initial screen of the test operation mode. Select "RESTORE". This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed. 8.6 Error message list When using the MR-PRU03 parameter unit, the following error messages may be displayed. When displayed, refer to this section to remove cause. (1) Error messages Operation Message Cause Communication error 1. Hardware reason 2. Mismatch in station number 3. Mismatch in baud rate Setting error Incorrect input, etc. Write error Value is written while write is disabled. EEP-ROM write error 1. Parts in the MR-PRU03 parameter unit are faulty. 2. EEP-ROM built in the MR-PRU03 parameter unit has been overwritten more than 100000 times. 8 - 19 8. PARAMETER UNIT (MR-PRU03) (2) Messages Message Description Valid parameters were written when power is off. The MR-PRU03 parameter unit was used to set a station number and perform transition during the test operation mode. Operation mode is the test operation mode. The test mode was changed due to external factor. Reading settings specified for the parameter write disable (parameter No.PA19) was attempted. In the test operation, the "ESC" key was pressed while the "Fn" key was held down to switch the screen to the MR-PRU03 parameter unit setting screen. The ready cannot be turned ON due to alarm, etc. Operation mode can be switched to the test operation mode at servo-on. Station number change was attempted in the test operation mode. Point table No. change was attempted in the single-step feed operation. 8 - 20 9 GENERAL GAIN ADJUSTMENT 9. GENERAL GAIN ADJUSTMENT 9.1 Different adjustment methods 9.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order. (1) Gain adjustment mode explanation Gain adjustment mode Parameter No. PA08 setting Estimation of load inertia moment ratio Automatically set parameters Auto tuning mode 1 (initial value) 0001 Always estimated GD2 (parameter No.PB06) PG2 (parameter No.PB08) PG1 (parameter No.PB07) VG2 (parameter No.PB09) VIC (parameter No.PB10) Auto tuning mode 2 0002 Fixed to parameter No. PG2 (parameter No.PB08) PG1 (parameter No.PB07) PB06 value VG2 (parameter No.PB09) VIC (parameter No.PB10) Manual mode 0003 Interpolation mode 0000 Manually set parameters Response level setting of parameter No.2 GD2 (parameter No.PB06) Response level setting of parameter No.PA09 PG1 (parameter No.PB07) GD2 (parameter No.PB06) VG2 (parameter No.PB09) VIC (parameter No.PB10) Always estimated 9- 1 GD2 (parameter No.PB06) PG2 (parameter No.PB08) VG2 (parameter No.PB09) VIC (parameter No.PB10) PG1 (parameter No.PB07) 9. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Yes Interpolation made for 2 or more axes? Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No Operation Yes OK? Yes Auto tuning mode 2 OK? Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes. Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example. You can adjust all gains manually when you want to do fast settling or the like. No Manual mode END 9.1.2 Adjustment using MR Configurator This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator which operates on a personal computer. Function Description Adjustment Machine analyzer With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response. Gain search Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest. Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer. Machine simulation 9- 2 You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter. You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time. You can automatically set gains which make positioning settling time shortest. You can optimize gain adjustment and command pattern on personal computer. 9. GENERAL GAIN ADJUSTMENT 9.2 Auto tuning 9.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1. In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically. The following parameters are automatically adjusted in the auto tuning mode 1. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied. Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or less. Speed is 150r/min or higher. The ratio of load inertia moment to servo motor inertia moment is 100 times or less. The acceleration/deceleration torque is 10% or more of the rated torque. Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment. (2) Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter No.PB06). The following parameters are automatically adjusted in the auto tuning mode 2. Parameter No. Abbreviation PB07 PG1 Model loop gain Name PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation 9- 3 9. GENERAL GAIN ADJUSTMENT 9.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Loop gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Encoder Current feedback Set 0 or 1 to turn on. Gain table Parameter No.PA08 Parameter No.PA09 0 0 0 Gain adjustment mode selection Real-time auto tuning section Switch Load inertia moment ratio estimation section Position/speed feedback Speed feedback Parameter No.PB06 Load inertia moment ratio estimation value Response setting When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No.PB06 (the ratio of load inertia moment to servo motor). These results can be confirmed on the status display screen of the MR Configurator section. If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (parameter No.PA08: 0002) to stop the estimation of the load inertia moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.34) manually. From the preset load inertia moment ratio (parameter No.PB06) value and response level (parameter No.PA09), the optimum loop gains are automatically set on the basis of the internal gain tale. The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value. POINT If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No.PA08: 0002) and set the correct load inertia moment ratio in parameter No.PB06. When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load inertia moment ratio estimation value are saved in the EEP-ROM. 9- 4 9. GENERAL GAIN ADJUSTMENT 9.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied. (Estimation of load inertia moment ratio is difficult) No Yes Choose the auto tuning mode 2 (parameter No.PA08 : 0002) and set the load inertia moment ratio (parameter No.PB06) manually. Adjust response level setting so that desired response is achieved on vibration-free level. Acceleration/deceleration repeated Requested performance satisfied? No Yes END To manual mode 9- 5 9. GENERAL GAIN ADJUSTMENT 9.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range. If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter No.PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 10.3 for filter tuning mode and machine resonance suppression filter. Setting of parameter No.PA09 Machine characteristic Response level setting 1 Machine rigidity Machine resonance frequency guideline Low 10.0 2 11.3 3 12.7 4 14.3 5 16.1 6 18.1 7 20.4 8 23.0 9 25.9 10 29.2 11 32.9 12 37.0 13 41.7 14 47.0 15 52.9 16 Middle 67.1 18 75.6 19 85.2 20 95.9 21 108.0 22 121.7 23 137.1 24 154.4 25 173.9 26 195.9 27 220.6 28 248.5 29 279.9 30 315.3 32 355.1 High Large conveyor Arm robot 59.6 17 31 Guideline of corresponding machine 400.0 9- 6 General machine tool conveyor Precision working machine Inserter Mounter Bonder 9. GENERAL GAIN ADJUSTMENT 9.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter No.PB13 to PB16) may be used to suppress machine resonance. (Refer to section 10.1.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation PB06 GD2 Name Ratio of load inertia moment to servo motor inertia moment PB07 PG1 Model loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adjustment procedure Step Operation 1 2 Brief-adjust with auto tuning. Refer to section 9.2.3. Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003). Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.) Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation. Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place. Decrease the speed integral compensation within the vibration-free range, and return slightly if vibration takes place. Increase the model loop gain, and return slightly if overshooting takes place. If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 2 and 3. While checking the settling characteristic and rotational status, fine-adjust each gain. 3 4 5 6 7 8 9 Description 9- 7 Increase the speed loop gain. Decrease the time constant of the speed integral compensation. Increase the model loop gain. Suppression of machine resonance. Refer to section 10.2, 10.3. Fine adjustment 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (parameter No.PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression. Speed loop response frequency(Hz) Speed loop gain setting (1 ratio of load inertia moment to servo motor inertia moment) 2 2) Speed integral compensation (VIC: parameter No.PB10) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression. Speed integral compensation setting(ms) 2000 to 3000 Speed loop gain setting/ (1 ratio of load inertia moment to servo motor inertia moment setting 0.1) 3) Model loop gain (PG1: Parameter No.PB07) This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting. Model loop gain guideline (1 Speed loop gain setting ratio of load inertia moment to servo mortar inertia moment) 9- 8 1 1 to 4 8 9. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adjustment procedure Step Operation 1 2 Brief-adjust with auto tuning. Refer to section 9.2.3. Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003). Description 3 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.) 4 Set a slightly smaller value to the model loop gain and the position loop gain. Set a slightly larger value to the speed integral compensation. 5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain. range, and return slightly if vibration takes place. 6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed and return slightly if vibration takes place. integral compensation. 7 Increase the position loop gain, and return slightly if vibration takes place. 8 Increase the model loop gain, and return slightly if overshooting takes Increase the position loop gain. place. 9 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance. the like and the desired response cannot be achieved, response may be Refer to section 10.2 10.3. increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 3 to 5. 10 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment. each gain. 9- 9 Increase the position loop gain. 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No.PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression. Speed loop gain 2 setting (1 ratio of load inertia moment to servo motor inertia moment) Speed loop response frequency(Hz) 2 2) Speed integral compensation (VIC: parameter No.PB10) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression. Speed integral compensation setting(ms) 2000 to 3000 Speed loop gain 2 setting/ (1 ratio of load inertia moment to servo motor inertia moment 2 setting) 3) Model loop gain (PG1: Parameter No.PB07) This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting. Model control gain guideline (1 Speed loop gain setting ratio of load inertia moment to servo mortar inertia moment) 1 1 to 4 8 4) Model loop gain (PG1: parameter No.PB07) This parameter determines the response level to a position command. Increasing model loop gain improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. Model loop gain guideline Speed loop gain 2 setting (1 ratio of load inertia moment to servo motor inertia moment) 9 - 10 ( 14 to 18 ) 9. GENERAL GAIN ADJUSTMENT 9.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command track ability. Other parameters for gain adjustment are set automatically. (1) Parameter (a) Automatically adjusted parameters The following parameters are automatically adjusted by auto tuning. Parameter No. Abbreviation PB06 PB08 PB09 PB10 GD2 PG2 VG2 VIC Name Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation (b) Manually adjusted parameters The following parameters are adjustable manually. Parameter No. Abbreviation PB07 PG1 Name Model loop gain (2) Adjustment procedure Step Operation 1 Set to the auto tuning mode. During operation, increase the response level setting (parameter No.PA09), and return the setting if vibration occurs. Check the values of model loop gain. Set the interpolation mode (parameter No.PA08: 0000). Set the model loop gain of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the smallest model loop gain. Looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting. 2 3 4 5 6 Description Select the auto tuning mode 1. Adjustment in auto tuning mode 1. Check the upper setting limits. Select the interpolation mode. Set position loop gain. Fine adjustment. (3) Adjustment description (a) Model loop gain (parameter No.PB07) This parameter determines the response level of the position control loop. Increasing model loop gain improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. The droop pulse value is determined by the following expression. Droop pulse value (pulse) Rotation speed (r/min) 262144(pulse) 60 Model loop gain setting 9 - 11 9. GENERAL GAIN ADJUSTMENT 9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MR-J2-Super. The following table lists comparison of the response level setting. MELSERVO-J2-Super Parameter No.3 setting 1 2 MELSERVO-J3 Guideline for machine resonance frequency [Hz] Parameter No.PA09 setting Guideline for machine resonance frequency [Hz] 1 10.0 2 11.3 3 12.7 15 20 4 14.3 5 16.1 6 18.1 7 20.4 8 23.0 3 25 9 25.9 4 30 10 29.2 11 32.9 37.0 5 35 12 13 41.7 6 45 14 47.0 7 55 15 52.9 16 59.6 67.1 8 70 17 18 75.6 9 85 19 85.2 20 95.9 A 105 21 108.0 22 121.7 B 130 23 137.1 C 160 24 154.4 25 173.9 D 200 26 195.9 27 220.6 E 240 28 248.5 29 279.9 F 300 30 315.3 31 355.1 32 400.0 Note that because of a slight difference in gain adjustment pattern, response may not be the same if the resonance frequency is set to the same value. 9 - 12 10. SPECIAL ADJUSTMENT FUNCTIONS 10. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 9. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. 10.1 Function block diagram Speed control Parameter No.PB16 Parameter No.PB01 Machine resonance suppression filter Machine resonance suppression filter 2 Adaptive tuning Low-pass filter Parameter Current No.PB23 command Servo motor Encoder 1 Manual setting 10.2 Adaptive filter (1) Function Adaptive filter (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system. Mechanical system response level Machine resonance point Mechanical system response Frequency level Notch depth Machine resonance point Frequency Notch depth Notch frequency Frequency When machine resonance is large and frequency is low Notch frequency Frequency When machine resonance is small and frequency is high POINT The machine resonance frequency which adaptive tuning mode can respond to is about 100 to 2.25kHz. Adaptive vibration suppression control has no effect on the resonance frequency outside this range. Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics. 10 - 1 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No.PB01). Parameter No.PB01 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.PB13 Parameter No.PB14 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. 10 - 2 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration or unusual noise occurred? Yes Execute or re-execute adaptive tuning. (Set parameter No.PB01 to "0001".) Tuning ends automatically after the predetermined period of time. (Parameter No.PB01 turns to "0002" or "0000".) Has vibration or unusual noise been resolved? If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again. Yes No Decrease the response until vibration or unusual noise is resolved. Using the machine analyzer, set the filter manually. End 10 - 3 Factor The response has increased to the machine limit. The machine is too complicated to provide the optimum filter. 10. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual mode. Adaptive tuning generates the optimum filter with the currently set control gains. If vibration occurs when the response setting is increased, execute adaptive tuning again. During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual mode. 10.3 Machine resonance suppression filter (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Mechanical system response level Frequency Notch width Notch depth Notch depth Notch frequency Frequency You can use the machine resonance suppression filter 1 (parameter No.PB13, PB14) and machine resonance suppression filter 2 (parameter No.PB15, PB16) to suppress the vibration of two resonance frequencies. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual mode after the predetermined period of time. The manual mode enables manual setting using the machine resonance suppression filter 1. Machine resonance point Mechanical system response level Frequency Notch depth Frequency Parameter No.PB01, PB13, PB14 Parameter No.PB15, PB16 10 - 4 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No.PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No.PB13, PB14) When you have made adaptive filter tuning mode (parameter No.PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective. POINT The machine resonance suppression filter is a delay factor for the servo system. Hence, vibration may increase if you set a wrong resonance frequency or a too deep notch. If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator. This allows the required notch frequency and depth to be determined. 10 - 5 10. SPECIAL ADJUSTMENT FUNCTIONS 10.4 Advanced vibration suppression control Position Position (1) Operation Vibration suppression control is used to further suppress machine side vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake. Motor side Machine side Motor side Machine side t t Vibration suppression control ON Vibration suppression control OFF (Nomal control) When the advanced vibration suppression control (vibration suppression control tuning mode parameter No.PB02) is executed, the vibration frequency at machine side can automatically be estimated to suppress machine side vibration. In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is performed the predetermined number of times. The manual mode enables manual setting using the vibration suppression control vibration frequency setting (parameter No.PB19) and vibration suppression control resonance frequency setting (parameter No.PB20). (2) Parameter Select the operation of the vibration suppression control tuning mode (parameter No.PB02). Parameter No.PB02 0 0 0 Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF (Note) 1 Vibration suppression control tuning mode (Advanced vibration suppression control) Parameter No.PB19 Parameter No.PB20 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. POINT The function is made valid when the auto tuning mode (parameter No.PA08) is the auto tuning mode 2 ("0002") or manual mode ("0003"). The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for vibration outside this range. Stop the motor before changing the vibration suppression control-related parameters (parameter No.PB02, PB19, PB20, PB33, PB34). A failure to do so will cause a shock. For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after full vibration damping. Vibration suppression control tuning may not make normal estimation if the residual vibration at the motor side is small. Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again. 10 - 6 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration of workpiece end/device increased? Yes Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.PB02 to "0001".) Resume operation. Tuning ends automatically after operation is performed the predetermined number of times. (Parameter No.PB02 turns to "0002" or "0000".) Has vibration of workpiece end/device been resolved? Yes No Decrease the response until vibration of workpiece end/device is resolved. Using the machine analyzer or from machine side vibration waveform, set the vibration suppression control manually. End 10 - 7 Factor Estimation cannot be made as machine side vibration has not been transmitted to the motor side. The response of the model loop gain has increased to the machine side vibration frequency (vibration suppression control limit). 10. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work side vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) to set vibration suppression control manually. (a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external FFT equipment Gain characteristic 1Hz Phase 100Hz Vibration suppression control vibration frequency (Anti-resonance frequency) Parameter No.PB19 Resonance of more Vibration suppression than 100Hz is not the control resonance target of control. frequency Parameter No.PB20 -90deg. (b) When vibration can be confirmed using monitor signal or external sensor Motor side vibration (Droop pulses) External acceleration pick signal, etc. Position command frequency t Vibration cycle [Hz] t Vibration suppression control vibration frequency Vibration suppression control resonance frequency Set the same value. 10 - 8 Vibration cycle [Hz] 10. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine side vibration does not show up in motor side vibration, the setting of the motor side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance. A vibration suppression control effect is not produced if the relationship between the model loop gain (parameter No.PB07) value and vibration frequency is as indicated below. Make setting after decreasing PG1, e.g. reduce the response setting. 1 (1.5 PG1) 2 vibration frequency 10 - 9 10. SPECIAL ADJUSTMENT FUNCTIONS 10.5 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression. Filter frequency(rad/s) When parameter No.PB23 is set to " 1 VG2 1 + GD2 10 ", manual setting can be made with parameter No.PB18. (2) Parameter Set the operation of the low-pass filter selection (parameter No.PB23.) Parameter No.PB23 Low-pass filter selection 0: Automatic setting (initial value) 1: Manual setting (parameter No.PB18 setting) 10.6 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an input device to change gains during operation. 10.6.1 Applications This function is used when. (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation. (2) You want to increase the gains during settling to shorten the stop settling time. (3) You want to change the gains using an input device to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier). 10 - 10 10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDS (parameter No.PB27). CDP Parameter No.PB26 Input device CDP Command pulse frequency Droop pulses Changing Model speed CDS Parameter No.PB27 Comparator GD2 Parameter No.PB06 GD2B Parameter No.PB29 PG2 Parameter No.PB08 PG2B Parameter No.PB30 VG2 Parameter No.PB09 VG2B Parameter No.PB31 VIC Parameter No.PB10 VICB Parameter No.PB32 VRF1 Parameter No.PB19 VRF1B Parameter No.PB33 VRF2 Parameter No.PB20 VRF2B Parameter No.PB34 10 - 11 Valid GD2 value Valid PG2 value Valid VG2 value Valid VIC value Valid VRF1 value Valid VRF2 value 10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.3 Parameters 3" in parameter No.PA08 (auto tuning) to choose the When using the gain changing function, always set " manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter Abbreviation No. PB06 GD2 PB07 PG1 Name Ratio of load inertia moment to servo motor inertia moment Model loop gain Unit Description Multi- Control parameters before changing. plier ( 1) rad/s Position and speed gains of a model used to set the response level to a command. Always valid. PB08 PG2 Position loop gain rad/s PB09 VG2 Speed loop gain rad/s PB10 VIC Speed integral compensation PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Multi- Used to set the ratio of load inertia moment to servo motor plier inertia moment after changing. ( 1) PB30 PG2B Gain changing position loop gain rad/s Used to set the value of the after-changing position loop gain. PB31 VG2B Gain changing speed loop gain rad/s Used to set the value of the after-changing speed loop gain. PB32 VICB Gain changing speed integral compensation PB26 CDP Gain changing selection PB27 CDS PB28 CDT PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Hz Used to set the value of the after-changing vibration suppression control vibration frequency setting. PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Hz Used to set the value of the after-changing vibration suppression control resonance frequency setting. Gain changing condition Gain changing time constant ms ms Used to set the value of the after-changing speed integral compensation. Used to select the changing condition. kpps Used to set the changing condition values. pulse r/min ms You can set the filter time constant for a gain change at changing. 10 - 12 10. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No.PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed. (2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29) Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia moment (parameter No.PB06). (3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter No.PB31), Gain changing speed integral compensation (parameter No.PB32) Set the values of after-changing position loop gain, speed loop gain and speed integral compensation. (4) Gain changing selection (parameter No.PB26) Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If you set "1" in the first digit here, you can use the gain changing (RY(n 2)) input device for gain changing. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings. 0: Invalid 1: Gain changing (RY(n+2)) is ON 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (Valid when gain changing (RY(n+2) is ON) 1: Valid at less than condition (Valid when gain changing (RY(n+2) is OFF) (5) Gain changing condition (parameter No.PB27) When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection (parameter No.PB26), set the gain changing level. The setting unit is as follows. Gain changing condition Unit Command frequency kpps Droop pulses pulse Servo motor speed r/min (6) Gain changing time constant (parameter No.PB28) You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing, for example. 10 - 13 10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by input device (a) Setting Parameter No. Abbreviation PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.0 Multiplier ( 1) PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 3000 rad/s PB10 VIC Speed integral compensation PB29 GD2B Name Setting Gain changing ratio of load inertia moment to servo motor inertia moment PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB26 CDP Gain changing selection PB28 CDT Gain changing time constant Unit 20 ms 10.0 Multiplier ( 1) 84 rad/s 4000 rad/s 50 ms 0001 (Changed by ON/OFF of Input device) 100 ms PB33 VRF1B Used to set the value of the after-changing Gain changing vibration suppression control vibration suppression control vibration vibration frequency setting frequency setting. PB34 VRF2B Used to set the value of the after-changing Gain changing vibration suppression control vibration suppression control resonance resonance frequency setting frequency setting. (b) Changing operation OFF Gain changing (RY(n+2)) Change of each gain ON After-changing gain Before-changing gain CDT 100ms Model loop gain 1 Ratio of load inertia moment to servo motor inertia moment OFF 100 4.0 10.0 4.0 Position loop gain 120 84 120 Speed loop gain 3000 4000 3000 20 50 20 Speed integral compensation 10 - 14 Hz Hz 10. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.0 Multiplier ( 1) PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 3000 rad/s PB10 VIC Speed integral compensation Name Setting PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation Unit 20 ms 10.0 Multiplier ( 1) 84 rad/s 4000 rad/s 50 ms 0003 (Changed by droop pulses) PB26 CDP Gain changing selection PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms (b) Changing operation Command pulse Droop pulses [pulses] 0 Droop pulses CDS CDS After-changing gain Change of each gain Before-changing gain CDT 100ms Model loop gain Ratio of load inertia moment to servo motor inertia moment 100 4.0 10.0 4.0 10.0 Position loop gain 120 84 120 84 Speed loop gain 3000 4000 3000 4000 20 50 20 50 Speed integral compensation 10 - 15 10. SPECIAL ADJUSTMENT FUNCTIONS MEMO 10 - 16 11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the MR Configurator, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. No. 1 2 3 4 Start-up sequence Power on Fault LED is not lit. LED flickers. Investigation Possible cause Not improved if connectors CN2, CN3 and CN6 are disconnected. 1. Power supply voltage fault 2. Servo amplifier is faulty. Improved when connectors CN6 is disconnected. Power supply of CN6 cabling is shorted. Improved when connector CN2 is disconnected. 1. Power supply of encoder cabling is shorted. 2. Encoder is faulty. Improved when connector CN3 is disconnected. Power supply of CN3 cabling is shorted. Reference Alarm occurs. Refer to section 14.4 and remove cause. Switch on servo-on (RYn0) signal. Alarm occurs. Refer to section 14.4 and remove cause. Section 14.4 Servo motor shaft is 1. Check the display to see if 1. Servo-on (RYn0) is not input. (Wiring mistake) the servo amplifier is ready not servo-locked 2. 24VDC power is not supplied to operate. (is free). to DICOM. 2. Check the external I/O signal indication to see if the servo-on (RYn0) signal is ON. Section 8.5.4 Gain adjustment Rotation ripples (speed fluctuations) are large at low speed. Make gain adjustment in the following procedure. 1. Increase the auto tuning response level. 2. Repeat acceleration and deceleration several times to complete auto tuning. Gain adjustment fault Chapter 9 Large load inertia moment causes the servo motor shaft to oscillate side to side. If the servo motor may be run with safety, repeat acceleration and deceleration several times to complete auto tuning. Gain adjustment fault Chapter 9 Position shift occurs Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position. Pulse counting error, etc. due to noise. Cyclic operation 11 - 1 Section 14.4 11. TROUBLESHOOTING 11.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table. Operation mode Error location Description Servo side alarm occurrence Servo operation Stop Stop CC-Link data communication Continued Continued Option unit communication error Servo operation Stop Stop CC-Link data communication Stop Stop CC-Link communication error Servo operation Stop Stop CC-Link data communication Stop Stop Programmable controller error/STOP Servo operation Continued Stop CC-Link data communication Stop Stop Servo operation Stop Continued CC-Link data communication Continued Continued Servo side warning occurrence Test operation CC-Link operation 11.3 CC-Link communication error This section gives the definitions of the indications given in the communication alarm display section. The servo amplifier has four LED indications. L.RUN : Lit at normal receive of refresh data. Extinguished when data is not received for a given period of time. SD : Lit when send data is "0". RD : Lit when the carrier of receive data is detected. L.ERR : Lit when the data addressed to the host is in CRC or abort error. (Note) Communication alarm display LED L.RUN SD RD L.ERR Operation Normal communication is made, but a CRC error sometimes occurs due to noise. Normal communication Hardware fault Hardware fault Receive data results in CRC error, disabling a response. Data does not reach the host. Hardware fault Hardware fault Polling response is made, but refresh receive is in CRC error. Hardware fault Hardware fault Hardware fault Data addressed to the host resulted in CRC error. Data does not reach the host, or the data addressed to the host cannot be received due to noise. Hardware fault Baud rate setting illegal Station number setting illegal Baud rate or station number setting changed midway (ERROR flickers for about 4s) Data cannot be received due to power-off, power supply failure, open cable, etc. WDT error occurrence (hardware fault) Note. : Lit : Extinguished : Flicker 11 - 2 11. TROUBLESHOOTING 11.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. 11.4.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 11.4.2 or 11.4.3 and take the appropriate action. When an alarm occurs, ALM turns off. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. A10 A12 A13 A1A A20 A24 A25 Undervoltage Memory error 1 (RAM) Clock error Memory error 2 (EEP-ROM) Encoder error 1 (At power on) Board error Memory error 3 (Flash-ROM) Motor combination error Encoder error 2 Main circuit error Absolute position erase A30 Regenerative error A31 A32 A33 A35 A37 Overspeed Overcurrent Overvoltage Command pulse frequency alarm Parameter error A45 Main circuit device overheat A46 Servo motor overheat A47 Cooling fan alarm A50 Overload 1 A51 Overload 2 A15 A16 A17 A19 Alarms Name Display (Note3) (Note2) MR Alarm Power Configurator reset OFF ON parameter (RES) unit A90 Warnings Display Alarm deactivation A92 A96 A98 A99 A9D A9E A9F AE0 AE1 AE3 AE6 AE8 AE9 AEC AED (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) Name Home positioning incomplete warning Open battery cable warning Home position setting error Software limit warning Stroke limit warning CC-Link warning 1 CC-Link warning 2 Battery warning Excessive regeneration warning Overload warning 1 Absolute position counter warning Servo emergency stop warning Cooling fan speed reduction warning Main circuit off warning Overload warning 2 Output watt excess warning A52 Error excessive A61 Operation alarm A8A Serial communication time-out A8D CC-Link alarm A8E Serial communication error 888 Watchdog Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 2. Turns on RY(n+1)A or RY(n+3)A. 3. Clicking the "Alarm reset" button on the "Alarm display" screen of MR Configurator allows an alarm to be deactivated. Pressing the "STOP RESET" key of the parameter unit allows an alarm to be deactivated. 11 - 3 11. TROUBLESHOOTING 11.4.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again. Not doing so may cause unexpected operation. As soon as an alarm occurs, turn off Servo-on (RYn0) and power off. POINT When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly. To do so will cause the servo amplifier/servo motor to fail. Remove the cause of occurrence, and leave a cooling time of more than 30 minutes before resuming operation. Regenerative error (A30) Overload 1 (A50) Overload 2 (A51) For the alarm deactivation method, refer to section 11.4.1. When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR Configurator to refer to a factor of alarm occurrence. Display A10 A12 A13 Name Undervoltage Definition Power supply voltage dropped. MR-J3- T: 160VAC or less MR-J3- T1: 83VAC or less MR-J3- T4: 280VAC or less Memory error 1 RAM, memory fault (RAM) Clock error Printed board fault Cause 1. Power supply voltage is low. Action Check the power supply. 2. There was an instantaneous control power failure of 60ms or longer. 3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 4. The bus voltage dropped to the following value or less. MR-J3- T: 200VDC MR-J3- T1: 158VDC MR-J3- T4: 380VDC 5. Faulty parts in the servo amplifier. Checking method Alarm (A10) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. Change the servo amplifier. Faulty parts in the servo amplifier. Change the servo amplifier. Checking method Alarm (any of A12 and A13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 11 - 4 11. TROUBLESHOOTING Display A15 Name Memory error 2 (EEP-ROM) Cause Definition EEP-ROM fault 1. Faulty parts in the servo amplifier Action Change the servo amplifier. Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. A16 Encoder error 1 Communication error 1. Encoder connector (CN2) (At power on) occurred between disconnected. encoder and servo 2. Encoder fault amplifier. 3. Encoder cable faulty (Wire breakage or shorted) Connect correctly. Change the servo motor. Repair or change the cable. 4. Encoder cable type (2-wire, 4-wire) Correct the setting in the fourth digit of selection was wrong in parameter parameter No.PC22. setting. Faulty parts in the servo amplifier Checking method Alarm (A17 or A19) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Change the servo amplifier. Wrong combination of servo amplifier and servo motor connected. Use correct combination. A17 Board error CPU/parts fault A19 Memory error 3 (Flash ROM) ROM memory fault A1A Motor combination error Wrong combination of servo amplifier and servo motor. A20 Encoder error 2 Communication error 1. Encoder connector (CN2) occurred between disconnected. encoder and servo 2. Encoder cable faulty amplifier. (Wire breakage or shorted) 3. Encoder fault A24 Main circuit error Ground fault 1. Power input wires and servo motor occurred at the servo power wires are in contact. motor power (U,V 2. Sheathes of servo motor power and W phases) of cables deteriorated, resulting in the servo amplifier. ground fault. Connect correctly. Repair or change the cable. Change the servo motor. Connect correctly. Change the cable. 3. Main circuit of servo amplifier failed. Change the servo amplifier. Checking method Alarm (A24) occurs if the servo is switched on after disconnecting the U, V, W power cables from the servo amplifier. A25 Absolute position erase Absolute position data in error 1. Voltage drop in encoder (Battery disconnected.) After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. 2. Battery voltage low Change the battery. Always make home position setting again. 3. Battery cable or battery is faulty. Power was switched 4. Home position not set. on for the first time in the absolute position detection system. 11 - 5 After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. 11. TROUBLESHOOTING Display A30 Name Regenerative error Definition Cause Permissible 1. Wrong setting of parameter No. regenerative power PA02 of the built-in 2. Built-in regenerative resistor or regenerative resistor regenerative option is not or regenerative connected. option is exceeded. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Action Set correctly. Connect correctly 1. Reduce the frequency of positioning. 2. Use the regenerative option of larger capacity. 3. Reduce the load. Checking method Call the status display and check the regenerative load ratio. A31 Overspeed 4. Power supply voltage is abnormal. MR-J3- T:260VAC or more MR-J3- T1:More than 135VAC Check the power supply 5. Built-in regenerative resistor or regenerative option faulty. Change the servo amplifier or regenerative option. Regenerative transistor fault 6. Regenerative transistor faulty. Change the servo amplifier. Speed has exceeded the instantaneous permissible speed. 1. Input command pulse frequency exceeded the permissible instantaneous speed frequency. Checking method 1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option. Set command pulses correctly. 2. Small acceleration/deceleration time Increase acceleration/deceleration time constant. constant caused overshoot to be large. 3. Servo system is instable to cause overshoot. 1. Re-set servo gain to proper value. 2. If servo gain cannot be set to proper value. 1) Reduce load inertia moment ratio; or 2) Reexamine acceleration/ deceleration time constant. 4. Electronic gear ratio is large (parameters No.PA06, PA07) Set correctly. 5. Encoder faulty. Change the servo motor. 11 - 6 11. TROUBLESHOOTING Display A32 A33 Name Overcurrent Overvoltage Definition Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (A32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (A32) first occurred, the transistor (IPM, IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power. Check the transistor with the checking method of “Cause 2”.) The following shows the input value of converter bus voltage. MR-J3- T(1): 400VDC or more MR-J3- T4: 800VDC or more Cause Action 1. Short occurred in servo motor power Correct the wiring. (U, V, W). 2. Transistor (IPM, IGBT) of the servo amplifier faulty. Change the servo amplifier. Checking method Alarm (A32) occurs if power is switched on after U,V and W are disconnected. 3. Ground fault occurred in servo motor Correct the wiring. power (U, V, W). 4. External noise caused the overcurrent detection circuit to misoperate. Take noise suppression measures. 1. Regenerative option is not used. Use the regenerative option. 2. Though the regenerative option is used, the parameter No.PA02 setting is " 00 (not used)". Set correctly. 3. Lead of built-in regenerative resistor 1. Change the lead. 2. Connect correctly. or regenerative option is open or disconnected. 4. Regenerative transistor faulty. Change the servo amplifier 1. For wire breakage of built-in regenerative 5. Wire breakage of built-in resistor, change the servo amplifier. regenerative resistor or regenerative 2. For wire breakage of regenerative option, option. change the regenerative option. 6. Capacity of built-in regenerative resistor or regenerative option is insufficient. Add regenerative option or increase capacity. 7. Power supply voltage high. Check the power supply. 8. Ground fault occurred in servo motor Correct the wiring. power (U, V, W). 9. The jumper across BUE-SD of the FR-BU2 brake unit is removed. A35 Command pulse Input pulse frequency error frequency of the command pulse is too high. Fit the jumper across BUE-SD. 1. Pulse frequency of the manual pulse Change the pulse frequency to a proper generator is too high. value. 2. Noise entered the pulses of the manual pulse generator. Take action against noise. 3. Manual pulse generator failure. Change the manual pulse generator. 11 - 7 11. TROUBLESHOOTING Display A37 Name Definition Cause Parameter error Parameter setting is 1. Servo amplifier fault caused the wrong. parameter setting to be rewritten. Action Change the servo amplifier. 2. Regenerative option not used with servo amplifier was selected in parameter No.PA02. 3. Value outside setting range has been set in electronic gear. 4. Opposite sign has been set in software limit increasing side (parameters No.PC31, PC32). Similarly, opposite sign has been set in software limit decreasing side (parameters No.PC33, PC34). 5. Opposite sign has been set in position range output address increasing side (parameters No. PC37, PC38). Similarly, opposite sign has been set in position range output address decreasing side (parameters No.PC39, PC40). Set parameter No.PA02 correctly. 6. The number of write times to EEPROM exceeded 100,000 due to parameter write, etc. Change the servo amplifier. Set parameters No.PA06, PA07 correctly. Set parameters No.PC31 to PC34 correctly. Set parameters No.PC37 to PC40 correctly. These home position return types cannot be 7. The torque limit switching dog system or torque limit switching data used. Set the parameter No.PC02 correctly. set system is selected for home position return in the point table positioning operation. (Parameter No.PC02) Point table setting is 8. Setting value is out of the setting wrong. range. A45 A46 Main circuit Main circuit device device overheat overheat. Servo motor overheat 1. Servo amplifier faulty. Change the servo amplifier. 2. The power supply was turned on and off continuously by overloaded status. The drive method is reviewed. 3. Ambient temperature of servo motor is over 55 (131 ). Check environment so that ambient temperature is 0 to 55 (32 to 131 ). 4. Used beyond the specifications of close mounting. Use within the range of specifications. 1. Ambient temperature of servo Servo motor motor is over 40 (104 ). temperature rise actuated the thermal 2. Servo motor is overloaded. sensor. 3. Thermal sensor in encoder is faulty. A47 Cooling fan alarm Set it correctly. The cooling fan of 1. Cooling fan life expiration (Refer to the servo amplifier section 2.5.) stopped, or its speed 2. Foreign matter caught in the decreased to or cooling fan stopped rotation. below the alarm 3. The power supply of the cooling level. fan failed. 11 - 8 Check environment so that ambient temperature is 0 to 40 (32 to 104 ). 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. Change the servo motor. Change the cooling fan of the servo amplifier. Remove the foreign matter. Change the servo amplifier. 11. TROUBLESHOOTING Display A50 Name Overload 1 Definition Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Servo amplifier is used in excess of 1. Reduce load. its continuous output current. 2. Check operation pattern. 3. Use servo motor that provides larger output. 2. Servo system is instable and hunting. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. 3. Machine struck something. 1. Check operation pattern. 2. Install limit switches. Connect correctly. 4. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. 5. Encoder faulty. Change the servo motor. Checking method When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. 6. After Overload 2 (A51) occurred, turn OFF/ON the power supply to clear the alarm. Then the overload operation is repeated. A51 Overload 2 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. Machine collision or 1. Machine struck something. 1. Check operation pattern. the like caused max. 2. Install limit switches. For the time of the Connect correctly. 2. Wrong connection of servo motor. alarm occurrence, Servo amplifier's output terminals refer to the section U, V, W do not match servo motor's 13.1. input terminals U, V, W. 3. Servo system is instable and hunting. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. 4. Encoder faulty. Change the servo motor. Checking method When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. 11 - 9 11. TROUBLESHOOTING Display A52 Name Definition Cause Error excessive The difference 1. Acceleration/deceleration time constant is too small. between the model position and the 2. Forward rotation torque limit actual servo motor (parameter No.PA11) or reverse position exceeds rotation torque limit (parameter three rotations. No.PA12) are too small. (Refer to the function 3. Motor cannot be started due to block diagram in torque shortage caused by power section 1.1.2.) supply voltage drop. 4. Position loop gain (parameter No.PB08) value is small. Action Increase the acceleration/deceleration time constant. Increase the torque limit value. 1. Check the power supply capacity. 2. Use servo motor which provides larger output. Increase set value and adjust to ensure proper operation. 5. Servo motor shaft was rotated by external force. 1. When torque is limited, increase the limit value. 2. Reduce load. 3. Use servo motor that provides larger output. 6. Machine struck something. 1. Check operation pattern. 2. Install limit switches. 7. Encoder faulty. Change the servo motor. Connect correctly. 8. Wrong connection of servo motor. Servo amplifier’s output terminals U, V, W do not match servo motor’s input terminals U, V, W. A61 Operation alarm Setting mistake of auxiliary function. A8A Serial communication time-out error CC-Link alarm A8D "1" or "3" is set for the auxiliary function of point table No.255. Set "0" or "2" for the value of auxiliary function. Communication stopped for longer than the specified time. 1. Communication cable breakage. Repair or change the communication cable. 2. Communication cycle longer than regulated time. Shorten the communication cycle. 3. Wrong protocol. Correct protocol. Normal communication with the master station cannot be made. 1. The station number switch (STATION NO.) setting is 0 or not less than 65. Set the station number to within the range 1 to 64, and switch power on. 2. The baud rate switch (MODE) setting is outside the range 0 to 4. Set the baud rate switch (MODE) to within the range 0 to 4. 3. The transmission status is abnormal. Reexamine the wiring. 4. CC-Link twisted cable wiring incorrect. 1. Repair or change the CC-Link twisted cable. 2. Connect the cable or connector correctly. 5. CC-Link twisted cable faulty. 6. The CC-Link connector has come off. 7. The terminating resistor is not connected. Connect the terminating resistor correctly. 8. Noise entered the CC-Link twisted cable. 9. The programmable controller CCLink unit was reset. A8E Serial communication error Serial communication 1. Communication cable fault error occurred (Open cable or short circuit). between servo 2. Communication device (e.g. amplifier and personal computer) faulty. communication device (e.g. personal computer). 11 - 10 Repair or change the cable. Change the communication device (e.g. personal computer). 11. TROUBLESHOOTING Display (Note) 888 Name Watchdog Definition CPU, parts faulty. Cause Fault of parts in servo amplifier. Action Change the servo amplifier. Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Note. At power-on, "888" appears instantaneously, but it is not an error. 11.4.3 Remedies for warnings CAUTION If an absolute position counter warning (AE3) occurred, always make home position setting again. Not doing so may cause unexpected operation. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation. Excessive regenerative warning (AE0) Overload warning 1 (AE1) In absolute position detection system Display Name A90 Home position return incomplete In incremental system If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence. Definition Cause Positioning operation 1. Positioning operation was performed without home position return. was performed without home position return. Home position return 2. Home position return speed could not be ended abnormally. decreased to creep speed. 3. Limit switch was actuated during home position return starting at other than position beyond dog. Positioning operation 1. Positioning operation was performed was performed without home position setting. without home position setting. Home position 2. Home position setting speed could not be setting ended decreased to creep speed. abnormally. 3. Limit switch was actuated during home position setting starting at other than position beyond dog. Action Perform home position return. Operation was 4. Voltage drop in encoder performed without (Battery disconnected.) making home position setting while an absolute position 5. Battery voltage low erase (A25) is being 6. Battery cable or battery is faulty. occurred. After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. Change the battery. Always make home position setting again. 11 - 11 Check home position return speed/creep speed/moving distance after proximity dog. Perform home position setting. Check home position setting speed/creep speed/moving distance after proximity dog. 11. TROUBLESHOOTING Display Name Definition A92 Open battery cable Absolute position warning detection system battery voltage is low. A96 A98 A99 A9D A9E Home position setting warning Home position setting could not be made. Cause 1. Battery cable is open. 2. Battery voltage supplied from the servo amplifier to the encoder fell to about 3V or less. (Detected with the encoder) 1. Droop pulses remaining are greater than the in-position range setting. 2. Command pulse entered after clearing of droop pulses. 3. Creep speed high. Software limit Software limit set in 1. Software limit was set within actual warning parameter is reached. operation range. 2. Point table of position data in excess of software limit was executed. 3. Software limit was reached during JOG operation or manual pulse generator operation. Stroke limit The limit switch become The stroke end (LSP or LSN) of the warning valid. direction which gave instructions was turned off. CC-Link warning 1 The station number switch 1. The station number switch position was or baud rate switch changed from the setting at power-on. position was changed 2. The baud rate switch position was from the setting at powerchanged from the setting at power-on. on. 3. The occupied station count switch position was changed from the setting at power-on. CC-Link warning 2 Communication error of 1. The transmission status is abnormal. cable. 2. CC-Link twisted cable wiring incorrect. 3. CC-Link twisted cable faulty. 4. The CC-Link connector has come off. Voltage of battery for absolute position detection system reduced. There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option. Action Repair cable or changed. Change the battery. Remove the cause of droop pulse occurrence Do not enter command pulse after clearing of droop pulses. Reduce creep speed. Set parameter No.PC31 to PC34 correctly. Set point table correctly. Perform operation within software limit range. Reexamine the operation pattern to turn LSP/LSN ON. Return to the setting at power-on. Take measures against noise. 1. Change the CC-Link twisted cable. 2. Connect the cable or connector correctly. 5. The terminating resistor is not connected. Connect the terminating resistor 6. Noise entered the CC-Link twisted cable. correctly. Battery voltage fell to 3.2V or less. Change the battery. (Detected with the servo amplifier) A9F Battery warning AE0 Excessive regenerative warning AE1 Overload warning 1 There is a possibility that Load increased to 85% or more of overload Refer to A50, A51. overload alarm 1 or 2 may alarm 1 or 2 occurrence level. Cause, checking method occur. Refer to A50, A51. AE3 Absolute position counter warning AE6 Servo forced stop warning Absolute position encoder 1. Noise entered the encoder. pulses faulty. 2. Encoder faulty. 3. The movement amount from the home The multi-revolution position exceeded a 32767 rotation or counter value of the 37268 rotation in succession. absolute position encoder exceeded the maximum revolution range. EMG is off. External forced stop was made valid. (EMG was turned off.) Regenerative power increased to 85% or 1. Reduce frequency of more of permissible regenerative power of positioning. built-in regenerative resistor or regenerative 2. Change the regenerative option. option for the one with larger Checking method capacity. Call the status display and check 3. Reduce load. regenerative load ratio. 11 - 12 Take noise suppression measures. Change the servo motor. Make home position setting again. Ensure safety and deactivate forced stop. 11. TROUBLESHOOTING Display AE8 AE9 Name Definition Cause Cooling fan speed The speed of the servo reduction warning amplifier decreased to or below the warning level. This warning is not displayed with MR-J370T/100T among servo amplifiers equipped with a cooling fan. Main circuit off Servo-on (SON) was warning switched on with main circuit power off. Change the cooling fan of the servo amplifier. The power supply of the cooling fan is broken. Change the servo amplifier. Switch on main circuit power. During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servo motor occurred repeatedly, exceeding the warning level. AEC Overload warning 2 Operation, in which a current exceeding the rating flew intensively in any of the U, V and W phases of the servo motor, was repeated. AED Output watt excess The status, in which the warning output wattage (speed torque) of the servo motor exceeded the rated output, continued steadily. Action Cooling fan life expiration (Refer to section 2.5.) 1. Reduce the positioning frequency at the specific positioning address. 2. Reduce the load. 3. Replace the servo amplifier/ servo motor with the one of larger capacity. Continuous operation was performed with 1. Reduce the servo motor the output wattage (speed speed. torque) of the 2. Reduce the load. servo motor exceeding 150% of the rated output. 11.5 Point table error When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error (A37), the point table error details are displayed. AL37 PB10 PB12 Pos001 #00 PB11 PB16 Point table error details For the point table No.1 position data error Point table No. with error Error item Pos: position data Spd: speed Acc: acceleration time constant Dec: deceleration time constant Dwl: dwell Aux: auxiliary function 11 - 13 11. TROUBLESHOOTING MEMO 11 - 14 12. OUTLINE DRAWINGS 12. OUTLINE DRAWINGS 12.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] 40 4 Rating plate 6 mounting hole 6 Approx. 80 135 (Note) CNP1 CN1 CNP2 CNP3 Approx. 68 6 Approx. 25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 0.8 [kg] (1.76 [lb]) Terminal signal layout For 3-phase or For 1-phase 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 Approx. 40 6 L1 L2 CNP1 L2 N CNP1 P1 P2 P2 P P D L11 L21 L21 W 2-M5 screw D L11 V Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) C CNP2 U CNP3 N P1 C CNP2 L3 U CNP3 Mounting hole process drawing V W Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) 12 - 1 12. OUTLINE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] 40 Rating plate 6 6 mounting hole 5 Approx. 80 170 (Note) CNP1 CN1 CNP2 CNP3 6 Approx. 68 Approx. 25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.21 [lb]) Terminal signal layout For 3-phase or For 1-phase 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 Approx. 40 6 L1 L2 CNP1 CNP2 CNP3 L2 N CNP1 L3 N P1 P1 P2 P2 P P C C D CNP2 L11 L11 L21 U U V CNP3 2-M5 screw D L21 W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Mounting hole process drawing Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) V W 12 - 2 12. OUTLINE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] 60 6 Rating plate 6 mounting hole 12 Approx. 80 185 CNP1 CN1 CNP2 CNP3 Approx. 68 12 Cooling fan wind direction Approx. 25.5 6 42 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout L1 Approx. 60 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V 42 W Approx. 12 P C CNP2 0.3 Approx. 6 Mounting hole process drawing D Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) L11 L21 12 - 3 12. OUTLINE DRAWINGS (4) MR-J3-60T4 MR-J3-100T4 [Unit: mm] 6 mounting hole 60 6 Rating plate Approx. 80 195 12 CNP1 CN1 CNP2 CNP3 Approx. 68 Approx. 25.5 6 12 42 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout L1 Approx. 60 PE terminal L2 L3 CNP1 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw P 42 C CNP2 D Approx. 12 0.3 Approx. 6 L11 Mounting hole process drawing L21 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) U CNP3 V W 12 - 4 12. OUTLINE DRAWINGS (5) MR-J3-200T(4) POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200TRT, refer to appendix 5. [Unit: mm] 6 90 85 Rating plate 6 mounting hole Approx. 80 45 195 CNP1 CN1 CNP2 CNP3 Approx. 68 6 6 Cooling fan wind direction Approx. 25.5 78 6 With MR-J3BAT Mass: 2.1 [kg] (4.63 [lb]) Terminal signal layout L1 Approx. 90 PE terminal L2 L3 CNP1 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw P C CNP2 D Approx. 6 L11 0.3 Approx. 6 Mounting hole process drawing L21 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) U CNP3 78 V W 12 - 5 12. OUTLINE DRAWINGS (6) MR-J3-350T [Unit: mm] 90 6 mounting hole 85 45 Rating plate 6 Approx. 80 195 21.4 CNP1 CN1 CNP3 CNP2 6 6 Approx. 68 Approx. 25.5 78 Cooling fan wind direction 6 With MR-J3BAT Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout L1 Approx. 90 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V W Approx. 6 P 0.3 Approx. 6 Mounting hole process drawing C CNP2 78 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) D L11 L21 12 - 6 12. OUTLINE DRAWINGS (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] Approx. 80 6 200 131.5 130 118 Cooling fan 68.5 Cooling fan wind direction Terminal layout (Terminal cover open) 6 Rating plate 235 250 Approx. 7.5 2- 6 mounting hole TE2 TE3 With MR-J3BAT CHARGE TE1 Approx. 7.5 20.5 6 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw Mass: 4.6 [kg] (10.1 [lb]) Approx. 6 Terminal signal layout 118 TE1 L1 L2 L3 TE2 L11 Approx. 130 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) 0.5 Approx. 6 4-M5 screw Terminal screw: M3.5(Note) Tightening torque: 0.8[N m] (7.08 [lb in]) L21 TE3 N P1 P2 Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) PE terminal Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Built-in regenerative resistor lead terminal fixing screw Mounting hole process drawing Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier. 12 - 7 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) 12. OUTLINE DRAWINGS (8) MR-J3-700T(4) [Unit: mm] 172 6 2- Approx. 80 6 160 200 Cooling fan wind direction 6 mounting hole CN1 Rating plate TE3 With MR-J3BAT 75 99.8 102.6 149.2 6 TE1 34 13 13 31 13 24.5 13 13 7 13 91 TE2 14.5 10 Built-in regenerative resistor lead terminal fixing screw Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Approx. 6 Approx. 172 160 0.5 Approx. 6 TE1 L1 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) 4-M5 screw TE2 L11 Terminal screw: M3.5(Note) Tightening torque: 0.8[N m] (7.08 [lb in]) L21 TE3 N P1 P2 Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) PE terminal Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Built-in regenerative resistor lead terminal fixing screw Mounting hole process drawing Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier. 12 - 8 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) 12. OUTLINE DRAWINGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] 260 236 2-12 mounting hole 12 Approx. 80 12 260 Cooling fan wind direction CN1 With MR-J3BAT 123 13 Rating plate 12 183 227 TE 26 52 6 26 Approx. 12 Approx. 260 236 0.5 156 Approx. 12 4-M10 screw Servo amplifier Mass[kg]([lb]) MR-J3-11KT(4) 18.0(39.7) MR-J3-15KT(4) 18.0(39.7) MR-J3-22KT(4) 19.0(41.9) Mounting hole process drawing Terminal signal layout TE L1 L2 L3 L11 L21 U P1 P C MR-J3-11KT(4) MR-J3-15KT(4) MR-J3-22KT(4) V Mounting screw Servo Screw Tightening torque [N m]([Ib in]) amplifier size MR-J3-11KT(4) 26.5 MR-J3-15KT(4) M10 (234.5) MR-J3-22KT(4) W N L1 L2 L3 U V W P1 P C N L11 L21 Screw size Tightening torque [(lb:in)][N m] M6 M4 3.0 1.2 Screw size Tightening torque [(lb:in)][N m] M8 M4 6.0 1.2 12 - 9 12. OUTLINE DRAWINGS 12.2 Connector (1) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] D E A C 39.0 23.8 Logo etc, are indicated here. 12.7 B Each type of dimension Connector Shell kit 10150-3000PE 10350-52F0-008 A B C D E 41.1 52.4 18.0 14.0 17.0 (b) Jack screw M2.6 type This is not available as option. [Unit: mm] D E A C F 5.2 39.0 23.8 Logo etc, are indicated here. B 12.7 Connector Shell kit 10150-3000PE 10350-52A0-008 Each type of dimension A B C D E F 41.1 52.4 18.0 14.0 17.0 46.5 12 - 10 12. OUTLINE DRAWINGS (2) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 39.5 22.4 11.0 34.8 12 - 11 12. OUTLINE DRAWINGS MEMO 12 - 12 13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (A50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13.1. Overload 2 alarm (A51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph. In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque. When you carry out adhesion mounting of the servo amplifier, make circumference temperature into 0 to 45 (32 to 113 ), or use it at 75% or smaller effective load ratio. 1000 1000 During operation During operation 100 Operation time[s] Operation time[s] 100 During servo lock 10 1 0.1 0 50 100 150 200 250 1 0.1 0 300 During servo lock 10 50 (Note) Load ratio [%] 100 150 200 250 300 (Note) Load ratio [%] MR-J3-10T(1) MR-J3-20T(1) MR-J3-40T(1) MR-J3-60T(4) to MR-J3-100T(4) 10000 1000 During operation 1000 Operation time[s] Operation time[s] 100 During servo lock 10 1 0.1 0 50 100 150 200 250 300 (Note) Load ratio [%] During operation 100 During servo lock 10 1 0 50 100 150 200 250 (Note) Load ratio [%] MR-J3-200T(4) MR-J3-350T(4) MR-J3-500T(4) MR-J3-700T(4) 13 - 1 300 13 CHARACTERISTICS 10000 Operation time [s] 1000 During operation 100 During servo lock 10 1 0 100 200 300 (Note) Load ratio [%] MR-J3-11KT(4) to MR-J3-22KT(4) Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated. Fig 13.1 Electronic thermal relay protection characteristics 13 - 2 13 CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 13.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation. When the servo motor is run at less than the maximum speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change. Table 13.1 Power supply capacity and generated heat per servo amplifier at rated output Servo amplifier MR-J3-10T (1) MR-J3-20T (1) MR-J3-40T (1) MR-J3-60T (4) MR-J3-70T MR-J3-100T (4) MR-J3-200T (4) MR-J3-350T (4) MR-J3-500T (4) (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation (Note 1) Power supply capacity [kVA] At rated torque With servo off [m2] HF-MP053 0.3 25 15 0.5 HF-MP13 0.3 25 15 0.5 HF-KP053 13 0.3 25 15 0.5 HF-MP23 0.5 25 15 0.5 Servo motor HF-KP23 0.5 25 15 0.5 HF-MP43 0.9 35 15 0.7 HF-KP43 0.9 35 15 0.7 HF-SP52 (4) 1.0 40 15 0.8 HF-SP51 1.0 40 15 0.8 HC-LP52 1.0 40 15 0.8 HF-MP73 1.3 50 15 1.0 1.0 HF-KP73 1.3 50 15 HC-UP72 1.3 50 15 1.0 HF-SP102 (4) 1.7 50 15 1.0 1.0 HF-SP81 1.5 50 15 HC-LP102 1.7 50 15 1.0 HF-SP152 (4) 2.5 90 20 1.8 HF-SP202 (4) 3.5 90 20 1.8 HF-SP121 2.1 90 20 1.8 HF-SP201 3.5 90 20 1.8 HC-RP103 1.8 50 15 1.0 HC-RP153 2.5 90 20 1.8 HC-UP152 2.5 90 20 1.8 HC-LP152 2.5 90 20 1.8 HF-SP352 (4) 5.5 130 20 (25) (Note 3) 2.7 HC-RP203 3.5 90 20 1.8 HC-UP202 3.5 90 20 1.8 HC-LP202 3.5 90 20 1.8 HF-SP301 4.8 120 20 2.4 HF-SP502 (4) 7.5 195 25 3.9 HC-RP353 5.5 135 25 2.7 HC-RP503 7.5 195 25 3.9 HC-UP352 5.5 195 25 3.9 HC-UP502 7.5 195 25 3.9 HC-LP302 4.5 120 25 2.4 HA-LP502 7.5 195 25 3.9 HF-SP421 6.7 160 25 3.2 13 - 3 13 CHARACTERISTICS Servo amplifier MR-J3-700T (4) MR-J3-11KT (4) MR-J3-15KT (4) MR-J3-22KT (4) (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation (Note 1) Power supply capacity [kVA] At rated torque With servo off [m2] HF-SP702 (4) 10.0 300 25 6.0 HA-LP702 10.6 300 25 6.0 HA-LP601 (4) 10.0 260 25 5.2 HA-LP701M (4) 11.0 300 25 6.0 11.0 Servo motor HC-LP11K2 (4) 16.0 530 45 HC-LP801 (4) 12.0 390 45 7.8 HC-LP12K1 (4) 18.0 580 45 11.6 HC-LP11K1M (4) 16.0 530 45 11.0 HC-LP15K2 (4) 22.0 640 45 13.0 HC-LP15K1 (4) 22.0 640 45 13.0 HC-LP15K1M (4) 22.0 640 45 13.0 HC-LP22K2 (4) 33.0 850 55 17.0 HC-LP20K1 (4) 30.1 775 55 15.5 HC-LP25K1 37.6 970 55 19.4 HC-LP22K1M (4) 33.0 850 55 17.0 Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power factor improving reactor is not used. 2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 14.2. 3. For 400V class, the value is within the ( ). 13 - 4 13 CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 ( 50 ) at the ambient temperature of 40 (104 ). (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 13.1. A P K T where, A P T K ............................................................................................................................................. (13.1) 2 : Heat dissipation area [m ] : Loss generated in the control box [W] : Difference between internal and ambient temperatures [ ] : Heat dissipation coefficient [5 to 6] When calculating the heat dissipation area with Equation 13.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 13.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount must be added to the enclosure's surface area. The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a cooling fan should be considered. Table 13.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 (104 ) under rated load. (Outside) (Inside) Air flow Fig. 13.2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper. 13 - 5 13 CHARACTERISTICS 13.3 Dynamic brake characteristics 13.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) in this section.) ON OFF Forced stop(EMG) Time constant V0 Machine speed Time te Fig. 13.3 Dynamic brake operation diagram Lmax Lmax Vo JM JL te V0 60 te 1 JL JM ....................................................................................................................... (13.2) : Maximum coasting distance .................................................................................................... [mm][in] : Machine rapid feed rate ..............................................................................................[mm/min][in/min] 2 2 : Servo motor inertial moment..................................................................................... [kg cm ][oz in ] 2 2 : Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm ][oz in ] : Brake time constant .......................................................................................................................... [s] : Delay time of control section............................................................................................................. [s] For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo, there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake. (2) Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations (13.2). (a) 200V class servo motor 25 Time constant [ms] Time constant [ms] 25 20 15 73 23 10 43 5 0 0 13 053 1000 2000 3000 4000 5000 6000 HF-MP series 23 15 10 5 0 0 Speed [r/min] 73 20 13 053 43 1000 2000 3000 4000 5000 6000 Speed [r/min] HF-KP series 13 - 6 13 CHARACTERISTICS 120 Time constant [ms] Time constant [ms] 60 50 40 51 81 30 20 421 10 121 0 0 500 301 201 1000 1500 Speed [r/min] 100 52 80 60 102 40 20 HF-SP1000r/min series HF-SP2000r/min series [ms] 100 90 80 70 60 50 40 30 20 10 0 103 503 Time constant Time constant [ms] 18 16 14 12 10 8 6 153 4 2 0 0 353 500 202 502 152 500 1000 1500 2000 2500 3000 Speed [r/min] 0 0 2000 352 702 203 1000 1500 2000 2500 3000 Speed [r/min] HC-RP series 72 502 352 202 152 0 500 1000 1500 Speed [r/min] 2000 HC-UP2000r/min series 70 73 50 60 [ms] 40 30 20 23 13 10 0 0 20K1 50 40 43 Time constant Time constant [ms] 60 50 500 10001500200025003000 Speed [r/min] 30 15K1 12K1 20 801 25K1 10 0 0 200 400 600 601 800 1000 1200 Speed[r/min] HC-UP3000r/min series HA-LP1000r/min series 13 - 7 13 CHARACTERISTICS 80 Time constant 80 60 40 22K1M [ms] 100 11K1M Time constant [ms] 120 15K1M 701M 20 0 0 500 1000 1500 15K2 60 11K2 40 22K2 702 20 0 0 2000 500 Speed[r/min] 1000 1500 502 2000 Speed[r/min] HA-LP1500r/min series HA-LP2000r/min series Time constant [ms] 200 160 52 202 120 80 302 102 40 152 0 0 500 1000 1500 Speed[r/min] 2000 HC-LP series (b) 400V class servo motor 35 75 [ms] 2024 524 60 1024 45 3524 30 5024 15 0 0 1000 30 1524 7024 2000 3000 20 15 10 5 0 0 400 800 HA-LP1000r/min series 20 40 16 11K1M4 15K1M4 701M4 8 4 0 22K1M4 [ms] HF-SP2000r/min series 12 35 25 30 500 1000 Speed[r/min] 15 HA-LP1500r/min series 11K24 10 0 1500 15K24 20 5 0 1200 Speed[r/min] Time constant [ms] 15K14 8014 Speed[r/min] Time constant 20K14 12K14 25 Time constant Time constant [ms] 90 0 22K2 500 1000 1500 Speed[r/min] HA-LP2000r/min series 13 - 8 2000 13 CHARACTERISTICS 13.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor. Servo amplifier Servo motor HF-KP HF-MP MR-J3-10T(1) 30 30 MR-J3-20T(1) 30 30 MR-J3-40T(1) 30 30 30 30 MR-J3-60T MR-J3-70T HF-SP 1 HF-SP 2 HC-RP 30 HC-UP 30 HC-LP HA-LP 1 HALP 1M HA-LP 2 30 30 MR-J3-100T 30 30 MR-J3-200T 30 30 30 30 30 MR-J3-350T 16 16 16 16 16 MR-J3-500T 15 15 15 15 15 MR-J3-700T 30 5 (Note 1) 15 5 (Note 1) 5 (Note 1) 5 (Note 1) MR-J3-11KT (Note 2) 30 30 30 MR-J3-15KT (Note 2) 30 30 30 MR-J3-22KT (Note 2) 30 30 30 Servo amplifier MR-J3-60T4 Servo motor HF-SP 4 HA-LP 14 HAHA-LP 24 LP 1M4 5 (Note 1) MR-J3-100T4 5 (Note 1) MR-J3-200T4 5 (Note 1) MR-J3-350T4 5 (Note 1) MR-J3-500T4 5 (Note 1) MR-J3-700T4 5 (Note 1) 10 10 MR-J3-11KT4 (Note 2) 30 30 30 MR-J3-15KT4 (Note 2) 30 30 30 MR-J3-22KT4 (Note 2) 30 30 30 Note 1. The load inertia moment ratio is 15 at the rated rotation speed. 2. When the external dynamic brake is used. 13 - 9 13 CHARACTERISTICS 13.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 108 5 107 a 1 107 a : Long flex life encoder cable Long flex life motor power cable Long flex life motor brake cable 5 106 1 106 b : Standard encoder cable Standard motor power cable Standard motor brake cable Flexing life [times] 5 105 1 105 5 104 1 104 b 5 103 1 103 4 7 10 20 40 70 100 200 Flexing radius [mm] 13.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference data) that will flow when the maximum permissible voltage (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m. Servo amplifier MR-J3-10T1 to 40T1 MR-J3-10T to 60T MR-J3-70T 100T MR-J3-200T 350T MR-J3-500T MR-J3-700T MR-J3-11KT MR-J3-15KT MR-J3-22KT MR-J3-60T4 100T4 MR-J3-200T4 MR-J3-350T4 500T4 MR-J3-700T4 MR-J3-11KT4 MR-J3-15KT4 MR-J3-22KT4 Inrush currents (A0-p) Control circuit power supply (L11, L21) Main circuit power supply (L1, L2, L3) 38A (Attenuated to approx. 14A in 10ms) 20 to 30A 30A (Attenuated to approx. 5A in 10ms) (Attenuated to approx. 0A in 1 to 2ms) 54A (Attenuated to approx. 12A in 10ms) 120A (Attenuated to approx. 12A in 20ms) 44A (Attenuated to approx. 20A in 20ms) 88A (Attenuated to approx. 20A in 20ms) 30A (Attenuated to approx. 0A in 3ms) 235A (Attenuated to approx. 20A in 20ms) 100A (Attenuated to approx. 5A in 10ms) 120A (Attenuated to approx. 12A in 20ms) 66A (Attenuated to approx. 10A in 20ms) 67A (Attenuated to approx. 34A in 20ms) 325A (Attenuated to approx. 20A in 20ms) 40 to 50A (Attenuated to approx. 0A in 2ms) 41A (Attenuated to approx. 0A in 3ms) 45A (Attenuated to approx. 0A in 3ms) Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 14.10.) When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current. 13 - 10 14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 14.1 Cable/connector sets POINT Protective structure indicated for cables and connecters is for a cable or connector alone. When the cables and connectors are used to connect the servo amplifier and servo motor, and if protective structures of the servo amplifier and servo motor are lower than that of the cable and connector, specifications of the servo amplifier and servo motor apply. As the cables and connectors used with this servo, purchase the options indicated in this section. 14 - 1 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.1 Combinations of cable/connector sets 33) Servo amplifier Personal computer 1) 2) Note CN5 CNP1 32) CN3 CN1 CNP2 CN6 CNP3 CN2 CN4 Direct connection type (cable length 10m or less, IP65) 15) 16) 17) 18) 31) Junction type (cable length more than 10m, IP20) 19) 20) 21) 22) Battery MR-J3BAT 23) To 24VDC power supply for electromagnetic brake 13) 14) 9) 10) 11) 12) 7) 8) Servo motor HF-MP HF-KP 3) 4) 5) 6) To next page a) To next page b) Note. Connectors for 3.5kW or less For 5kW or more, terminal blocks 14 - 2 Power supply connector Brake connector Encoder connector 14. OPTIONS AND AUXILIARY EQUIPMENT a) b) 26) 24) 25) 27) Servo motor HF-SP 28) 29) 30) Power supply connector Brake connector Encoder connector 26) 24) 25) 34) Servo motor HC-RP HC-UP HC-LP 30) 35) 36) Power supply connector Brake connector Encoder connector 26) 24) 25) Servo motor HA-LP Terminal box 14 - 3 14. OPTIONS AND AUXILIARY EQUIPMENT No. Product 1) Servo amplifier power supply connector Model Description Wire size: 0.14mm2(AWG26) to 2.5mm2 (AWG14) Cable finish OD: to 3.8mm 2) Application Supplied with servo amplifiers of 1kW or less in 100V class CNP3 CNP2 CNP1 and 200V connector: 54928-0670 connector: 54928-0520 connector: 54928-0370 class (Molex) (Molex) (Molex) REC. Lever: 54932-0000 (Molex) Servo amplifier power supply connector CNP2 connector: CNP1 connector: 54928-0520 PC4/6-STF-7.62(Molex) CRWH (Phoenix Contact) Wire size: 0.2mm2 (AWG24) to 5.5mm2 (AWG10) Cable finish OD: to 5mm CNP1 connector: 721-207/026-000 (Plug) (WAGO) CNP2 connector: 721-205/026-000 (Plug) (WAGO) Wire size: 0.08mm2 (AWG28) to 2.5mm2 (AWG12) Cable finish OD: to 4.1mm 3) Motor power supply cable MR-PWS1CBL M-A1-L Cable length: 2 5 10m 4) Motor power supply cable MR-PWS1CBL M-A1-H Cable length: 2 5 10m 5) Motor power supply cable MR-PWS1CBL M-A2-L Cable length: 2 5 10m 6) Motor power supply cable MR-PWS1CBL M-A2-H Cable length: 2 5 10m CNP3 connector: PC4/3-STF-7.62CRWH (Phoenix Contact) Supplied with servo amplifiers of 3.5kW in 200V class REC. Lever: 54932-0000 (Molex) CNP3 connector: 721-203/026-000 (Plug) (WAGO) Supplied with servo amplifiers of 2kW in 200V class and 2kW or less in 400V class REC. Lever: 231-131 (WAGO) Power supply connector HF-MP series HF-KP series IP65 Load side lead IP65 Load side lead Long flex life Refer to section 14.1.3 for details. Power supply connector HF-MP series HF-KP series Refer to section 14.1.3 for details. 14 - 4 IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life 14. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 7) Motor power supply cable MR-PWS2CBL03M-A1-L Cable length: 0.3m Description Application Power supply connector IP55 Load side lead HF-MP series HF-KP series Refer to section 14.1.3 for details. 8) Motor power supply cable MR-PWS2CBL03M-A2-L Cable length: 0.3m Power supply connector HF-MP series HF-KP series IP55 Opposite-toload side lead Refer to section 14.1.3 for details. 9) Motor brake cable MR-BKS1CBL M-A1-L Cable length: 2 5 10m 10) Motor brake cable MR-BKS1CBL M-A1-H Cable length: 2 5 10m 11) Motor brake cable MR-BKS1CBL M-A2-L Cable length: 2 5 10m 12) Motor brake cable MR-BKS1CBL M-A2-H Cable length: 2 5 10m Brake connector HF-MP series HF-KP series IP65 Load side lead IP65 Load side lead Long flex life Refer to section 14.1.4 for details. Brake connector HF-MP series HF-KP series Refer to section 14.1.4 for details. 13) Motor brake cable MR-BKS2CBL03M-A1-L Cable length: 0.3m Brake connector IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP55 Load side lead HF-MP series HF-KP series Refer to section 14.1.4 for details. 14) Motor brake cable MR-BKS2CBL03M-A2-L Cable length: 0.3m Brake connector HF-MP series HF-KP series IP55 Opposite-toload side lead Refer to section 14.1.4 for details. 15) Encoder cable MR-J3ENCBL M-A1-L Cable length: 2 5 10m Encoder connector 16) Encoder cable MR-J3ENCBL M-A1-H Cable length: 2 5 10m HF-MP series HF-KP series 17) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m 18) Encoder cable MR-J3ENCBL M-A2-H Cable length: 2 5 10m Refer to section 14.1.2 (1) for details. Encoder connector HF-MP series HF-KP series Refer to section 14.1.2 (1) for details. 14 - 5 IP65 Load side lead IP65 Opposite-toload side lead Long flex life IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life 14. OPTIONS AND AUXILIARY EQUIPMENT No. Product 19) Encoder cable Model Description MR-J3JCBL03M-A1-L Cable length: 0.3m Application Encoder connector IP20 Load side lead HF-MP series HF-KP series Refer to section 14.1.2 (3) for details. 20) Encoder cable MR-J3JCBL03M-A2-L Cable length: 0.3m IP20 Opposite-toload side lead Encoder connector HF-MP series HF-KP series Refer to section 14.1.2 (3) for details. 21) Encoder cable MR-EKCBL M-L Cable length: 20 30m 22) Encoder cable MR-EKCBL M-H Cable length: 20 30 40 50m 23) Encoder connector set MR-ECNM IP20 IP20 Long flex life For HF-MP HF-KP series Refer to section 14.1.2 (2) for details. IP20 For HF-MP HF-KP series Refer to section 14.1.2 (2) for details. 24) Encoder cable MR-J3ENSCBL M-L Cable length: 2 5 10 20 30m 25) Encoder cable MR-J3ENSCBL Cable length: 2 5 10 20 50m 26) Encoder connector set IP67 Standard life For HF-SP HA-LP HC-UP HC-LP Refer to section 14.1.2 (4) for details. M-H 30 HC-RP series IP67 Long flex life 40 MR-J3SCNS IP67 For HF-SP HA-LP HC-UP HC-LP Refer to section 14.1.2 (4) for details. HC-RP series 27) Brake connector set MR-BKCNS1 Straight plug: CM10-SP2S-L Socket contact: CM10-#22SC(S2)-100 (DDK) 28) Power supply connector set MR-PWCNS4 Plug: CE05-6A18-10SD-B-BSS Cable clamp: CE3057-10A-1 (D265) (DDK) For HF-SP51 81 Example of applicable cable 2 2 For HF-SP52 152 Applicable wire size: 2mm (AWG14) to 3.5mm (AWG12) Cable finish D: 10.5 to 14.1mm IP67 29) Power supply connector set MR-PWCNS5 Plug: CE05-6A22-22SD-D-BSS Cable clamp: CE3057-12A-1-D (D265) (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8) Cable finish D: 12.5 to 16mm IP67 IP67 For HF-SP series 14 - 6 For HF-SP121 to 301 For HF-SP202 to 502 flex 14. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 30) Power supply connector set MR-PWCNS3 31) Cable for connecting battery MR-J3BTCBL03M 32) USB cable MR-J3USBCBL3M Cable length: 3m 33) Connector set MR-J2CMP2 Description Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D (D265) (DDK) Example of applicable cable Applicable wire size: 14mm2 (AWG6) to 22mm2 (AWG4) Cable finish D: 22 to 23.8mm Application For HF-SP421 For HF-SP702 For HA-LP702 IP67 Be sure to use this when corresponding to EN Standard. For connection of battery Refer to section 14.1.2 (5) for details. 34) Break MR-BKCN connector set 35) Power supply MR-PWCNS1 connector set 36) Power supply MR-PWCNS2 connector set For CN5 connector minB connector (5-pin) For personal computer connector A connector For connection with PC-AT compatible personal computer Connector: 10126-3000PE Shell kit: 10326-52F0-008(3M or equivalent) Plug: D/MS3106A10SL-4S(D190) (DDK) For cable connector : YS010-5-8(Daiwa Dengyo) Example of applicable cable Applicable wire size: 0.3mm2 (AWG22) to 1.25mm2 (AWG16) Cable finish: 5 to 8.3mm Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12) Cable finish: 9.5 to 13mm Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8) Cable finish: 13 to 15.5mm 14 - 7 For HA-LP For HC-UP For HC-LP For HC-UP For HC-LP For HC-RP For HA-LP For HC-UP For HC-LP For HC-RP EN standard compliant IP65 Be sure to use this when corresponding to EN standard IP65 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Cable model MR-J3ENCBL Cable length 2m 5m 10m 2 5 10 M-A1-L 20m 30m 40m 50m Protective structure Flex life Application IP65 Standard Long flex life MR-J3ENCBL M-A1-H 2 5 10 IP65 MR-J3ENCBL M-A2-L 2 5 10 IP65 Standard IP65 Long flex life MR-J3ENCBL M-A2-H 2 5 10 For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead (a) Connection of servo amplifier and servo motor Servo amplifier MR-J3ENCBL M-A1-L MR-J3ENCBL M-A1-H 1) 2) Servo motor HF-MP HF-KP or MR-J3ENCBL M-A2-L MR-J3ENCBL M-A2-H 2) Servo motor HF-MP HF-KP CN2 1) Cable model MR-J3ENCBL A1-L M- MR-J3ENCBL A1-H M- 1) For CN2 connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 2 4 6 8 M- 1 P5 3 5 7 9 BAT MR View seen from wiring side. MR-J3ENCBL A2-H M- (Note) Signal layout 10 MRR MR-J3ENCBL A2-L Connector set: 54599-1019(Molex) (Note) Signal layout LG 2) For encoder connector 2 or 4 6 8 10 LG MRR 1 3 P5 MR 5 7 9 BAT View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 14 - 8 Connector: 1674320-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (Tyco Electronics) (Note) Signal layout 9 SHD 7 5 MR 3 P5 1 8 6 P5G 4 MRR 2 BAT View seen from wiring side. Note. Keep open the pin shown with an . 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector 3 6 5 4 2 9 P5 1 LG 2 MR 3 MRR 4 BAT 9 Plate SD (2) MR-EKCBL P5 LG MR MRR BAT SHD M-L/H POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set parameter No.PC22 to "1 " to select the four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L) is required. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Cable model Cable length 2m 5m 10m 20m 30m MR-EKCBL M-L 20 (Note) 30 MR-EKCBL M-H 20 (Note) 30 40m (Note) 40 Note. Four-wire type cable. 14 - 9 50m (Note) 50 Protective structure Flex life IP20 Standard IP20 Long flex life Application For HF-MP HF-KP servo motor Use in combination with MRJ3JCBL03M-A1-L or MRJ3JCBL03M-A2-L. 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-EKCBL M-H MR-J3JCBL03M-L Cable length: 0.3m Servo motor HF-MP HF-KP CN2 1) 2) Cable model MR-EKCBL M-L 1) Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) (Note) Signal layout 2 LG 4 6 1 MR-EKCBL M-H 3 MR 5 7 9 BAT MD View seen from wiring side. Housing: 1-172161-9 Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) (Note) Signal layout 10 MDR MRR P5 8 2) Encoder side connector Connector set: 54599-1019 (Molex) 2 or 4 6 LG MRR 1 3 P5 MR 8 10 5 7 9 MD BAT View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 14 - 10 Signal layout MDR 1 2 3 MR MRR BAT 4 5 6 MD MDR CONT 7 8 9 P5 LG SHD View seen from wiring side. 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L Servo amplifier side P5 LG MR MRR BAT SD MR-EKCBL30M-L Encoder side Servo amplifier side Encoder side 1 2 7 8 P5E P5G P5 LG 1 2 7 8 P5E P5G 3 4 9 Plate 1 2 3 9 MR MRR BAT SHD MR MRR MD MDR BAT 3 4 7 8 9 1 2 4 5 3 6 9 MR MRR MD MDR BAT CONT SHD (Note) SD Plate MR-EKCBL20M-H Servo amplifier side P5 LG MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H Encoder side 1 2 7 8 1 2 3 9 MR 3 MRR 4 9 BAT SD Plate (Note) Servo amplifier side P5E P5G MR MRR BAT SHD (Note) Encoder side P5 LG 1 2 7 8 P5E P5G MR MRR MD MDR BAT 3 4 7 8 9 1 2 4 5 3 6 9 MR MRR MD MDR BAT CONT SHD SD Plate (Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. When fabricating the cable, use the wiring diagram corresponding to the length indicated below. Cable flex life Applicable wiring diagram Less than 10m Standard MR-EKCBL20M-L Long flex life MR-EKCBL20M-H 30m to 50m MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H 14 - 11 14. OPTIONS AND AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 14.9 for the specifications of the used cable. Parts/Tool Connector set Description MR-ECNM Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019(Molex) Encoder side connector Housing: 1-172161-9 Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) (3) MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-EKCBL M-L/H) is required. Cable model Cable length Protective structure Flex life MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L 0.3m IP20 14 - 12 Standard Application For HF-MP HF-KP servo motor Load side lead Use in combination with MR-EKCBL M-L/H. For HF-MP HF-KP servo motor Opposite-to-load side lead Use in combination with MR-EKCBL M-L/H. 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor MR-J3JCBL03M-A1-L 2) Servo amplifier Servo motor HF-MP HF-KP 1) MR-EKCBL M-L/-H or MR-J3JCBL03M-A2-L 2) Servo motor HF-MP HF-KP 1) CN2 Cable model 1) Junction connector 2) For encoder connector MR-J3JCBL03M-A1-L Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-1 (Tyco Electronics) Connector: 1674320-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (Tyco Electronics) Signal layout Signal layout 9 SHD MR-J3JCBL03M-A2-L 3 2 1 BAT MRR MR 6 5 4 CONT MDR MD 9 8 7 SHD LG P5 7 MDR 8 MD 6 P5G 3 P5 4 MRR 1 CONT 2 BAT View seen from wiring side. View seen from wiring side. (b) Internal wiring diagram MR-J3JCBL03M-A1-L Junction connector 5 MR Encoder side connector P5 LG MR MRR MD MDR BAT SEL 7 8 1 2 4 5 3 6 3 6 5 4 8 7 2 1 P5 P5G MR MRR MD MDR BAT CONT SHD 9 9 SHD 14 - 13 14. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared. Cable model MR-J3ENSCBL MR-J3ENSCBL Cable length 2m 5m 10m 20m 30m 2 5 10 20 30 M-L M-H 2 5 10 20 30 40m 50m 40 Protective structure 50 Flex life IP67 Standard IP67 Long flex life Application For HF-SP HA-LP HCRP HC-UP HC-LP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier MR-J3ENSCBL M-L MR-J3ENSCBL M-H 2) Servo motor HF-SP CN2 1) Cable model MR-J3ENSCBL M-L 1) For CN2 connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Connector set: 54599-1019 (Molex) (Note) Signal layout 2 LG 4 6 8 10 MRR 1 P5 3 5 7 9 BAT MR View seen from wiring side. MR-J3ENSCBL M-H (Note) Signal layout 2 or 4 6 8 10 5 7 9 LG MRR 1 3 P5 MR BAT View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 2) For encoder connector In case of 10m or shorter cables Straight plug: CM10-SP10S-M Socket contact: CM10#22SC(C1)-100 Crimping tool: 357J-50446 (DDK) Applicable cable AWG20 to 22 In case of 20m or longer cables Straight plug: CM10-SP10S-M Socket contact: CM10#22SC(C2)-100 Crimping tool: 357J-50447 (DDK) Applicable cable AWG23 to 28 (Note) Signal layout 3 7 2 MRR 6 10 SHD 1 MR 5 LG 9 4 BAT 8 P5 View seen from wiring side Note. Keep open the pin shown with an . 14 - 14 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-J3ENSCBL2M-L/H MR-J3ENSCBL5M-L/H MR-J3ENSCBL10M-L/H Servo amplifier side connector 1 P5 2 LG 3 MR 4 MRR 9 BAT SD Plate Encoder side connector 8 5 1 2 4 10 P5 LG MR MRR BAT SHD MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L Encoder side Servo amplifier connector side connector P5 LG 1 2 MR 3 MRR 4 BAT 9 SD Plate MR-J3ENSCBL20M-H MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H Encoder side Servo amplifier connector side connector 8 5 P5 LG 1 2 4 10 MR MRR BAT SHD P5 LG 1 2 MR 3 MRR 4 BAT 9 SD Plate 8 5 P5 LG 1 2 4 10 MR MRR BAT SHD (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 14.9 for the specifications of the used cable. Parts/Tool Connector set Description MR- J3SCNS (Option) Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex) 14 - 15 Encoder side connector Straight plug: CM10-SP10S-M Socket contact: CM10-#22SC(S1)-100 Applicable wire size: AWG20 or less Recommended tightening jig: 357J-51456T (DDK) 14. OPTIONS AND AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable model Cable length MR-J3BTCBL03M 0.3m Application For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier 1) MR-J3BTCBL03M (Note) Encoder cable Servo motor CN2 2) Battery 3) Note. For the detector cable, refer to (1), (2), (3) and (4) in this section. Cable model 1) For CN2 connector MR-J3BTCBL03M Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex) 2) Junction connector Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M) 14 - 16 3) For battery connector Connector: DF3-2EP-2C Contact: DF3-EP2428PCA (Hirose Denki) 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 4.10 when wiring. 2m 5m 10m Protective structure Flex life Cable length Cable model 0.3m Application MR-PWS1CBL M-A1-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Load side lead MR-PWS1CBL M-A2-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Opposite-to-load side lead MR-PWS1CBL M-A1-H 2 5 10 IP65 Long flex life For HF-MP HF-KP servo motor Load side lead MR-PWS1CBL M-A2-H 2 5 10 IP65 Long flex life For HF-MP HF-KP servo motor Opposite-to-load side lead MR-PWS2CBL M-A1-L 03 IP55 Standard For HF-MP HF-KP servo motor Load side lead MR-PWS2CBL M-A2-L 03 IP55 Standard For HF-MP HF-KP servo motor Opposite-to-load side lead (1) Connection of servo amplifier and servo motor MR-PWS1CBL M-A1-L MR-PWS1CBL M-A1-H MR-PWS2CBL03M-A1-L 1) Servo amplifier Servo motor HF-MP HF-KP or CNP3 connector supplied with servo amplifier MR-PWS1CBL M-A2-L MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A2-L 1) Servo motor HF-MP HF-KP CNP3 Cable model MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L 1) For motor power supply connector Connector: JN4FT04SJ1-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) Connector: JN4FT04SJ2-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) (2) Internal wiring diagram MR-PWS1CBL M-A1-H MR-PWS2CBL03M-A1-L MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A2-L AWG 19 (Red) (Note) AWG 19 (White) AWG 19 (Black) AWG 19 (Green/yellow) Note. These are not shielded cables. 14 - 17 U V W Signal layout 1 2 U 3 V 4 W View seen from wiring side. 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 4.11 when wiring. 2m 5m 10m Protective structure Flex life Cable length Cable model 0.3m Application MR-PWS1CBL M-A1-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Load side lead MR-PWS1CBL M-A2-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Opposite-to-load side lead MR-PWS1CBL M-A1-H 2 5 10 IP65 Long flex life For HF-MP HF-KP servo motor Load side lead MR-PWS1CBL M-A2-H 2 5 10 IP65 Long flex life For HF-MP HF-KP servo motor Opposite-to-load side lead MR-PWS2CBL M-A1-L 03 IP55 Standard For HF-MP HF-KP servo motor Load side lead MR-PWS2CBL M-A2-L 03 IP55 Standard For HF-MP HF-KP servo motor Opposite-to-load side lead (1) Connection of servo amplifier and servo motor MR-BKS1CBL M-A1-L MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L 24VDC power supply for electromagnetic brake 1) Servo motor HF-MP HF-KP or MR-BKS1CBL M-A2-L MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A2-L 1) Servo motor HF-MP HF-KP Cable model MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L 1) For motor brake connector Connector: JN4FT02SJ1-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) Connector: JN4FT02SJ2-R Hod, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) (2) Internal wiring diagram MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L AWG 20 MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A2-L (Note) AWG 20 Note. These are not shielded cables. 14 - 18 B1 B2 Signal layout 1 B1 2 B2 View seen from wiring side. 14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Regenerative options The specified combinations of regenerative options and servo amplifiers may only be used. Otherwise, a fire may occur. CAUTION (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power[W] (Note 1) MR-RB50 [13 ] (Note 1) MR-MB51 [6.7 ] Built-in regenerative resistor MR-RB032 [40 ] MR-J3-20T (1) 10 30 100 MR-J3-40T (1) 10 30 100 MR-J3-60T 10 30 100 MR-J3-70T 20 30 100 300 MR-J3-100T 20 30 100 300 MR-J3-200T 100 300 MR-J3-350T 100 300 MR-J3-500T 130 300 500 MR-J3-700T 170 300 500 Servo amplifier MR-J3-10T (1) MR-RB12 [40 ] MR-RB30 [13 ] MR-RB31 [6.7 ] MR-RB32 [40 ] 30 500 500 Regenerative power[W] Servo amplifier (Note 1) (Note 1) (Note 1) Built-in MR-RB1H-4 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 regenerative [82 ] [47 ] [47 ] [120 ] resistor (Note 1) MR-RB34-4 [26 ] (Note 1) MR-RB54-4 [26 ] MR-J3-60T4 15 100 300 MR-J3-100T4 15 100 300 MR-J3-200T4 100 300 500 MR-J3-350T4 100 300 500 MR-J3-500T4 130 300 500 MR-J3-700T4 170 300 500 (Note 2) Regenerative power[W] Servo amplifier External regenerative resistor (Accessory) MR-RB5E [6 ] MR-J3-11KT 500 (800) 500 (800) MR-J3-15KT 850 (1300) MR-J3-22KT 850 (1300) MR-J3-11KT4 500 (800) MR-J3-15KT4 850 (1300) MR-J3-22KT4 850 (1300) MR-RB9P [4.5 ] MR-RB9F [3 ] MR-RB6B-4 [20 ] MR-RB60-4 [12.5 ] MR-RB6K-4 [10 ] 850 (1300) 850 (1300) 500 (800) 850 (1300) 850 (1300) Note 1. Always install a cooling fan. 2. Values in parentheses assume the installation of a cooling fan. 14 - 19 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. Unbalance torque Servo motor speed (a) Regenerative energy calculation Use the following table to calculate the regenerative energy. Friction torque TF Up t1 Tpsa1 ( ) TU Time Down t2 t3 Tpsd1 Tpsa2 t4 Tpsd2 1) (Driving) 2) Generated torque M tf(1 cycle) No 4) 8) 5) 6) 3) (Regenerative) ( ) 7) Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor [N m] Energy [J] 1) T1 2) T2 3) T3 4), 8) T4 5) T5 6) T6 7) T7 (JL JM) N0 9.55 104 TU TF (JL JM) N0 9.55 104 TU (JL JM) N0 4 9.55 10 TU TF (JL JM) N0 9.55 104 1 Tpsa1 TU TF E1 E2 1 Tpsd1 1 Tpsa2 TU TU Tpsd2 TU N0 T1 Tpsa1 0.1047 N0 T2 t1 0.1047 N0 T3 Tpsd1 2 TF E3 TF E4 0 (No regeneration) 0.1047 E5 N0 T5 Tpsa2 2 E6 1 0.1047 2 TF E7 0.1047 N0 T6 t3 0.1047 N0 T7 Tpsd2 2 From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies. 14 - 20 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor charging[J] Servo amplifier Inverse efficiency[%] Capacitor charging[J] MR-J3-10T 55 9 MR-J3-200T 85 MR-J3-10T1 55 4 MR-J3-200T4 85 40 25 MR-J3-20T 70 9 MR-J3-350T 85 40 MR-J3-20T1 70 4 MR-J3-350T4 85 36 MR-J3-40T 85 11 MR-J3-500T(4) 90 45 MR-J3-40T1 85 10 MR-J3-700T(4) 90 70 MR-J3-60T(4) 85 11 MR-J3-11KT(4) 90 120 MR-J3-70T 80 18 MR-J3-15KT(4) 90 170 MR-J3-100T 80 18 MR-J3-22KT(4) 90 250 MR-J3-100T4 80 12 Inverse efficiency ( ) Capacitor charging (Ec) :Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%. :Energy charged into the electrolytic capacitor in the servo amplifier. Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option. ER [J] Es Ec Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option. PR [W] ER/tf 14 - 21 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Parameter setting Set parameter No.PA02 according to the option to be used. Parameter No.PA02 0 0 Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fan is required) 84: MR-RB34-4(Cooling fan is required) 85: MR-RB54-4(Cooling fan is required) FA: When the supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW. Regenerative resistor, regenerative option Standard supplied regenerative resistor Standard supplied regenerative resistor (with a cooling fan to cool it) MR-RB5E MR-RB5E (with a cooling fan to cool it) MR-RB9P MR-RB9P (with a cooling fan to cool it) MR-RB9F MR-RB9F (with a cooling fan to cool it) MR-RB6B-4 MR-RB6B-4 (with a cooling fan to cool it) MR-RB60-4 MR-RB60-4 (with a cooling fan to cool it) MR-RB6K-4 MR-RB6K-4 (with a cooling fan to cool it) Setting value 00 FA 00 FA 00 FA 00 FA 00 FA 00 FA 00 FA (4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. For the sizes of wires used for wiring, refer to section 14.9. The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative option body. Always use twisted cables of max. 5m length for connection with the servo amplifier. 14 - 22 14. OPTIONS AND AUXILIARY EQUIPMENT (a) MR-J3-350T or less MR-J3-200T4 or less Always remove the wiring from across P-D and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option overheats abnormally. Always remove the lead from across P-D. Regenerative option Servo amplifier P P C C G3 D (Note 2) G4 5m (16.4 ft) max. Cooling fan (Note 1) Note 1. When using the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4, forcibly cool it with a cooling fan (92 92, minimum air flow : 1.0m3). 2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5A/4.8VDC Maximum capacity: 2.4VA For the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4 install the cooling fan as shown. [Unit : mm(in)] Cooling fan installation screw hole dimensions 2-M3 screw hole Top Bottom 82.5 (3.25) Vertical installation Horizontal installation Installation surface 14 - 23 82.5 (3.25) Thermal relay 133 (for cooling fan installation) Depth 10 or less (Screw hole already machined) Terminal block (5.24) Cooling fan 40 (1.58) 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor. Regenerative option P P C C G3 G4 (Note 2) 5m or less Cooling fan (Note 1) Note 1. When using the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4, forcibly cool it with a cooling fan (92 92, minimum air flow : 1.0m3). 2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5A/4.8VDC Maximum capacity: 2.4VA When using the regenerative resistor option, remove the servo amplifier's built-in regenerative resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method Accessory screw 14 - 24 14. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-350T4 and MR-J3-500T(4). Refer to section 12.1 (6) Outline drawings for the position of the fixing screw for MR-J3-700T(4). Built-in regenerative resistor lead terminal fixing screw For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4 install the cooling fan as shown. [Unit : mm(in)] Cooling fan installation screw hole dimensions 2-M3 screw hole Top Bottom 82.5 (3.25) Vertical installation Horizontal installation Installation surface 14 - 25 82.5 (3.25) Thermal relay 133 (for cooling fan installation) Depth 10 or less (Screw hole already machined) Terminal block (5.24) Cooling fan 40 (1.58) 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-J3-11KT(4) to MR-J3-22KT(4) (when using the supplied regenerative resistor) When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans (92 92, minimum 3 FA" in parameter No.PA02. air flow : 1.0m ) improves the regeneration capability. In this case, set " 5m or less Do not remove the short bar. (Note) Series connection Servo amplifier P1 P C Cooling fan Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis or use the thermal sensor built-in regenerative option (MRRB5E, 9P, 9F, 6B-4, 60-4 and 6K-4) provided by Mitsubishi Electric Corporation. Servo amplifier Regenerative resistor Regenerative power [W] Normal Cooling Resistance [ ] Number of resistors MR-J3-11KT GRZG400-1.5 500 800 6 4 MR-J3-15KT GRZG400-0.9 850 1300 4.5 5 5 MR-J3-22KT GRZG400-0.6 850 1300 3 MR-J3-11KT4 GRZG400-5.0 500 800 20 4 MR-J3-15KT4 GRZG400-2.5 850 1300 12.5 5 MR-J3-22KT4 GRZG400-2.0 850 1300 10 5 14 - 26 14. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX (when using the regenerative option) The MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option. The MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 are regenerative options that have encased the GRZG4001.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 respectively. When using any of these regenerative options, make the same parameter setting as when using the GRZG400-1.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 (supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier). Cooling the regenerative option with cooling fans improves regenerative capability. The G3 and G4 terminals are for the thermal protector. G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier P1 Do not remove the short bar. Regenerative option P P C C (Note) G3 G4 Configure up a circuit which shuts off main circuit power when thermal protector operates. Note. Specifications of contact across G3-G4 Maximum voltage : 120V AC/DC Maximum current : 0.5A/4.8VDC Maximum capacity : 2.4VA Regenerative power [W] Without With cooling fans cooling fans Servo amplifier Regenerative option model MR-J3-11KT-PX MR-RB5E 6 500 800 MR-J3-15KT-PX MR-RB9P 4.5 850 1300 MR-J3-22KT-PX MR-RB9F 3 850 1300 MR-J3-11KT4-PX MR-RB6B-4 20 500 800 MR-J3-15KT4-PX MR-RB60-4 12.5 850 1300 MR-J3-22KT4-PX MR-RB6K-4 10 850 1300 Resistance [ ] When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. In this case, set " FA" in parameter No.PA02. Top MR-RB5E 9P 9F 6B-4 60-4 6K-4 Bottom TE1 2 cooling fans (92 92, minimum air flow: 1.0m3) Mounting screw 4-M3 14 - 27 TE G4 G3 C P 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm (in)] TE1 Terminal block Approx. 12 LB G3 G4 P C 6 mounting hole Approx. 6 LA MR-RB Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Mounting screw 144 168 156 Screw size: M5 Tightening torque: 3.24 [N m] 5 (28.7 [lb in]) 6 12 G3 G4 P C TE1 1.6 6 Approx. 20 LD LC Regenerative option LA LB LC MR-RB032 30 15 119 99 0.5 1.1 MR-RB12 40 15 169 149 1.1 2.4 14 - 28 Variable dimensions Mass LD [kg] [lb] 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm (in)] Cooling fan mounting screw (2-M4 screw) TE1 Terminal block P C G3 G4 Terminal screw: M4 7 10 101.5 90 100 82.5 318 B Wind blows in the arrow direction A Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.79 [lb in]) Regenerative option Variable dimensions A B 17 335 Mass [kg] (Ib) MR-RB30 MR-RB31 MR-RB32 2.9 (6.4) MR-RB34-4 MR-RB3M-4 23 341 MR-RB3G-4 (c) MR-RB50 MR-RB51 MR-RB54-4 MR-RB5G-4 [Unit: mm (in)] Cooling fan mounting screw (2-M3 screw) On opposite side 49 Terminal block P C G3 G4 82.5 Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) 7 14 slot Mounting screw Screw size: M6 Wind blows in the arrow direction Tightening torque: 5.4 [N m] (47.79 [lb in]) Regenerative option MR-RB50 2.3 MR-RB51 7 200 B A 12 108 120 (30) 8 14 - 29 MR-RB54-4 MR-RB5G-4 Variable dimensions A B 17 217 23 233 Mass [kg] (Ib) 5.6 (12.3) 14. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm (in)] 2- 10 mounting hole Terminal block P 30 10 G4 G3 C Terminal screw: M5 Tightening torque: 2.0 [N m] (17.70 [lb in]) Mounting screw 480 500 427 Screw size: M8 Tightening torque: 13.2 [N m] (116.83 [lb in]) TE1 230 260 230 2.3 43 10 215 Cooling fan mounting screw 4-M3 screw 82.5 15 10 G4 G3 C P Regenerative option [kg] [Ib] MR-RB5E 10 22.0 MR-RB9P 11 24.3 MR-RB9F 11 24.3 Mass MR-RB6B-4 10 22.0 MR-RB60-4 11 24.3 MR-RB6K-4 11 24.3 82.5 82.5 Approx. A 40 Approx. 330 385 411 Approx. 2.4 1.6 Approx. C 10 Approx. K (e) GRZG400-1.5 GRZG400-0.9 2.0 (standard accessories) 9.5 40 Approx. 47 GRZG400-0.6 Regenerative brake GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 Variable dimensions A C K 10 5.5 39 16 8.2 46 GRZG400-5.0 GRZG400-2.5 GRZG400-2.0 14 - 30 10 5.5 39 GRZG400-2.5 GRZG400- Mounting screw size Tightening torque [N m] ([lb in]) Mass [kg] ([lb]) M8 13.2 (116.83) 0.8 (1.76) 14. OPTIONS AND AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] 40 (4.43 to 5.31 [lb in]) 36 15 G3 G4 P 6 mounting hole C Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.32 [lb in]) TE1 6 2 6 Approx. 24 149 173 14 - 31 Regenerative option Mass [kg] ([lb]) MR-RB1H-4 1.1 (2.4) 14. OPTIONS AND AUXILIARY EQUIPMENT 14.3 FR-BU2-(H) brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier, and a 400V class brake unit and a resistor unit with a 400V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes. Temperature of the resistor unit case rises to higher than 100 . Keep cables and flammable materials away from the case. Ambient temperature condition of the brake unit is between 10 (14 ) and 50 (122 ). Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0 (32 ) and 55 (131 )). Configure the circuit to shut down the power-supply with the alarm output of the brake unit and resistor unit under abnormal condition. Use the brake unit with a combination indicated in section 14.3.1. For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter. Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously. Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability. When using the brake unit, set the parameter No.PA02 of the servo amplifier to " 01". When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual. 14 - 32 14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Brake unit 200V class 400V class Resistor unit FR-BU2-15K Number of connected units Permissible continuous power [kW] Total resistance [ ] Applicable servo amplifier FR-BR-15K 1 0.99 8 MR-J3-500T (Note) 2 (parallel) 1.98 4 MR-J3-500T MR-J3-700T MR-J3-11KT MR-J3-15KT FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J3-500T MR-J3-700T MR-J3-11KT MR-J3-15KT FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J3-11KT MR-J3-15KT MR-J3-22KT MT-BR5-55K 1 5.5 2 MR-J3-22KT FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J3-500T4 MR-J3-700T4 MR-J3-11KT4 FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J3-11KT4 MR-J3-15KT4 MR-J3-22KT4 FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J3-22KT4 Note. The combination is limited only when using with the servo motors HC-LP302, HC-RP353, HA-LP502 or HC-UP352. 14.3.2 Brake unit parameter setting Normally, when using the FR-BU2-(H), changing parameters is not necessary. Whether a parameter can be changed or not is listed below. Change possible/ impossible Parameter No. Name 0 Brake mode switchover 1 Monitor display data selection 2 Input terminal function selection 1 3 Input terminal function selection 2 77 Parameter write selection 78 Cumulative energization time carrying-over times CLr Parameter clear ECL Alarm history clear C1 Impossible For manufacturer setting 14 - 33 Possible Impossible Remarks Do not change the parameter. Refer to the FR-BU2-(H) Brake Unit Instruction Manual. Do not change the parameter. 14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.3 Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (1) Combination with FR-BR-(H) resistor unit (a) When connecting a brake unit to a servo amplifier (Note 8) Servo motor (Note 11) thermal relay ALM RA2 RA1 EMG OFF ON MC SK (Note 5) NFB (Note 1) Power supply MC MC Servo amplifier CN6 1 EMG L1 17 DOCOM L2 DICOM 5 L3 (Note 11) ALM L11 L21 P1 (Note 3) P2 24VDC RA1 FR-BR-(H) (Note 6) TH1 TH2 P PR FR-BU2-(H) MSG SD A B C (Note 7) PR P/ (Note 4) N/ P( ) (Note 9) N( ) C (Note 10) (Note 2) BUE SD Note 1. For power supply specifications, refer to section 1.2. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C terminals. 3. Always connect P1 and P2 terminals (P1 and P for the servo amplifier of 11k to 22kW) (Factory-wired). When using the power factor improving DC reactor, refer to section 14.11. 4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 5. For 400VAC class, a step-down transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. For the servo amplifier of 3.5kW, always disconnect P and D terminals. 9. Do not connect more than one cable to each P( ) to N( ) terminals of the servo amplifier. 10. Always connect BUE and SD terminals (Factory-wired). 11. The diagram is for when outputting the trouble (ALM) is enabled by changing the parameter. When disabling to output the trouble (ALM), configure the power supply circuit to turn off the magnetic contactor after detecting an alarm occurrence on the controller side. 14 - 34 14. OPTIONS AND AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect the servo amplifier and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section. Servo amplifier P( ) N( ) Brake unit P/ N/ Servo amplifier P( ) N( ) Brake unit P/ N/ Brake unit Brake unit P/ N/ P/ N/ Connecting two cables to P and N terminals 14 - 35 Passing wiring 14. OPTIONS AND AUXILIARY EQUIPMENT (Note 7) Servo motor (Note 12) thermal relay ALM RA2 RA1 EMG OFF ON MC MC SK Servo amplifier NFB (Note 1) Power supply MC L1 L2 L3 L11 L21 CN6 EMG 1 17 DOCOM 5 DICOM (Note 12) ALM P1 P2 P( ) 24VDC RA1 (Note 3) FR-BU2-(H) (Note 11) PR MSG (Note 10) SD P/ (Note 4) A N/ B C BUE (Note 9) (Note 6) SD (Note 8) N( P PR FR-BR (Note 5) TH1 TH2 ) C Terminal block (Note 2) P PR FR-BR (Note 5) TH1 TH2 FR-BU2-(H) PR MSG (Note 10) SD P/ (Note 4) A N/ B C BUE (Note 9) (Note 6) SD Note 1. For power supply specifications, refer to section 1.2. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k and 15kW, do not connect a supplied regenerative resistor to the P and C terminals. 3. Always connect P1 and P2 terminals (P1 and P for the servo amplifier of 11k and 15kW) (Factory-wired). When using the power factor improving DC reactor, refer to section 14.11. 4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 5. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 6. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier. 8. Do not connect more than one cable to each P and N terminals of the servo amplifier. 9. Always connect BUE and SD terminals (Factory-wired). 10. Connect the MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 11. For the cable to connect the terminal block and the P and N terminals of the servo amplifier, use the cable indicated in (4) (b) in this section. 12. The diagram is for when outputting the trouble (ALM) is enabled by changing the parameter. When disabling to output the trouble (ALM), configure the power supply circuit to turn off the magnetic contactor after detecting an alarm occurrence on the controller side. 14 - 36 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit Servo motor (Note 9) thermal relay ALM RA2 RA1 EMG OFF ON RA3 MC MC SK (Note 4) NFB (Note 1) Power supply MC Servo amplifier CN6 EMG 1 L1 17 DOCOM L2 5 DICOM L3 (Note 9) ALM L11 L21 C (Note 10) P1 (Note 2) P( ) (Note 7) N( ) 24VDC RA1 P PR MT-BR5-(H) (Note 5) TH1 TH2 SK RA3 FR-BU2-(H) PR P/ (Note 3) N/ MSG SD A B C BUE (Note 8) (Note 6) SD Note 1. For power supply specifications, refer to section 1.2. 2. Always connect P1 and P( ) terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 14.11. 3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 4. For the servo amplifier of 400V class, a step-down transformer is required. 5. Contact rating: 1a contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting. 6. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 7. Do not connect more than one cable to each P( ) and N( ) terminals of the servo amplifier. 8. Always connect BUE and SD terminals (Factory-wired). 9. The diagram is for when outputting the trouble (ALM) is enabled by changing the parameter. When disabling to output the trouble (ALM), configure the power supply circuit to turn off the magnetic contactor after detecting an alarm occurrence on the controller side. 10. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals. 14 - 37 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction. Servo amplifier Servo amplifier Brake unit P( ) N( ) P N 5m or less P PR Resistor unit Resistor unit Brake unit P( ) N( ) P PR 5m or less Twist P N P PR 10m or less P PR Twist 10m or less (4) Cables (a) Cables for the brake unit For the brake unit, HIV wire (600V Grade heat-resistant polyvinyl chloride insulated wire) is recommended. 1) Main circuit terminal Main circuit terminal screw size Brake unit 200V N/ P/ PR class 400V Terminal block class FR-BU2-15K Crimping terminal N/ , P/ , PR, M4 5.5-4 Wire size Tightening N/ , P/ , PR, torque [N m] AWG HIV wire [mm2] ([Ib in]) 1.5(13.3) 3.5 12 10 FR-BU2-30K M5 5.5-5 2.5(22.1) 5.5 FR-BU2-55K M6 14-6 4.4(38.9) 14 6 FR-BU2-H30K M4 5.5-4 1.5(13.3) 3.5 12 FR-BU2-H55K M5 5.5-5 2.5(22.1) 5.5 10 FR-BU2-H75K M6 14-6 4.4(38.9) 14 6 14 - 38 14. OPTIONS AND AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A B C Sheath PC BUE SD RES SD MSG MSG SD SD Core Jumper 6mm Terminal block Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5N m to 0.6N m 2 2 Wire size: 0.3mm to 0.75 mm Screw driver: Small flat-blade screwdriver (Tip thickness: 0.4mm/Tip width 2.5mm) (b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit Brake unit Wire size HIV wire [mm2] AWG 8 8 FR-BU2-15K 14 - 39 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. Number of connected units Crimping terminal (Manufacturer) 1 FVD5.5-S4(Japan Solderless Terminal) c 2 8-4NS(Japan Solderless Terminal) (Note 2) d FR-BU2-30K 1 FVD5.5-S4(Japan Solderless Terminal) c MR-J3-700T FR-BU2-15K 2 8-4NS(Japan Solderless Terminal) (Note 2) d FR-BU2-30K 1 FVD5.5-S4(Japan Solderless Terminal) c MR-J3-11KT FR-BU2-15K 2 FVD8-6(Japan Solderless Terminal) a FR-BU2-30K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-55K 1 FVD14-6(Japan Solderless Terminal) b FR-BU2-15K 2 FVD8-6(Japan Solderless Terminal) a FR-BU2-30K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-55K 1 FVD14-6(Japan Solderless Terminal) b MR-J3-22KT FR-BU2-55K 1 FVD14-8(Japan Solderless Terminal) b 400V MR-J3-500T4 FR-BU2-H30K 1 FVD5.5-S4(Japan Solderless Terminal) c class MR-J3-700T4 FR-BU2-H30K 1 FVD5.5-S4(Japan Solderless Terminal) c MR-J3-11KT4 FR-BU2-H30K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-H55K 1 FVD5.5-6(Japan Solderless Terminal) c MR-J3-15KT4 FR-BU2-H55K 1 FVD5.5-6(Japan Solderless Terminal) c MR-J3-22KT4 FR-BU2-H55K 1 FVD5.5-8(Japan Solderless Terminal) c FR-BU2-H75K 1 FVD14-8(Japan Solderless Terminal) b Servo amplifier 200V MR-J3-500T Brake unit FR-BU2-15K class MR-J3-15KT (Note 1) Applicable tool Note 1. Symbols in the applicable tool field indicate applicable tools in (5)(b) in this section. 2. Coat the crimping part with an insulation tube. (b) Applicable tool Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool Body Head Dice a FVD8-6 YF-1 E-4 YNE-38 DH-111 DH121 b FVD14-6 FVD14-8 YF-1 E-4 YNE-38 DH-112 DH122 c FDV5.5-S4 FDV5.5-6 YNT-1210S d 8-4NS YHT-8S 14 - 40 Manufacturer Japan Solderless Terminal 14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-15K 5 hole (Screw size: M4) Rating plate 4 5 6 56 68 18.5 6 52 132.5 62 FR-BU2-30K FR-BU2-H30K 2- 5 hole (Screw size: M4) Rating plate 6 5 96 108 5 6 18.5 52 129.5 59 FR-BU2-55K FR-BU2-H55K, H75K 2- 5 hole (Screw size: M4) Rating plate 5 5 6 158 170 14 - 41 6 18.5 52 72 142.5 14. OPTIONS AND AUXILIARY EQUIPMENT (2) FR-BR- (H) resistor unit [Unit: mm] 2 C (Note) Control circuit terminal (Note) Main circuit terminal C C Approx. 35 W1 Approx. 35 1 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below). Hanging bolt W 204 5 Note. Ventilation ports are provided on both sides and the top. The bottom is open. W W1 H H1 H2 H3 D D1 C Approximate mass [kg]([Ib]) FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15(33.1) FR-BR-30K 340 270 600 560 20 582 220 4 10 30(66.1) FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70(154) FR-BR-H30K 340 270 600 560 20 582 220 4 10 30(66.1) FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70(154) Resistor unit 200V class 400V class (3) MT-BR5- (H) resistor unit [Unit: mm] Resistor unit Resistance value NP M4 M6 193 189 37 60 10 21 480 510 4 15 mounting hole 75 7.5 300 75 450 7.5 14 - 42 Approximate mass [kg]([Ib]) 200V class MT-BR5-55K 2.0 50(110) 400V class MT-BR5-H75K 6.5 70(154) 14. OPTIONS AND AUXILIARY EQUIPMENT 14.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02. Nominal regenerative power (kW) Servo amplifier FR-RC-15K 15 MR-J3-500T MR-J3-700T FR-RC-30K 30 MR-J3-11KT MR-J3-15KT FR-RC-55K 55 MR-J3-22KT FR-RC-H15K 15 MR-J3-500T4 MR-J3-700T4 FR-RC-H30K 30 MR-J3-11KT4 MR-J3-15KT4 FR-RC-H55K 55 MR-J3-22KT4 Power regeneration converter Continuous energization time [sec] (1) Selection The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5k to 22kW. 14 - 43 500 300 200 100 50 30 20 0 50 75 100 150 Nominal regenerative power (%) 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 NFB L21 Power factor improving reactor FR-BAL MC L1 (Note 7) Power supply L2 Forced stop L3 CN6 EMG DOCOM DOCOM DICOM CN6 24VDC ALM RA Trouble (Note 3, 5) (Note 2) P1 P2 N (Note 4) N/ C P P/ 5m or less RDY (Note 6) Ready A SE RDY output R/L1 S/L2 B B C C Alarm output T/L3 RX R SX S (Note 1) Phase detection terminals TX T Power regeneration converter FR-RC-(H) FR-RC-(H) B C ALM RA EMG Operation ready ON OFF MC MC SK Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-(H) will not operate. 2. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P terminal and C terminal. 3. For sink input-output interface. Refer to section 4.8.3 for source input-output interface. 4. When using the servo amplifier of 11k to 22kW, always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 14.11. 5. When setting not to output Trouble (ALM) with parameter change, configure power supply circuit for turning magnet contactor off after detecting an occurrence of alarm on the controller side. 6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers. 7. Refer to section 1.2 for the power supply specification. 14 - 44 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan D K F EE AA C A Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D E EE K F Approx. mass [kg(Ib)] FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19 (41.888) 340 270 600 582 195 10 10 8 3.2 90 31 (68.343) 480 410 700 670 250 12 15 15 3.2 135 55 (121.3) FR-RC-H15K FR-RC-30K FR-RC-H30K FR-RC-55K FR-RC-H55K (4) Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box. [Unit : mm] (AA) (2- D hole) Model a b D AA BA FR-RC-15K 260 412 10 200 432 330 562 10 270 582 470 642 12 410 670 FR-RC-H15K FR-RC-30K FR-RC-H30K (Mounting hole) FR-RC-55K b (BA) FR-RC-H55K a 14 - 45 14. OPTIONS AND AUXILIARY EQUIPMENT 14.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV-(H) Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H). Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier. Two or more FR-CV-(H)'s cannot be installed to improve regeneration capability. Two or more FR-CV-(H)'s cannot be connected to the same DC power supply line. When using the power regeneration common converter, set parameter No.PA02 to " 01". (1) Model Capacity Symbol 7.5K 11K 15K 22K 30K 37K 55K Symbol None H Capacity [kW] 7.5 11 15 22 30 37 55 Voltage class 200V class 400V class (2) Selection The power regenerative common converter FR-CV can be used for the servo amplifier of 200V class with 3.5k to 22kW and that of 400V class with 11k to 22kW. The following shows the restrictions on using the FR-CV-(H). (a) Up to six servo amplifiers can be connected to one FR-CV-(H). (b) FR-CV-(H) capacity [W] Total of rated capacities [W] of servo amplifiers connected to FR-CV-(H). (c) The total of used servo motor rated currents should be equal to or less than the applicable current [A] of the FR-CV-(H). (d) Among the servo amplifiers connected to the FR-CV-(H), the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity [W]. 14 - 46 14. OPTIONS AND AUXILIARY EQUIPMENT The following table lists the restrictions. FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 Total of connectable servo motor rated currents [A] 33 46 15 18.5 27.5 61 90 115 145 Maximum servo amplifier capacity [kW] 3.5 5 215 7 11 15 15 22 37K 55K Maximum number of connected servo amplifiers 6 FR-CV-H Item 22K 30K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier capacities [kW] 11 15 18.5 27.5 Total of connectable servo motor rated currents [A] 90 115 145 215 Maximum servo amplifier capacity [kW] 11 15 15 22 When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Power regeneration common converter Dedicated stand-alone reactor FR-CV-7.5K(-AT) FR-CVL-7.5K FR-CV-11 K(-AT) FR-CVL-11K FR-CV-15K(-AT) FR-CVL-15K FR-CV-22K(-AT) FR-CVL-22K FR-CV-30K(-AT) FR-CVL-30K FR-CV-37K FR-CVL-37K FR-CV-55K FR-CVL-55K FR-CV-H22K(-AT) FR-CVL-H22K FR-CV-H30K(-AT) FR-CVL-H30K FR-CV-H37K FR-CVL-H37K FR-CV-H55K FR-CVL-H55K 14 - 47 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection diagram (a) 200V class NFB FR-CVL MC 3-phase 200 to 230VAC R/L11 R2/L12 S/L21 S2/L22 T/L31 Servo amplifier FR-CV T2/L32 U U L21 V V P1 W W L11 R2/L1 S2/L2 (Note 7) T2/L3 P/L P N/L N T/MC1 0HS1 EMG P24 DOCOM SD RESET DICOM RES SD RDYB RDYA RSO OFF (Note 2) CN2 EMG (Note 1) RA1 (Note 5) S/L21 (Note 1) RA1 RA2 Thermal relay 0HS2 (Note 6) R/L11 (Note 1) EMG Servo motor ON SE A MC B MC C (Note 3) Servo system controller (Note 4) RA1 (Note 1) SK 24VDC power supply RA2 Note 1. Configure a sequence that will shut off main circuit power at an emergency stop or at FR-CV or servo amplifier alarm occurrence. 2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay operates. 3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready. 4. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure a sequence that will make the servo inoperative when the RSO signal is on. 5. Configure a sequence that will make a stop with the emergency stop input of the programmable controller if an alarm occurs in the FR-CV. When the programmable controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram. 6. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regeneration resistor (3.5kW or less: P-D, 5k/7kW: P-C). 7. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) 14 - 48 14. OPTIONS AND AUXILIARY EQUIPMENT (b) 400V class NF FR-CVL MC 3-phase 380 to 480VAC R/L11 FR-CV-H R2/L12 S/L21 S2/L22 T/L31 T2/L32 Servo amplifier R2/L1 S2/L2 T2/L3 (Note 7) U U L21 V V P1 W W Thermal relay OHS2 (Note 6) P/L P( ) N/L N( ) CN2 R/L11 Stepdown transformer T/MC1 EMG P24 SD RDYB RDYA RSO RA1 RA2 EMG OFF RA1 (Note 5) DICOM RES (Note 1) (Note 1) (Note 2) DOCOM SD RESET (Note 1) OHS1 EMG S/L21 (Note 8) Servo motor L11 ON SE A MC B MC C (Note 3) Servo system controller (Note 4) RA1 (Note 1) SK 24VDC power supply RA2 Note 1. Configure a sequence that will shut off main circuit power at an emergency stop or at FR-CV-H or servo amplifier alarm occurrence. 2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay operates. 3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV-H is ready. 4. For the FR-CV-H, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure a sequence that will make the servo inoperative when the RSO signal is on. 5. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV-H. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram. 6. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (2kW or less: P-D, 3.5k to 7kW: P-C. 7. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) 8. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class servo amplifiers. 14 - 49 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air (a) Wire sizes 1) Across P-P( ), N-N( ) The following table indicates the connection wire sizes of the DC power supply (P, N terminals) between the FR-CV and servo amplifier. Total of servo amplifier capacities [kW] Wires [mm2] 1 or less 2 5 7 11 15 22 2 3.5 5.5 8 14 22 50 The following table indicates the connection wire sizes of the DC power supply (P( terminals) between the FR-CV-H and servo amplifier. Total of servo amplifier capacities [kW] Wires [mm2] 1 or less 2 5 7 11 15 22 2 3.5 5.5 8 8 22 22 ), N( ) 2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible. Power regeneration common converter Grounding wire size [mm2 ] FR-CV-7.5K to FR-CV-15K 14 FR-CV-22K FR-CV-30K 22 FR-CV-37K FR-CV-55K 38 FR-CV-H22K FR-CV-H30K 8 FR-CV-H37K FR-CV-H55K 22 14 - 50 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities. 1) 200V class Wire as short as possible. FR-CV-55K R2/L1 P/L S2/L2 N/L T2/L3 50mm2 22mm2 22mm2 8mm2 Servo amplifier (7kW) Second unit: P (Note) 22mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. 3.5mm2 Servo amplifier (3.5kW) Third unit: P (Note) 8mm2 assuming that the total of servo amplifier N capacities is 7kW since 3.5kW + 2.0kW = 5.5kW. R/L11 S/L21 T/MC1 Servo amplifier (15kW) First unit: P (Note) 50mm2 assuming that the total of servo amplifier N capacities is 27.5kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. 8mm2 2mm2 2mm2 Servo amplifier (2kW) Fourth unit: P (Note) 2mm2 assuming that the total of servo amplifier N capacities is 2kW since 2.0kW = 2.0kW. Junction terminals Overall wiring length 5m or less Note. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regeneration resistor (3.5kW or less: P-D, 5k/7kW: P-C). 14 - 51 14. OPTIONS AND AUXILIARY EQUIPMENT 2) 400V class Wire as short as possible. FR-CV-H55K R2/L1 P/L+ S2/L2 N/L- T2/L3 22mm2 14mm2 14mm2 5.5mm2 R/L11 S/L21 T/MC1 5.5mm2 Servo amplifier (15kW) First unit: P 22mm2 assuming that the total of servo amplifier N capacities is 30kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. Servo amplifier (7kW) Second unit: P 14mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. 2mm2 Servo amplifier (3.5kW) Third unit: P 5.5mm2 assuming that the total of servo amplifier N capacities is 7kW since 3.5kW + 2.0kW = 5.5kW. 2mm2 Servo amplifier (2kW) Fourth unit: P 2mm2 assuming that the total of servo amplifier N capacities is 2kW since 2.0kW = 2.0kW. 2mm2 Junction terminals Overall wiring length 5m or less (5) Other precautions (a) Always use the FR-CVL-(H) as the power factor improving reactor. Do not use the FR-BAL or FR-BEL. (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them. In this case, interference can be reduced by installing the radio noise filter (FR-BIF-(H)) or line noise filter (FR-BSF01, FR-BLF). (c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo amplifiers should be 5m or less, and the wiring must be twisted. 14 - 52 14. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22 33 46 61 90 115 145 215 Total of connectable servo motor rated currents [A] Output Power supply Regenerative braking torque Short-time rating Total capacity of applicable servo motors, 300% torque, 60s (Note 1) Continuous rating 100% torque Rated input AC voltage/frequency Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz Permissible AC voltage fluctuation Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz Permissible frequency fluctuation Power supply capacity (Note 2) [kVA] 5% 17 20 28 Protective structure (JEM 1030), cooling system 52 66 100 Open type (IP00), forced cooling Ambient temperature Environment 41 -10 to +50 Ambient humidity (14 to 122 ) (non-freezing) 90%RH or less (non-condensing) Ambience Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt) 1000m or less above sea level, 5.9m/s2 or less Altitude, vibration No-fuse breaker or leakage current breaker 30AF 30A 50AF 50A 100AF 75A 100AF 100A 225AF 125A 225AF 125A 225AF 175A Magnetic contactor S-N20 S-N35 S-N50 S-N65 S-N95 S-N95 S-N125 Power regeneration common converter FR-CV-H 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 11 15 15 22 Total of connectable servo motor rated currents [A] 43 57 71 110 Output Power supply Regenerative braking torque Short-time rating Total capacity of applicable servo motors, 300% torque, 60s (Note1) Continuous rating 100% torque Rated input AC voltage/frequency Three-phase 380 to 480V, 50Hz/60Hz Permissible AC voltage fluctuation Three-phase 323 to 528V, 50Hz/60Hz Permissible frequency fluctuation Power supply capacity [kVA] 5% 41 Protective structure (JEM 1030), cooling system Ambient temperature Environment 66 100 Open type (IP00), forced cooling -10 Ambient humidity Ambience 52 to +50 (14 to 122 ) (non-freezing) 90%RH or less (non-condensing) Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt) Altitude, vibration 1000m or less above sea level, 5.9m/s2 or less No-fuse breaker or leakage current breaker 60AF 60A 100AF 175A 100AF 175A 225AF 125A Magnetic contactor S-N25 S-N35 S-N35 S-N65 Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is activated in the time indicated in section 13.1. 2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier. 14 - 53 14. OPTIONS AND AUXILIARY EQUIPMENT 14.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure. For the braking time taken when the dynamic brake is operated, refer to section 13.3. The brake unit is rated for a short duration. Do not use it for high duty. When using the 400V class dynamic brake, the power supply voltage is restricted to 1-phase 380VAC to 463VAC (50Hz/60Hz). (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required. Assign the dynamic brake interlock (DB) to any of CN6-14, CN6-15, and CN6-16 pins in parameter No.PD09, PD10 or PD11. Servo amplifier Dynamic brake MR-J3-11KT DBU-11K MR-J3-15KT DBU-15K MR-J3-22KT DBU-22K MR-J3-11KT4 DBU-11K-4 MR-J3-15KT4 MR-J3-22KT4 DBU-22K-4 14 - 54 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example ALM RA1 EMG Operation-ready ON OFF MC Servo amplifier Servo motor MC U U SK V V NFB MC (Note 4) W W M L1 (Note 5) Power supply L2 L3 15 ALM RA1 (Note 3) DB RA2 P 5 DICOM P1 17 DOCOM 1 EMG L11 L21 (Note 2) CN6 24VDC Plate SD (Note 1) 14 13 U V W (Note 6) a RA2 b External dynamic brake Note 1. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open. Therefore, configure up an external sequence to prevent servo-on. 2. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) When using the power factor DC reactor, refer to section 14.11. 3. Assign the dynamic brake interlock (DB) in the parameters No.PD12 to PD14. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers. 5. Refer to section 1.2 for the power supply specification. 6. The power supply voltage of the inside magnet contactor for 400V class dynamic brake DBU-11K-4 and DBU-22K-4 is restricted as follows. When using these dynamic brakes, use them within the range of the power supply. Dynamic brake DBU-11K-4 DBU-22K-4 Power supply voltage 1-phase 380 to 463VAC 50Hz/60Hz 14 - 55 14. OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Coasting Forward rotation 0r/min ALM Coasting Dynamic brake Dynamic brake Present Absent ON Base OFF ON RA1 Dynamic brake OFF Invalid Valid Short Forced stop (EMG) Open a. Timing chart at alarm occurrence Servo motor speed Coasting Dynamic brake Electro magnetic brake interlock Forward rotation 0r/min ON b. Timing chart at Forced stop (EMG) validity (Note 1)7ms Base circuit OFF Electro magnetic brake interlock(MBR) ALM 10ms Invalid (ON) Valid (OFF) (Note 2)15 to 60ms Invalid Electro magnetic brake operation delay time Valid Main circuit Control circuit ON Power OFF ON RA1 OFF Invalid (ON) Dynamic brake Valid (OFF) Note 1. When powering OFF,the RA1 of external dynamic brake circuit will be turned OFF, and the base circuit is turned OFF earlier than usual before an output shortage occurs. (Only when assigning the DB as the output signal in the parameter No.PD12 and PD14) 2. Variable according to the operation status. c. Timing chart when both of the main and control circuit power are OFF 14 - 56 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K [Unit: mm] D E 5 A B E 5 100 G D C Terminal block E a (GND) 2.3 F U b 13 14 V W Screw : M4 Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in]) Tightening torque: 1.2 [N m](10.6 [lb in]) Dynamic brake A B C D E F G Mass [kg]([Ib]) Connection wire [mm2] (Note) DBU-11K 200 190 140 20 5 170 163.5 2 (4.41) 5.5 DBU-15K, 22K 250 238 150 25 6 235 228 6 (13.23) 5.5 Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 14 - 57 14. OPTIONS AND AUXILIARY EQUIPMENT (b) DBU-11K-4 DBU-22K-4 [Unit: mm] 228 280 7 150 25 2.3 10 51 73.75 26 43 260 26 10 2- 7mounting hole 25 195 200 15 179.5 15 178.5 170 15 210 Mass: 6.7[kg] (14.8 [lb]) Terminal block TE1 a TE2 b 13 14 U Screw: M3.5 Tightening torque: 0.8[N m](7[lb in]) Dynamic brake V W Screw: M4 Tightening torque: 1.2[N m](10.6[lb in]) Wire [mm2] (Note) b a U V DBU-11K-4 2 5.5 DBU-22K-4 2 5.5 W Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 14 - 58 14. OPTIONS AND AUXILIARY EQUIPMENT 14.7 Battery MR-J3BAT POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries. However, since this battery is non-dangerous goods (non-Class 9), air transportation of 24 or less batteries is outside the range of the restrictions. Air transportation of more than 24 batteries requires packing compliant with the Packing Standard 903. When a self-certificate is necessary for battery safety tests, contact our branch or representative. For more information, consult our branch or representative. (As of Jun, 2008). (1) Purpose of use for MR-J3BAT This battery is used to construct an absolute position detection system. Refer to section 14.3 for the fitting method, etc. (2) Year and month when MR-J3BAT is manufactured The year and month when MR-J3BAT is manufactured are written down in Serial No. on the rating plate of the battery back face. The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11), Z(12). For October 2004, the Serial No. is like, "SERIAL 4X ". MELSERVO 3.6V,2000mAh SERIAL 4X MR-J3BAT MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN The year and month of manufacture 14 - 59 14. OPTIONS AND AUXILIARY EQUIPMENT 14.8 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed. In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the control box. The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions. The heat sink outside mounting attachment of MR-J3ACN can be used for MR-J3-11KT(4) to MR-J3-22KT(4). (1) Panel cut dimensions [Unit : mm] 4-M10 Screw 510 Punched hole 236 18 39.5 331 535 39.5 Approx. 125 203 255 270 (2) How to assemble the attachment for a heat sink outside mounting attachment Screw (2 places) Attachment 14 - 60 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Punched hole Fit using the assembling screws. Servo amplifier Servo amplifier Control box Attachment a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] 20 Panel Servo amplifier 236 280 Attachment Mounting hole Approx.260 14 - 61 Servo amplifier 3.2 155 105 Approx.260 Panel Approx.11.5 14. OPTIONS AND AUXILIARY EQUIPMENT 14.9 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more for wiring. To comply with other standards, use a wire that is complied with each standard Selection condition of wire size is as follows. Construction condition: One wire is constructed in the air Wire length: 30m or less (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. 3) Motor power supply lead 1) Main circuit power supply lead Servo motor Servo amplifier Power supply L1 U U L2 V V L3 (Note) W W Motor 2) Control power supply lead L11 L21 8) Power regeneration converter lead Power regeneration converter Regenerative option 4) Electromagnetic brake lead B1 Electromagnetic B2 brake N C P C Encoder P Encoder cable (Refer to (2) in this section.) Power supply 4) Regenerative option lead CC-Link cable (Refer to (3) in this section.) Cooling fan BU CN1 BV BW 6) Fan lead Thermal OHS1 OHS2 7) Thermal Note. There is no L3 for 1-phase 100 to 120VAC power supply. 14 - 62 14. OPTIONS AND AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 14.1 Wire size selection example 1 (IV wire) Wires [mm2] (Note 1, 4) Servo amplifier 1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) OHS1 OHS2 MR-J3-10T(1) MR-J3-20T(1) MR-J3-40T(1) MR-J3-60T 1.25(AWG16) 2(AWG14) MR-J3-70T 1.25(AWG16) MR-J3-100T 2(AWG14) MR-J3-200T MR-J3-350T 3.5(AWG12) MR-J3-500T (Note 2) 5.5(AWG10): a MR-J3-700T (Note 2) 8(AWG8): b MR-J3-11KT (Note 2) 14(AWG6): c MR-J3-15KT (Note 2) 22(AWG4): d MR-J3-22KT (Note 2) 50(AWG1/0): f 3.5(AWG12) 1.25(AWG16): h 2(AWG14) 1.25(AWG16): g 8(AWG8): b 3.5(AWG12): a 5.5(AWG10): j 30(AWG2): e 60(AWG2/0): f 1.25(AWG16) MR-J3-200T4 MR-J3-350T4 5.5(AWG10): a 2(AWG14): g 1.25(AWG16) 2(AWG14) 1.25(AWG16) 2(AWG14) (Note 3) 1.25(AWG16) (Note 3) 2(AWG14) 1.25(AWG16) 1.25(AWG16) 2(AWG14) 2(AWG14) 2(AWG14): g 1.25(AWG16): 5.5(AWG10): a h 5.5(AWG10): a MR-J3-11KT4 (Note 2) 8(AWG8): l 8(AWG8): l 3.5(AWG12): j MR-J3-15KT4 (Note 2) 14(AWG6): c 22(AWG4): d 5.5(AWG10): j MR-J3-22KT4 (Note 2) 14(AWG6): m 22(AWG4): n 5.5(AWG10): k MR-J3-700T4 (Note 2) 1.25(AWG16) (Note 3) 5.5(AWG10): k 2(AWG14): g MR-J3-500T4 (Note 2) 2(AWG14) (Note 3) 22(AWG4): d MR-J3-60T4 MR-J3-100T4 2(AWG14) 1.25(AWG16): g 2(AWG14): g Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan. 4. Wires are selected based on the highest rated current among combining servo motors. Use wires 8) of the following sizes with the power regeneration converter (FR-RC-(H)). Model FR-RC-15K FR-RC-30K FR-RC-55K FR-RC-H15K FR-RC-H30K FR-RC-H55K 2 Wires[mm ] 14(AWG6) 14(AWG6) 22(AWG4) 14(AWG6) 14(AWG6) 14(AWG6) 14 - 63 14. OPTIONS AND AUXILIARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. For the wire ( 8)) for power regeneration converter (FR-RC-(H)), use the IV wire indicated in (1) (a) in this section. Table 14.2 Wire size selection example 2 (HIV wire) Wires [mm2] (Note 1, 4) Servo amplifier 1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) OHS1 OHS2 MR-J3-10T(1) MR-J3-20T(1) MR-J3-40T(1) MR-J3-60T 1.25(AWG16) 2(AWG14) MR-J3-70T 1.25(AWG16) MR-J3-100T 1.25(AWG16) MR-J3-200T 2(AWG14) MR-J3-350T 3.5(AWG12) MR-J3-500T (Note 2) 5.5(AWG10): a MR-J3-700T (Note 2) 8(AWG8): b MR-J3-11KT (Note 2) 14(AWG6): c MR-J3-15KT (Note 2) 22(AWG4): d MR-J3-22KT (Note 2) 38(AWG1): p 3.5(AWG12) 1.25(AWG16): h 2(AWG14) 1.25(AWG16): g MR-J3-500T4 (Note 2) MR-J3-700T4 (Note 2) 8(AWG8): b 2(AWG14): g 3.5(AWG12): j 22(AWG4): d 38(AWG1): p 1.25(AWG16) MR-J3-200T4 MR-J3-350T4 5.5(AWG10): a 2(AWG14): g 1.25(AWG16) (Note 3) 1.25(AWG16) (Note 3) 1.25(AWG16) 1.25(AWG16) 1.25(AWG16) (Note 3) 1.25(AWG16) (Note 3) 1.25(AWG16) 1.25(AWG16) 14(AWG6): c MR-J3-60T4 MR-J3-100T4 2(AWG14) 1.25(AWG16) 1.25(AWG16) 5.5(AWG10): k 2(AWG14) 2(AWG14) 2(AWG14): g 2(AWG14): g 1.25(AWG16): 3.5(AWG12): a h 3.5(AWG12): a 2(AWG14): g 5.5(AWG10): a MR-J3-11KT4 (Note 2) 5.5(AWG10): j MR-J3-15KT4 (Note 2) 8(AWG8): l MR-J3-22KT4 (Note 2) 14(AWG6): m 1.25(AWG16): g 8(AWG8): l 2(AWG14): q 14(AWG6): c 3.5(AWG12): j 14(AWG6): m 3.5(AWG12): k Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan. 4. Wires are selected based on the highest rated current among combining servo motors. 14 - 64 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Selection example of crimping terminals Selection example of crimping terminals for the servo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below. Servo amplifier side crimping terminals Symbol a (Note 2) Crimping terminal FVD5.5-4 (Note 1)b 8-4NS c FVD14-6 d FVD22-6 (Note 1)e 38-6 (Note 1)f R60-8 g FVD2-4 h FVD2-M3 j FVD5.5-6 k FVD5.5-8 l FVD8-6 m FVD14-8 n FVD22-8 (Note 1)p R38-8 q FVD2-6 Applicable tool Body Head Dice Manufacturer YNT-1210S YHT-8S YF-1 E-4 YNE-38 YPT-60-21 YF-1 E-4 YET-60-1 YPT-60-21 YF-1 E-4 YET-60-1 DH-112 DH122 DH-113 DH123 TD-112 TD-124 TD-113 TD-125 Japan Solderless Terminal YNT-1614 YNT-1210S DH-111 DH121 YF-1 E-4 YNE-38 DH-112 DH122 DH-113 DH123 YPT-60-21 YF-1 E-4 YET-60-1 TD-112 TD-124 YNT-1614 Note 1. Coat the part of crimping with the insulation tube. 2. Some crimping terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones. 14 - 65 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 14.3 Wires for option cables Characteristics of one core Type Length [m(ft)] Model MR-J3ENCBL Core size Number [mm2] of cores M-A2-L MR-J3ENCBL M-A1-H MR-J3ENCBL 53 or less 1.2 7.1 0.3 (Note 3) VSVP 7/0.26 (AWG#22 or equivalent)-3P Ban-gi-shi-16823 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.3 (Note 3) ETFE SVP 70/0.08 (AWG#22 or equivalent)-3P Ban-gi-shi-16824 0.3 AWG26 8 (4 pairs) 30/0.08 233 or less 1.2 7.1 0.3 (Note 5) T/2464-1061/II A-SB 4P 26AWG M-A2-H 0.3mm2 M-L 30 2 0.3mm 2 20 0.2mm M-H 2 4 (2 pairs) 4 (2 pairs) 12 (6 pairs) 12 (6 pairs) 14 (7 pairs) 12/0.18 7/0.127 12/0.18 40/0.08 65.7 or less 234 or less 63.6 or less 105 or less 105 or less 1.3 7.3 (Note 3) 20276 composite 4-pair shielded cable (A-TYPE) 1.2 8.2 UL20276 AWG#23 6pair(BLACK) 0.88 7.2 (Note 3) A14B2343 6P 0.88 8.0 (Note 3) J14B0238(0.2*7P) 0.67 30 to 50 0.2mm 2 to 10 AWG22 6 (3 pairs) 7/0.26 53 or less 1.2 7.1 0.3 30 AWG23 12 (6 pairs) 12/0.18 63.3 or less 1.2 8.2 0.3 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.3 20 to 50 AWG24 12 (6 pairs) 40/0.08 105 or less 0.88 7.2 (Note 6) AWG19 4 50/0.08 25.40 or less 1.8 5.7 0.3 (Note 4) UL Style 2103 AWG19 4 cores (Note 6) AWG20 2 100/0.08 38.14 or less 1.3 4.0 0.3 (Note 4) UL Style 2103 AWG20 2 cores 40/0.08 M-L 20 MR-J3ENSCBL 2 0.08mm 20 MR-J3ENSCBL M-H MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L Motor power MR-PWS1CBL M-A1-H supply cable MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L Motor brake MR-BKS1CBL M-A1-H cable MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L Wire model 7/0.26 2 to 10 MR-EKCBL (Note 3) Finishing OD [mm] 6 (3 pairs) MR-J3JCBL03M-A2-L MR-EKCBL Insulation coating OD d [mm] (Note 1) AWG22 MR-J3JCBL03M-A1-L Encoder cable Conductor resistance [ /mm] 2 to 10 M-A1-L MR-J3ENCBL Structure [wires/mm] 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3 Note 1. d is as shown below. d Conductor Insulation sheath 2. Purchased from Toa Electric Industry 3. Standard OD. Max. OD is about 10% greater. 4. Kurabe 5. Taiyo Electric Wire and Cable 6. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m. 14 - 66 (Note 3) VSVP 7/0.26 (Equivalent to AWG#22)-3P Ban-gi-shi-16823 (Note 3) 20276 VSVCAWG#23 6P Ban-gi-shi-15038 (Note 3) ETFE SVP 70/0.08 (Equivalent to AWG#22)-3P Ban-gi-shi-16824 (Note 3) ETRE SVP 40/0.08mm 6P Ban-gi-shi-15266 14. OPTIONS AND AUXILIARY EQUIPMENT (3) CC-Link twisted cable POINT For the cables other than the one indicated here, refer to the open field network CC-Link catalog (L(NA)74108143). The specifications of the twisted cable usable in CC-Link and the recommended cable are indicated below. If the cable used is other than the recommended cable indicated in the following table, we cannot guarantee the performance of CC-Link. For inquiries on CC-Link compatible cables, contact the nearest Mitsubishi Electric System Service. Item Specifications Model FANC-110SBH Manufacturer Kuramo Electric Application Size Insulator material Insulator color Sheath material For fixed parts 20AWG 3 Polyethylene foam Oil resistant vinyl Sheath color Operating temperature range (Note) Tensile strength Minimum bend radius Brown 0 to 75 (32 to 167 ) 49N 35mm Outline dimension Approx. 7.6mm Approximate mass 70kg/km Conductor resistance (20 ) Characteristic impedance Sheath Braided screen Tape Insulator Conductor Inclusion Ground wire Blue, white, and yellow Fig. 14.1 Structure 34.5 /km or lower 110 15 UL AWM Style 2464 Applicable specification CAN/CSA-C22.2 No.210.2-M90(cUL) Note. An upper limit of the operating temperature range shows a heat-resistant temperature of the cable material. In high-temperature environment, the transmittable distance may be reduced. 14 - 67 14. OPTIONS AND AUXILIARY EQUIPMENT 14.10 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. No-fuse breaker Not using power factor improving reactor Servo amplifier Using power factor improving reactor Fuse (Note) Class Current [A] Voltage AC [V] Magnetic contactor MR-J3-10T (1) 30A frame 5A 30A frame 5A 10 MR-J3-20T 30A frame 5A 30A frame 5A 10 MR-J3-20T1 30A frame 10A 30A frame 10A 15 MR-J3-40T 30A frame 10A 30A frame 5A 15 30A frame 15A 30A frame 10A 20 MR-J3-200T 30A frame 20A 30A frame 15A 40 MR-J3-350T 30A frame 30A 30A frame 30A 70 MR-J3-500T 50A frame 50A 50A frame 40A 125 S-N35 MR-J3-60T 70T 100T 40T1 S-N10 250 S-N18 S-N20 MR-J3-700T 100A frame 75A 50A frame 50A 150 S-N50 MR-J3-11KT 100A frame 100A 100A frame 75A 200 S-N65 MR-J3-15KT 225A frame 125A 100A frame 100A MR-J3-22KT 225A frame 175A 225A frame 150A T 250 S-N95 350 S-N125 MR-J3-60T4 30A frame 5A 30A frame 5A 10 MR-J3-100T4 30A frame 10A 30A frame 10A 15 MR-J3-200T4 30A frame 15A 30A frame 15A 25 MR-J3-350T4 30A frame 20A 30A frame 20A 35 MR-J3-500T4 30A frame 30A 30A frame 30A 50 MR-J3-700T4 50A frame 40A 50A frame 30A 65 MR-J3-11KT4 60A frame 60A 50A frame 50A 100 S-N25 MR-J3-15KT4 100A frame 75A 60A frame 60A 150 S-N35 S-N10 600 MR-J3-22KT4 225A frame 125A 100A frame 100A 175 Note. When not using the servo amplifier as a UL/C-UL Standard compliant product, K5 class fuse can be used. 14 - 68 S-N18 S-N20 S-N65 14. OPTIONS AND AUXILIARY EQUIPMENT 14.11 Power factor improving DC reactor POINT For the 100V power supply type (MR-J3- T1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor. It can decrease the power supply capacity. As compared to the power factor improving AC reactor (FR-BAL), it can decrease the loss. The input power factor is improved to about 95%. It is also effective to reduce the input side harmonics. When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P1 and P2 (For 11kW or more, disconnect P1 and P). If it remains connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10cm or more clearance at each of the top and bottom, and a 5cm or more clearance on each side. [Unit: mm] Rating plate Terminal box - screw size G Rating plate (Note 1)Terminal cover Screw size G 5m or less E H A or less B or less (Note 2) E A or less 2-F Mounting leg H B or less L notch L F Servo amplifier FR-BEL-(H) P1 (Note 3) P2 5m or less L notch L 2-F P2 C or less (Note 2) D D C or less Servo amplifier FR-BEL-(H) P1 F Fig. 14.2 Fig. 14.3 Note 1. Since the terminal cover is supplied, attach it after connecting a wire. 2. When using DC reactor, disconnect P1 and P2. 3. When over 11kW, "P2" becomes "P" respectively. 14 - 69 Mounting leg 14. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier MR-J3-10T 20T MR-J3-40T MR-J3-60T 70T Power factor improving DC reactor B C D E F L G H Mounting screw size Mass [kg(lb)] FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.5(1.10) 120 53 102 1.6 105 6 12 M4 25 M5 0.7(1.54) FR-BEL-1.5K Wire [mm2] (Note) 130 65 110 1.6 115 6 12 M4 30 M5 1.1(2.43) 130 65 110 1.6 115 6 12 M4 30 M5 1.2(2.65) FR-BEL-3.7K 150 75 102 2.0 135 6 12 M4 40 M5 1.7(3.75) FR-BEL-7.5K 150 75 126 2.0 135 6 12 M5 40 M5 2.3(5.07) 3.5(AWG12) FR-BEL-11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1(6.83) 5.5(AWG10) FR-BEL-15K 170 93 170 2.3 155 6 14 M8 56 M5 3.8(8.38) 185 119 182 2.6 165 7 15 M8 70 M6 5.4(11.91) 185 119 201 2.6 165 7 15 M8 70 M6 6.7(14.77) 60(AWG2/0) FR-BEL-2.2K MR-J3-200T MR-J3-350T MR-J3-500T MR-J3-11KT Dimensions [mm] A FR-BEL-0.75K MR-J3-100T MR-J3-700T Outline drawing MR-J3-15KT FR-BEL-22K MR-J3-22KT FR-BEL-30K Fug. 14.2 Fig. 14.3 2(AWG14) 8(AWG8) 22(AWG4) 30(AWG2) MR-J3-60T4 FR-BEL-H1.5K 130 63 89 1.6 115 6 12 M3.5 32 M5 0.9(1.98) MR-J3-100T4 FR-BEL-H2.2K 130 63 101 1.6 115 6 12 M3.5 32 M5 1.1(2.43) MR-J3-200T4 FR-BEL-H3.7K 150 75 102 2 135 6 12 M4 40 M5 1.7(3.75) MR-J3-350T4 FR-BEL-H7.5K 150 75 124 2 135 6 12 M4 40 M5 2.3(5.07) MR-J3-500T4 FR-BEL-H11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1(6.83) 5.5(AWG10) 170 93 160 2.3 155 6 14 M6 56 M5 3.7(8.16) 8(AWG8) 185 119 171 2.6 165 7 15 M6 70 M6 5.0(11.02) 185 119 189 2.6 165 7 15 M6 70 M6 6.7(14.77) MR-J3-700T4 MR-J3-11KT4 Fig. 14.2 FR-BEL-H15K MR-J3-15KT4 FR-BEL-H22K MR-J3-22KT4 FR-BEL-H30K Fig. 14.3 Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 14 - 70 2(AWG14) 22(AWG4) 14. OPTIONS AND AUXILIARY EQUIPMENT 14.12 Power factor improving reactors The power factor improving reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%. In addition, it reduces the higher harmonic of input side. When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated. [Unit : mm] Servo amplifier MR-J3- T(4) FR-BAL-(H) H 5 3-phase 200 to 230VAC or 3-phase 380 to 480VAC W C D 5 RXSY T Z NFB D1 Installation screw NFB MC MC (Note) 1-phase 200v to 230VAC R X S Y T Z 1-phase 100 to120VAC NFB MC L2 L3 Servo amplifier MR-J3- T FR-BAL R X S Y T Z W1 L1 L1 L2 L3 Servo amplifier MR-J3- T1 FR-BAL R X S Y T Z L1 Blank L2 Note. For the 1-phase 200V to 230V power supply, Connect the power supply to L1, L2 and leave L3 open. 14 - 71 14. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier Model C Mounting screw size Terminal screw size Mass [kg (lb)] 0 -2.5 7.5 M4 M3.5 2.0 (4.41) 57 0 -2.5 7.5 M4 M3.5 2.8 (6.17) 71 55 0 -2.5 7.5 M4 M3.5 3.7 (8.16) 91 75 0 -2.5 7.5 M4 M3.5 5.6 (12.35) 90 70 0 -2.5 10 M5 M4 8.5 (18.74) 120 100 0 -2.5 10 M5 M5 14.5 (31.97) 100 0 -2.5 12.5 M6 M6 19 (41.89) 110 0 -2.5 12.5 M6 M6 27 (59.53) Dimensions [mm] W W1 H D FR-BAL-0.4K 135 120 115 59 45 FR-BAL-0.75K 135 120 115 69 FR-BAL-1.5K 160 145 140 MR-J3-100T FR-BAL-2.2K 160 145 140 MR-J3-200T FR-BAL-3.7K 220 200 192 MR-J3-350T FR-BAL-7.5K 220 200 194 MR-J3-500T FR-BAL-11K 280 255 220 135 MR-J3-10T 20T MR-J3-40T 20T1 MR-J3-60T 70T MR-J3-700T 10T1 40T1 D1 FR-BAL-15K 295 270 275 133 MR-J3-15KT FR-BAL-22K 290 240 301 199 170 5 25 M8 M8 35 (77.16) MR-J3-22KT FR-BAL-30K 290 240 301 219 190 5 25 M8 M8 43 (94.80) MR-J3-60T4 FR-BAL-H1.5K 160 145 140 87 70 0 -2.5 7.5 M4 M3.5 5.3 (11.68) MR-J3-100T4 FR-BAL-H2.2K 160 145 140 91 75 0 -2.5 7.5 M4 M3.5 5.9 (13.01) MR-J3-200T4 FR-BAL-H3.7K 220 200 190 90 0 10 M5 M3.5 8.5 (18.74) MR-J3-350T4 FR-BAL-H7.5K 220 200 192 120 70 -2.5 100 5 10 M5 M4 14 (30.87) MR-J3-500T4 FR-BAL-H11K 280 255 226 130 100 5 12.5 M6 M5 18.5 (40.79) FR-BAL-H15K 295 270 244 130 110 5 12.5 M6 M5 27 (59.53) MR-J3-15KT4 FR-BAL-H22K 290 240 269 199 170 5 25 M8 M8 Approx.35 (Approx.77.16) MR-J3-22KT4 FR-BAL-H30K 290 240 290 219 190 5 25 M8 M8 Approx.43 (Approx.94.80) MR-J3-11KT MR-J3-700T4 MR-J3-11KT4 14 - 72 14. OPTIONS AND AUXILIARY EQUIPMENT 14.13 Relays (recommended) The following relays should be used with the interfaces. Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of rated current 40mA or less (Ex.) Omron : type MY 14.14 Surge absorbers (recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. When using the surge absorber, perform insulation beforehand to prevent short-circuit. Maximum rating Permissible circuit voltage Energy immunity Rated power DC [V] [A] [J] [W] 180 (Note) 500/time 8 0.4 25 [V] 360 Static capacity (reference value) Varistor voltage rating (range) V1mA [pF] [V] 300 220 (198 to 242) 20 s 13.5 [Unit: mm] 4.7 1.0 (Example) ERZV10D221 (Matsushita Electric Industry) 0.8 TNR-10V221K (Nippon chemi-con) 30.0 or more Note. 1 time 5 [A] 16.5 140 3.0 or less AC [Vma] Surge immunity Maximum limit voltage 14 - 73 Outline drawing [mm] (ERZ-C10DK221) 14. OPTIONS AND AUXILIARY EQUIPMENT 14.15 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission. (1) Noise reduction techniques (a) General reduction techniques Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables. Use shielded, twisted pair cables for connection with the encoder and for control signal transmission, and connect the shield to the SD terminal. Ground the servo amplifier, servo motor, etc. together at one point (refer to section 4.12). (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables. Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings. Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended. 14 - 74 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables. Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Route 1) Noise radiated from the power supply cable Route 2) Noise radiated from servo motor cable Route 3) Magnetic induction noise Routes 4) and 5) Static induction noise Route 6) Noises transmitted through electric channels Noise transmitted through power supply cable Route 7) Noise sneaking from grounding cable due to leakage current Route 8) 5) 7) 7) 1) Instrument 7) 2) Receiver Servo amplifier 2) Sensor power supply 3) 8) 6) Sensor 4) Servo motor 14 - 75 M 3) 14. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. 3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or bundling them together. 4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line. 5. Use shielded wires for signal and power cables or put cables in separate metal conduits. 4) 5) 6) When the power lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. 3. Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling them together. 4. Use shielded wires for signal and power cables or put the cables in separate metal conduits. 7) When the power supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required. 1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the servo amplifier. 2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier. 8) When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device. (2) Noise reduction products (a) Data line filter (Recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN make are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. This impedance is reference values and not guaranteed values. Impedance[ ] 80 150 [Unit: mm] 39 1 34 1 Loop for fixing the cable band TDK Product name 13 1 100 to 500MHz 30 1 10 to 100MHz Lot number Outline drawing (ZCAT3035-1330) 14 - 76 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, or the like near the servo amplifier is shown below. Use this product or equivalent. MC Surge suppressor Relay Surge suppressor This distance should be short (within 20cm). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Rated voltage AC[V] 200 Outline drawing [Unit: mm] C [ F] R[ ] Test voltage AC[V] 0.5 50 (1W) Across T-C 1000(1 to 5s) Vinyl sheath Blue vinyl cord Red vinyl cord 10 or less 10 3 10 or less 48 1.5 Note that a diode should be installed to a DC relay, DC valve or the like. Maximum voltage: Not less than 4 times the drive voltage of the relay or the like Maximum current: Not less than twice the drive current of the relay or the like 14 - 77 6 4 10 3 15 1 200 or more 18 1.5 200 or more RA Diode 31 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Cable clamp fitting AERSBAN - SET Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin, clamp several cables in a bunch. The clamp comes as a set with the earth plate. [Unit: mm] Cable Cable clamp (A,B) Strip the cable sheath of the clamped area. 40 cutter Earth plate cable External conductor Clamp section diagram Outline drawing [Unit: mm] Earth plate Clamp section diagram 2- 5 hole installation hole 30 17.5 11 35 Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type A B C Accessory fittings Clamp fitting L AERSBAN-DSET 100 86 30 clamp A: 2pcs. A 70 AERSBAN-ESET 70 56 clamp B: 1pc. B 45 14 - 78 (0.940) 0.3 0 24 22 6 (Note)M4 screw 10 A 35 7 24 3 0 0.2 6 C B 0.3 L or less 14. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] Use the line noise filters for wires of the main power supply (L1 L2 L3) and of the motor power supply (U V W). Pass each of the 3-phase wires through the line noise filter an equal number of times in the same direction. For the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the motor power supply, passes must be four times or less. Do not pass the grounding (earth) wire through the filter, or the effect of the filter will drop. Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in Example 2. Place the line noise filters as close to the servo amplifier as possible for their best performance. NFB Power supply MC Approx.22.5 2- 5 Approx.65 Approx.65 4.5 33 Servo amplifier FR-BLF(for wire size 5.5mm2 (AWG10) or more) L1 7 31.5 L2 Line noise L3 filter (Number of turns: 4) Example 2 NFB MC 130 85 Servo amplifier 80 L2 Line noise L3 filter Two filters are used (Total number of turns: 4) 35 L1 160 180 2.3 Power supply Approx.110 95 0.5 7 Example 1 FR-BSF01 (for wire size 3.5mm2 (AWG12) or less) (e) Radio noise filter (FR-BIF-(H)) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF-(H) is designed for the input only. Connection diagram Outline drawing (Unit: mm) MC Power supply Servo amplifier Green L1 L2 29 5 hole 42 NFB Leakage current: 4mA Red White Blue About 300 Make the connection cables as short as possible. Grounding is always required. When using the FR-BIF with a single-phase power supply, always insulate the wires that are not used for wiring. 4 L3 58 Radio noise 200V class: FR-BIF filter FR-BIF400V class: FR-BIF-H (H) 29 7 44 14 - 79 14. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMICON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog. Maximum rating Power supply voltage Varistor Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power [W] AC[Vrms] DC[V] 8/20 s[A] 2ms[J] 100V class TND20V-431K 275 350 10000/1 time 195 200V class TND20V-471K 300 385 7000/2 time 215 400V class TND20V-102K 625 825 7500/1 time 6500/2 time 400 1.0 Static Varistor voltage Maximum limit capacity rating (range) voltage (reference V1mA value) [A] 100 [V] [pF] [V] 710 1300 430(387 to 473) 775 1200 470(423 to 517) 1650 500 1000(900 to 1100) [Unit: mm] D T Model H TND20V-431K TND20V-471K TND20V-102K D Max. H Max. 21.5 24.5 22.5 25.5 T Max. 6.4 E 1.0 d 0.05 (Note)L min. 3.3 6.6 3.5 9.5 6.4 20 0.8 E L Note. For special purpose items for lead length (L), contact the manufacturer. W d 14 - 80 W 1.0 10.0 14. OPTIONS AND AUXILIARY EQUIPMENT 14.16 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. Make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm) to minimize leakage currents. Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] (14.1) K: Constant considering the harmonic contents Cable NV Leakage current breaker Mitsubishi Type products Noise filter Servo amplifier Ig1 Ign Iga Cable Ig2 M Models provided with harmonic and surge reduction techniques Igm General models Ign: Iga: Igm: 120 [mA] 120 Leakage current Ig2: 1 3 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 14.4.) Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 14.4.) Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF-(H)) Leakage current of the servo amplifier (Found from Table 14.5.) Leakage current of the servo motor (Found from Table 14.4.) Leakage current Ig1: NV-SP NV-SW NV-CP NV-CW NV-L BV-C1 NFB NV-L K 100 80 60 40 [mA] 80 60 40 20 20 0 100 2 3.5 0 8 1422 38 80 150 5.5 30 60 100 Cable size[mm2] a. 200V class 2 5.5 14 38 100 3.5 8 22 60 150 30 80 Cable size[mm2] b. 400V class Fig. 14.4 Leakage current example (lg1, lg2) for CV cable run in metal conduit 14 - 81 14. OPTIONS AND AUXILIARY EQUIPMENT Table 14.4 Servo motor’s leakage current example (Igm) Servo motor output [kW] Table 14.5 Servo amplifier's leakage current example (Iga) Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 0.1 to 0.6 0.1 2 0.2 0.75 to 3.5 (Note) 0.15 3.5 0.3 5 7 2 5 0.5 11 15 5.5 7 0.7 11 1.0 15 1.3 22 2.3 22 7 Note. For the 3.5kW of 400V class, leakage current is 2mA, which is the same as for 5kW and 7kW. Table 14.6 Leakage circuit breaker selection example Servo amplifier Rated sensitivity current of leakage circuit breaker [mA] MR-J3-10T to MR-J3-350T MR-J3-10T1 to MR-J3-40T1 15 MR-J3-60T4 to MR-J3-350T4 MR-J3-500T(4) 30 MR-J3-700T(4) 50 MR-J3-11KT(4) to MR-J3-22KT(4) 100 (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions. 2mm2 5m 2mm2 5m NV Servo amplifier MR-J3-40T Iga Ig1 M Ig2 HF-KP43 Igm Use a leakage current breaker generally available. Find the terms of Equation (14.1) from the diagram. Ig1 20 5 1000 0.1 [mA] Ig2 20 5 1000 0.1 [mA] Ign 0 (not used) Iga 0.1 [mA] Igm 0.1 [mA] Insert these values in Equation (14.1). Ig 10 {0.1 0 0.1 1 (0.1 0.1)} 4.0 [mA] According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-SP/SW/CP/CW/HW series. 14 - 82 14. OPTIONS AND AUXILIARY EQUIPMENT 14.17 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Servo amplifier Model Leakage current [mA] Mass [kg]([lb]) MR-J3-10T to MR-J3-100T MR-J3-10T1 to MR-J3-40T1 (Note) HF3010A-UN MR-J3-250T MR-J3-350T (Note) HF3030A-UN MR-J3-500T MR-J3-700T (Note) HF3040A-UN 1.5 6.0 (13.23) MR-J3-11KT to MR-J3-22KT (Note) HF3100A-UN 6.5 15 (33.07) MR-J3-60T4 to MR-J3-100T4 TF3005C-TX MR-J3-200T4 to MR-J3-700T4 TF3020C-TX MR-J3-11KT4 TF3030C-TX MR-J3-15KT4 TF3040C-TX MR-J3-22KT4 TF3060C-TX 3 (6.61) 5 5.5 (12.13) 6(13.23) 5.5 7.5(16.54) 12.5(27.56) Note. A surge protector is separately required to use any of these EMC filters. (2) Connection example EMC filter NFB (Note 1) Power supply MC Servo amplifier 1 4 L1 2 5 L2 3 6 L3 E L11 L21 1 2 3 1 2 (Note 2) Surge protector 1 (RAV-781BYZ-2) (OKAYA Electric Industries Co., Ltd.) (Note 2) 3 Surge protector 2 (RAV-781BXZ-4) (OKAYA Electric Industries Co., Ltd.) Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1,L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification. 2. The example is when a surge protector is connected. 14 - 83 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] 4-5.5 7 3-M4 M4 2 4 85 110 32 2 3-M4 IN Approx.41 258 4 273 2 288 4 300 5 65 4 HF3030A-UN HF-3040A-UN 6-K 3-L G F E D 1 2 1 2 3-L C 1 M J 2 C 1 H 2 B 2 A 5 Model HF3030A-UN Dimensions [mm] A 260 B 210 C 85 D 155 E 140 F 125 HF3040A-UN 14 - 84 G 44 H 140 J K L M 70 R3.25, length 8 M5 M4 14. OPTIONS AND AUXILIARY EQUIPMENT HF3100A-UN 2-6.5 2- 6.5 8 M8 145 1 165 3 M8 M6 160 3 380 1 400 5 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 6-R3.25 length8 M4 M4 3 M4 M4 155 2 140 1 16 16 125 2 Approx.12.2 3-M4 IN Approx.67.5 3 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 14 - 85 14. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] 8-M M4 M4 3-M6 M6 F 1 E 2 G 2 22 22 Approx.17 3-M6 IN D 1 D 1 L D 1 C 2 K 2 B 5 J H 5 A 5 Model TF3040C-TX Dimensions [mm] A 438 B 412 C 390 D 100 E 175 F 160 G 145 TF3060C-TX 14 - 86 H 200 J Approx.190 K 180 L M Approx.91.5 R3.25 length 8 (M6) 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector 1) 2) 3) Black Black Black 11 1 0.2 [Unit: mm] UL-1015AWG16 2 3 28 1.0 1 4.5 0.5 200 30 0 28.5 1.0 4.2 5.5 1 RAV-781BYZ-2 41 1.0 [Unit: mm] 11 1 1) UL-1015AWG16 1 2 3 4.5 0.5 200 30 0 28.5 1.0 0.2 28 1.0 4.2 5.5 1 RAV-781BXZ-4 41 1.0 14 - 87 2) 3) 4) 14. OPTIONS AND AUXILIARY EQUIPMENT 14.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to rotate the servo motor. Using external input signals, the moving distance of the servo motor can be specified in accordance with pulses generated from MR-HDP01. To do this specification, in the parameter No.PD06 to PD08, assign the manual pulse generator multiplication 1 (TP0) and 2 (TP1) to the CN6 connector pins. (1) Specifications Item Voltage Power supply Current consumption Specifications 4.5 to 13.2VDC 60mA or less interface Output current max. 20mA for open collector output Pulse signal form A-phase, B-phase, 2 signals of 90 phase difference Pulse resolution 100pulse/rev Max. speed 600r/min moment, 200r/min normally Operating temperature range 10 to 60 (14 to 140 ) Storage temperature range 30 to 80 ( 22 to 176 ) (2) Connection example Servo amplifier CN6 Manual pulse generator multiplication 1 TP0 (Note) Manual pulse generator multiplication 2 TP1 (Note) 5VDC power supply Manual pulse generator MR-HDP01 5V to 12 DOCOM 17 A PP 6 NP 19 OPC 18 0V B DICOM 5 SD Plate Note. Assign TP0 and TP1 using parameter No.PD06 to PD08 PD12 PD14. 14 - 88 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Terminal layout Signal 5 to 12V 0V A Description 5 to 12V B Power input 0V Common for power and signal A A-phase pulse output B B-phase pulse output (4) Installation Panel cut 62 0 2 3- 4.8 Equally spaced 72 0.2 (5) Outline drawing 3.6 [Unit: mm] Packing t2.0 3-M4 stud L10 1 0.5 60 80 MANUAL TYPE 50 70 SERIALNO. P.C.D72 equally spaced 5V to 12V 0V A B M3 6 may only be installed 16 20 27.0 0.5 8.89 14 - 89 7.6 14. OPTIONS AND AUXILIARY EQUIPMENT MEMO 14 - 90 15. COMMUNICATION FUNCTION 15. COMMUNICATION FUNCTION Using the serial communication function of RS-422, this servo amplifier enables servo operation, parameter change, monitor function, etc. 15.1 Configuration (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable. Personal computer Servo amplifier 10m or less CN3 RS-422/232C conversion cable DSV-CABV (Diatrend) To RS-232C connector (2) Multidrop connection (a) Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier CN3 Servo amplifier CN3 CN3 Personal computer RS-422/232C conversion cable DSV-CABV (Diatrend) (Note 1) To RS-232C connector (Note 1) (Note 1) (Note 2) Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector. 2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor. 15 - 1 15. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below. (Note 3) 30m or less (Note 4, 5) (Note 1) Axis 1 servo amplifier CN3 connector (RJ45 connector) 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 8) 1 2 3 4 5 6 7 8 LG P5D RDP SDN SDP RDN LG NC (Note 5) 1 2 3 4 5 6 7 8 (Note 6) Branch connector (Note 1) Axis 2 servo amplifier CN3 connector (RJ45 connector) (Note 4, 5) 1 LG 2 P5D 3 RDP 4 SDN 5 SDP 6 RDN 7 LG 8 NC (Note 1, 7) Axis n servo amplifier CN3 connector (RJ45 connector) (Note 4, 5) 1 LG 2 P5D 3 RDP 4 SDN 5 SDP 6 RDN 7 LG 8 NC 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 5) 1 2 3 4 5 6 7 8 (Note 6) Branch connector 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 RDP (Note 2) 150 RDN (Note 6) Branch connector Note 1. Recommended connector (Hirose Electric) Plug: TM10P-88P Connection tool: CL250-0228-1 2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor. 3. The overall length is 30m or less in low-noise environment. 4. The wiring between the branch connector and servo amplifier should be as short as possible. 5. Use the EIA568-compliant cable (10BASE-T cable, etc.). 6. Recommended branch connector: BMJ-8 (Hakko Electric Machine Works) 7. n 32 (Up to 32 axes can be connected.) 8. RS-422/232C conversion cable DSV-CABV (Diatrend). 15 - 2 15. COMMUNICATION FUNCTION 15.2 Communication specifications 15.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data. Item Baud rate Transfer code Transfer protocol Description 9600/19200/38400/57600/115200 asynchronous system Start bit : 1 bit Data bit : 8 bits Parity bit : 1 bit (even) Stop bit : 1 bit Character system, half-duplex communication system (LSB) Start 0 (MSB) 1 2 3 4 5 Data 1 frame (11bits) 15 - 3 6 7 Parity Stop Next start 15. COMMUNICATION FUNCTION 15.2.2 Parameter setting When the USB/RS-422 communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baud rate Choose the communication speed. Match this value to the communication speed of the sending end (master station). Parameter No.PC21 Communication baud rate 0: 9600[bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps] 4: 115200[bps] (2) RS-422 communication response delay time Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more. Parameter No.PC21 RS-422 communication response delay time 0: Invalid 1: Valid, reply sent in 800 s or more (3) Station number setting Set the station number of the servo amplifier in parameter No.PC20. The setting range is station 0 to 31. 15 - 4 15. COMMUNICATION FUNCTION 15.3 Protocol 15.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command. Transmission data is valid for the servo amplifier of the specified station number or group. When "*" is set as the station number added to the transmission data, the transmission data is made valid for all servo amplifiers connected. However, when return data is required from the servo amplifier in response to the transmission data, set "0" to the station number of the servo amplifier which must provide the return data. S O H 10 frames (data) S T X Data No. Data* E T X Check sum S T X Station number or group Servo side (Slave station) Station number or group Error code Controller side (Master station) Command (1) Transmission of data from the controller to the servo E T X Check sum 6 frames Positive response: Error code A Negative response: Error code other than A (2) Transmission of data request from the controller to the servo S O H S T X Data No. E T X Check sum Station number or group S T X Station number or group Servo side (Slave station) Error code Controller side (Master station) Command 10 frames Data* 6 frames (data) (3) Recovery of communication status by time-out Controller side (Master station) EOT causes the servo to return to the receive neutral status. E O T Servo side (Slave station) (4) Data frames The data length depends on the command. Data 4 frames or Data or 12 frames or 16 frames 8 frames 15 - 5 E T X Check sum 15. COMMUNICATION FUNCTION 15.3.2 Character codes (1) Control codes Hexadecimal Code name Personal computer terminal key operation Description (ASCII code) (General) SOH 01H start of head ctrl A STX 02H start of text ctrl B ETX 03H end of text ctrl C EOT 04H end of transmission ctrl D (2) Codes for data ASCII codes are used. b8 to b5 b4 b3 b2 b8 0 0 0 0 0 0 0 0 b7 0 0 0 0 1 1 1 1 b6 0 0 1 1 0 0 1 1 b5 0 1 0 1 0 1 0 1 0 1 2 3 4 5 6 7 C b1 R 0 0 0 0 0 NUL DLE Space 0 @ P ` p 0 0 0 1 1 SOH DC1 ! 1 A Q a q 0 0 1 0 2 STX DC2 “ 2 B R b r 0 0 1 1 3 ETX DC3 # 3 C S c s 0 1 0 0 4 $ 4 D T d t 0 1 0 1 5 % 5 E U e u 0 1 1 0 6 & 6 F V f v 0 1 1 1 7 ‘ 7 G W g w 1 0 0 0 8 ( 8 H X h x 1 0 0 1 9 ) 9 I Y i y 1 0 1 0 10 : J Z j z 1 0 1 1 11 ; K [ k { 1 1 0 0 12 1 1 0 1 13 1 1 1 0 14 . 1 1 1 1 15 / , L ? l | M ] m } N ^ n ¯ O _ o DEL (3) Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify the stations. Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F Station number 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 ASCII code G H I J K L M N O P Q R S T U V For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1). (4) Group Group a b c d e f ASCII code a b c d e f All group For example, "61H" is transmitted in hexadecimal for group a. 15 - 6 15. COMMUNICATION FUNCTION 15.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred. Error code Error name Description Remarks Servo normal Servo alarm [A] [a] Normal operation Data transmitted was processed properly. [B] [b] Parity error Parity error occurred in the transmitted data. [C] [c] Checksum error Checksum error occurred in the transmitted data. [D] [d] Character error Character not existing in the specifications was transmitted. [E] [e] Command error Command not existing in the specifications was transmitted. [F] [f] Data No. error Data No. not existing in the specifications was transmitted. Positive response Negative response 15.3.4 Checksum The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH). (Example) Station number or group S T X [0] [A] [1] [2] [5] [F] E T X [5] [2] 02H 30H 41H 31H 32H 35H 46H 03H STX or SOH ETX Check 30H 41H 31H 32H 35H 46H 03H 152H Checksum range Lower 2 digits 52 is sent after conversion into ASCII code [5][2]. 15 - 7 15. COMMUNICATION FUNCTION 15.3.5 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300ms after the master station has ended communication operation. 100ms after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times. (Communication error) 100ms 300ms E O T 100ms *Time-out 300ms Message E O T 300ms Message 100ms Message Controller (Master station) Message 300ms E O T Servo (Slave station) 15.3.6 Retry operation Servo (Slave station) S T X Station number or group *Communication error Message Message Controller (Master station) Message When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A communication error occurs if the above operation is repeated and results in the error three or more consecutive times. S T X Station number or group S T X Station number or group Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave station, the master station retransmits the message which was sent at the occurrence of the fault. A communication error occurs if the retry operation is performed three times. 15 - 8 15. COMMUNICATION FUNCTION 15.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after. (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems. 15.3.8 Communication procedure example The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0. Data item Value Description Station number 0 Command 33 Servo amplifier station 0 Read command Data No. 10 Alarm history (last alarm) Axis No. Command Data No. Start Data [0] 3 3 Data make-up STX 10 ETX [0][3][3] STX [1][0] ETX Checksum 30H 33H 33H 02H 31H 30H 03H FCH Checksum calculation and addition Transmission data Addition of SOH to make up transmission data SOH 0 33 STX 10 ETX F C 46H 43H Master station slave station Master station slave station Master station slave station Data transmission Data receive No Is there receive data? Yes 300ms elapsed? No Yes 3 consecutive times? Yes No Other than error code [A] [a]? 3 consecutive times? Yes No No Yes 100ms after EOT transmission Error processing Receive data analysis Error processing End 15 - 9 15. COMMUNICATION FUNCTION 15.4 Command and data No. list POINT If the command and data No. are the same, the description may be different depending on models of servo amplifiers. 15.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. [0] [1] [0] [0] Description Status display name and unit [0] [1] Display item Current position Frame length 16 Command position [0] [2] Command remaining distance [0] [3] Point table No. [0] [4] Cumulative feedback pulses [0] [5] Servo motor speed [0] [6] Droop pulses [0] [7] [0] [8] [0] [9] [0] [A] Regenerative load ratio [0] [B] Effective load ratio [0] [C] Peak load ratio [0] [D] Instantaneous torque [0] [E] Within one-revolution position [0] [F] ABS counter [1] [0] Load inertia moment ratio [1] [1] [8] [0] [8] [1] Bus voltage Status display data value and processing information Current position Command position [8] [2] Command remaining distance [8] [3] Point table No. [8] [4] Cumulative feedback pulses [8] [5] Servo motor speed [8] [6] Droop pulses [8] [7] [8] [8] [8] [9] [8] [A] Regenerative load ratio [8] [B] Effective load ratio [8] [C] Peak load ratio [8] [D] Instantaneous torque [8] [E] Within one-revolution position [8] [F] ABS counter [9] [0] Load inertia moment ratio [9] [1] Bus voltage 15 - 10 12 15. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) Command Data No. [0] [4] [0] [1] Description Parameter group read 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.PB ) 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD ) Frame length 4 ) [0] [5] [0] [1] to [F] [F] Current values of parameters Reads the current values of the parameters in the parameter group specified with the command [8][5] + data No. [0][0]. Before reading the current values, therefore, always specify the parameter group with the command [8][5] + data No. [0][0]. The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter number. 8 [0] [6] [0] [1] to [F] [F] Upper limit values of parameter setting ranges Reads the permissible upper limit values of the parameters in the parameter group specified with the command [8][5] + data No. [0][0]. Before reading the upper limit values, therefore, always specify the parameter group with the command [8][5] + data No. [0][0]. The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter number. 8 [0] [7] [0] [1] to [F] [F] Lower limit values of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command [8][5] + data No. [0][0]. Before reading the lower limit values, therefore, always specify the parameter group with the command [8][5] + data No. [0][0]. The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter number. 8 [0] [8] [0] [1] to [F] [F] Abbreviations of parameters Reads the abbreviations of the parameters in the parameter group specified with the command [8][5] + data No. [0][0]. Before reading the abbreviations, therefore, always specify the parameter group with the command [8][5] + data No. [0][0]. The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter number. 12 [0] [9] [0] [1] to [F] [F] Write enable/disable of parameters Reads write enable/disable of the parameters in the parameter group specified with the command [8][5] + data No. [0][0]. Before reading write enable/disable, therefore, always specify the parameter group with the command [8][5] + data No. [0][0]. 0000: Write enabled 0001: Write disabled 4 (3) External I/O signals (Command [1][2]) Command Data No. [1] [2] [0] [0] [0] [1] [4] [0] [6] [0] [6] [1] [8] [0] [8] [1] [C] [0] Description Frame length 8 Input device status External input pin status Status of input device turned ON by communication Output device status External output pin status 15 - 11 15. COMMUNICATION FUNCTION (4) Alarm history (Command [3][3]) Command Data No. [3] [3] [1] [0] Description Alarm occurrence sequence Alarm number in alarm history most recent alarm [1] [1] first alarm in past [1] [2] second alarm in past [1] [3] third alarm in past [1] [4] fourth alarm in past [1] [5] fifth alarm in past [2] [0] Alarm occurrence time in alarm history most recent alarm [2] [1] first alarm in past [2] [2] second alarm in past [2] [3] third alarm in past [2] [4] fourth alarm in past [2] [5] fifth alarm in past Frame length 4 8 (5) Current alarm (Command [0][2], [3][5]) Command Data No. [0] [2] [0][0] [3] [5] [0][0] [0][1] Description Current alarm number Status display name and unit at alarm occurrence Frame length 4 Current position 16 Command position [0][2] Command remaining distance [0][3] Point table No. [0][4] Cumulative feedback pulses [0][5] Servo motor speed [0][6] Droop pulses [0][7] [0][8] [0][9] [0][A] Regenerative load ratio [0][B] Effective load ratio [0][C] Peak load ratio [0][D] Instantaneous torque [0][E] Within one-revolution position [0][F] ABS counter [1][0] Load inertia moment ratio [1][1] Bus voltage [0][0] [0][1] [0][2] Status display data value and processing information at alarm occurrence Current position Command position Command remaining distance [0][3] Point table No. [0][4] Cumulative feedback pulses [0][5] Servo motor speed [0][6] Droop pulses [0][7] [0][8] [0][9] [0][A] Regenerative load ratio [0][B] Effective load ratio [0][C] Peak load ratio [0][D] Instantaneous torque [0][E] Within one-revolution position [0][F] ABS counter [1][0] Load inertia moment ratio [1][1] Bus voltage 15 - 12 12 15. COMMUNICATION FUNCTION (6) Point table/position data (Command [4][0]) Command [4][0] Data No. Description [0][1] to [F][F] Position data read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (7) Point table/speed data (Command [5][0]) Command [5][0] Data No. Description [0][1] to [F][F] Speed data read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (8) Point table/acceleration time constant (Command [5][4]) Command [5][4] Data No. Description [0][1] to [F][F] Acceleration time constant read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (9) Point table/deceleration time constant (Command [5][8]) Command [5][8] Data No. Description [0][1] to [F][F] Deceleration time constant read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (10) Point table/dwell (Command [6][0]) Command [6][0] Data No. Description [0][1] to [F][F] Dwell read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (11) Point table/auxiliary function (Command [6][4]) Command [6][4] Data No. Description [0][1] to [F][F] Auxiliary function read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (12) Group setting (Command [1][F]) Command Data No. [1][F] [0][0] Description Reading of group setting value Frame length 4 (13) Test operation mode (Command [0][0]) Command Data No. [0] [0] [1] [2] Description Test operation mode read 0000: Normal mode (not test operation mode) 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output 0005: Single-step feed 15 - 13 Frame length 4 15. COMMUNICATION FUNCTION (14) Others Command Data No. [0] [2] [9] [0] Description Frame length Servo motor side pulse unit absolute position 8 [9] [1] Command unit absolute position 8 [7] [0] Software version 16 15.4.2 Write commands (1) Status display (Command [8][1]) Command Data No. [8] [1] [0] [0] Description Setting range Status display data erasure 1EA5 Frame length 4 (2) Parameters (Command [8][4] [8][5]) Command Data No. Description Setting range Frame length [8] [4] [0][1] to [F][F] Write of parameters Writes the values of the parameters in the parameter group specified with the command [8][5] + data No. [0][0]. Before writing the values, therefore, always specify the parameter group with the command [8][5] + data No. [0][0]. The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter number. Depending on the parameter 8 [8] [5] [0] [0] Parameter group write 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.PB ) 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD ) 0000 to 0003 4 ) (3) External I/O signal (Command [9][2]) Command Data No. [9] [2] [6] [0] Description Communication input device signal Setting range Frame length Refer to section 15.5.5 8 Setting range Frame length [6] [1] (4) Alarm history (Command [8][2]) Command Data No. [8] [2] [2] [0] Description Alarm history erasure 1EA5 4 (5) Current alarm (Command [8][2]) Command Data No. [8] [2] [0] [0] Description Alarm erasure Setting range 1EA5 Frame length 4 (6) Point table/position data (Command [C][0]) Command [C][0] Data No. Description [0][1] to [F][F] Position data write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. 15 - 14 Setting range 999999 to 999999 Frame length 8 15. COMMUNICATION FUNCTION (7) Point table/speed data (Command [C][6]) Command [C][6] Data No. Description [0][1] to [F][F] Speed data write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Setting range 0 to Permissible instantaneous speed Frame length 8 (8) Point table/acceleration time constant (Command [C][7]) Command [C][7] Data No. Description [0][1] to [F][F] Acceleration time constant write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Setting range 0 to 20000 Frame length 8 (9) Point table/deceleration time constant (Command [C][8]) Command [C][8] Data No. Description [0][1] to [F][F] Deceleration time constant write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Setting range 0 to 20000 Frame length 8 (10) Point table/dwell (Command [C][A]) Command [C][A] Data No. Description [0][1] to [F][F] Dwell write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Setting range 0 to 20000 Frame length 8 (11) Point table/auxiliary function (Command [C][B]) Command [C][B] Data No. Description [0][1] to [F][F] Auxiliary function write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Setting range 0 to 3 Frame length 8 (12) External input signal disable (Command [9][0]) Command Data No. [9][0] [0][0] 1EA5 Turns off the input devices, external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN, independently of the external ON/OFF statuses. Description Setting range Frame length 4 [9][0] [0][3] Disables all output devices (DO). 1EA5 4 [9][0] [1][0] Enables the disabled input devices (DI), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN. 1EA5 4 [9][0] [1][3] Enables the disabled output devices (DO). 1EA5 4 (13) Operation mode selection (Command [8][B]) Command Data No. [8] [B] [0] [0] Description Operation mode switching 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output 0005: Single-step feed 15 - 15 Setting range 0000 to 0005 Frame length 4 15. COMMUNICATION FUNCTION (14) Test operation mode data (Command [9][2] [A][0]) Command [9] [2] Data No. Setting range Frame length Input signal for test operation Refer to section 15.5.7. 8 [A] [0] Forced output of signal pin Refer to section 15.5.9. 8 [1] [0] Writes the speed in the test operation mode (JOG operation, positioning operation). 0000 to 7FFF 4 [1] [1] Writes the acceleration/deceleration time constant in the test operation mode (JOG operation, positioning operation). 00000000 to 7FFFFFFF 8 [2] [0] Sets the moving distance in the test operation mode (JOG operation, positioning operation). 00000000 to 7FFFFFFF 8 [2] [1] Selects the positioning direction of test operation (positioning operation). 0000 to 0001 4 [0] [0] Description [0] [1] [A] [0] 0 0 0: Forward rotation direction 1: Reverse rotation direction 0: Command pulse unit 1: Encoder pulse unit [4] [0] Test operation (positioning operation) start command. 1EA5 4 [4] [1] Used to make a temporary stop during test operation (positioning operation). in the data indicates a blank. STOP: Temporary stop G0 : Restart for remaining distance CLR : Remaining distance clear. STOP G0 CLR 4 (15) Group setting (Command [9][F]) Command Data No. [9] [F] [0] [0] Description Setting of group Setting range a to f 15 - 16 Frame length 4 15. COMMUNICATION FUNCTION 15.5 Detailed explanations of commands 15.5.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed according to the application. Since whether data must be processed or not and how to process data depend on the monitoring, parameters, etc., follow the detailed explanation of the corresponding command. The following methods are how to process send and receive data when reading and writing data. (1) Processing the read data When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information. When the display type is 1, the eight-character data is used unchanged. The following example indicates how to process the receive data "003000000929" given to show. The receive data is as follows. 0 0 3 0 0 0 0 0 0 9 2 9 Data 32-bit length (hexadecimal representation) (Data conversion is required as indicated in the display type) Display type 0: Data must be converted into decimal. 1: Data is used unchanged in hexadecimal. Decimal point position 0: No decimal point 1: First least significant digit (normally not used) 2: Second least significant digit 3: Third least significant digit 4: Forth least significant digit 5: Fifth least significant digit 6: Sixth least significant digit Since the display type is "0" in this case, the hexadecimal data is converted into decimal. 00000929H 2345 As the decimal point position is "3", a decimal point is placed in the third least significant digit. Hence, "23.45" is displayed. 15 - 17 15. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position. The data to be sent is the following value. 0 Data is transferred in hexadecimal. Decimal point position 0: No decimal point 1: First least significant digit 2: Second least significant digit 3: Third least significant digit 4: Forth least significant digit 5: Fifth least significant digit By way of example, here is described how to process the set data when a value of "15.5" is sent. Since the decimal point position is the second digit, the decimal point position data is "2". As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal. 155 9B Hence, "0200009B" is transmitted. 15 - 18 15. COMMUNICATION FUNCTION 15.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to [0][E]. (Refer to section 15.4.1.) (b) Reply The slave station sends back the status display name and unit requested. 0 0 Unit characters (5 digits) Name characters (9 digits) (2) Status display data read Read the status display data and processing information. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read. Refer to section 15.4.1. (b) Reply The slave station sends back the status display data requested. 0 0 Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required) Display type [0]: Used unchanged in hexadecimal [1]: Conversion into decimal required Decimal point position [0]: No decimal point [1]: Lower first digit (usually not used) [2]: Lower second digit [3]: Lower third digit [4]: Lower fourth digit [5]: Lower fifth digit [6]: Lower sixth digit (3) Status display data clear The cumulative feedback pulse data of the status display is cleared. Send this command immediately after reading the status display item. The data of the status display item transmitted is cleared to zero. Command Data No. Data [8][1] [0][0] [1][E][A][5] For example, after sending command [0][1] and data No. [8][0] and receiving the status display data, send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to zero. 15 - 19 15. COMMUNICATION FUNCTION 15.5.3 Parameters (1) Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated. Command Data No. Transmission data Parameter group [8] [5] [0] [0] 0000 Basic setting parameter (No.PA 0001 Gain filter parameter (No.PB ) ) 0002 Extension setting parameter (No.PC 0003 I/O setting parameter (No.PD ) ) (2) Reading the parameter group Read the parameter group. (a) Transmission Send command [0][4] and data No.[0][1]. Command Data No. [0] [4] [0] [1] (b) Reply The slave station sends back the preset parameter group. 0 0 0 Parameter group 0: Basic setting parameter (No.PA ) 1: Gain filter parameter (No.PB ) 2: Extension setting parameter (No.PC 3: I/O setting parameter (No.PD ) ) (3) Reading the symbol Read the parameter name. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][8] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 15.4.1.) The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. (b) Reply The slave station sends back the name of the parameter No. requested. 0 0 0 Name characters (9 digits) 15 - 20 15. COMMUNICATION FUNCTION (4) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 15.4.1.) The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. (b) Reply The slave station sends back the data and processing information of the parameter No. requested. Data is transferred in hexadecimal. Decimal point position [0]: No decimal point [1]: Lower first digit [2]: Lower second digit [3]: Lower third digit [4]: Lower fourth digit [5]: Lower fifth digit 0 Display type 0: Used unchanged in hexadecimal. 1: Must be converted into decimal. Parameter write type 0: Valid after write 1: Valid when power is switched on again after write Read enable/disable 0: Read enable 1: Read disable For example, data "1200270F" means 999.9 (decimal display format) and data "0003ABC" means 3ABC (hexadecimal display format). When the display type is "0" (hexadecimal) and the decimal point position is other than 0, the display type is a special hexadecimal display format and "F" of the data value is handled as a blank. Data "01FFF053" means 053 (special hexadecimal display format). "1 (Read disable)" is transferred to the "Read enable/disable" section and "000000" is transferred to the data section when the parameter that was read is the one inaccessible for write/reference in the parameter write disable setting of parameter No.PA19. (5) Reading the setting range Read the parameter setting range. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission When reading the upper limit value, transmit command [0][6] and the data No. corresponding to the parameter No., [0][0] to [F][F]. When reading the lower limit value, transmit command [0][7] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 15.4.1.) The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. (b) Reply The slave station sends back the data and processing information of the parameter No. requested. 0 0 Data is transferred in hexadecimal. For example, data "10FFFFEC" means -20. 15 - 21 15. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000. Write the parameter setting into EEP-ROM of the servo amplifier. Specify the parameter group in advance (refer to (1) in this section). Write the value within the setting enabled range. For the setting enabled range, refer to chapter 6 or read the setting range by performing operation in (3) in this section. Transmit command [8][4], the data No. , and the set data. The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the decimal point position. Write the data after making sure that it is within the upper/lower limit value range. Read the parameter data to be written, confirm the decimal point position, and create transmission data to prevent error occurrence. On completion of write, read the same parameter data to verify that data has been written correctly. Command Data No. [8][4] [0][1] to [F][F] Set data See below. Data is transferred in hexadecimal. Decimal point position 0: No decimal point 1: Lower first digit 2: Lower second digit 3: Lower third digit 4: Lower forth digit 5: Lower fifth digit Write mode 0: Write to EEP-ROM 3: Write to RAM When the parameter data is changed frequently through communication, set "3" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. 15 - 22 15. COMMUNICATION FUNCTION 15.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No. [1][2] [0][0] [0][1] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. Data No. [0][0] bit Device name Data No. [0][1] Symbol 0 Servo-on 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN Internal torque limit selection TL1 Device name Symbol SON 3 4 5 Proportion control 6 Reset RES PC 7 Clear CR 11 Forward rotation start ST1 12 Reverse rotation start ST2 8 9 10 13 14 15 16 17 Automatic/manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 Override selection OVR 24 Temporary stop/Restart TSTP 25 26 Point table No. selection 1 DI0 Point table No. selection 2 DI1 Point table No. selection 3 DI2 Point table No. selection 4 DI3 28 Point table No. selection 5 DI4 29 Point table No. selection 6 DI5 30 Point table No. selection 7 DI6 31 Point table No. selection 8 DI7 27 Gain changing CDP 15 - 23 15. COMMUNICATION FUNCTION (2) External input pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. bit CN6 connector pin bit 0 1 8 CN6 connector pin 16 bit CN6 connector pin 24 1 2 9 17 25 2 3 10 18 26 3 4 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 15 - 24 bit CN6 connector pin 15. COMMUNICATION FUNCTION (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No. [1][2] [6][0] [6][1] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. Data No. [6][0] bit Device name Data No. [6][1] Symbol 0 Servo-on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 4 Internal torque limit selection TL1 5 Proportion control 6 Reset RES 7 Clear CR 11 Forward rotation start ST1 12 Reverse rotation start ST2 17 Automatic/manual selection MD0 18 Proximity dog DOG Device name Symbol 3 PC 8 9 10 13 14 15 16 19 20 21 22 23 Override selection OVR 24 Temporary stop/Restart TSTP 25 26 Point table No. selection 1 DI0 Point table No. selection 2 DI1 Point table No. selection 3 DI2 Point table No. selection 4 DI3 28 Point table No. selection 5 DI4 29 Point table No. selection 6 DI5 30 Point table No. selection 7 DI6 31 Point table No. selection 8 DI7 27 Gain changing CDP 15 - 25 15. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [C][0]. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. bit CN6 connector pin bit 0 1 2 3 14 15 16 8 9 10 11 CN6 connector pin 16 17 18 19 bit CN6 connector pin 24 25 26 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 15 - 26 bit CN6 connector pin 15. COMMUNICATION FUNCTION (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the output device. Command [1][2] Data No. [8][0] [8][1] (b) Reply The slave station sends back the statuses of the output devices. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. Data No. [8][0] bit 0 Device name Data No. [8][1] Symbol Ready RD 2 Zero speed ZSP 3 Limiting torque TLC In position INP Device name Symbol 1 4 5 6 7 Warning WNG 8 Trouble ALM 9 10 Electromagnetic interlock brake 11 dynamic brake interlock MBR DB 12 13 14 15 Battery warning 16 Rough match 17 Home position completion BWNG CPO return ZP 18 Position range output POT 19 Temporary stop PUS 20 21 22 23 24 25 Point table No. output 1 Variable gain selection CDPS 26 27 28 Movement completion MEND PT0 Point table No. output 2 PT1 Point table No. output 3 PT2 Point table No. output 4 PT3 Point table No. output 5 PT4 29 Point table No. output 6 PT5 30 Point table No. output 7 PT6 31 Point table No. output 8 PT7 15 - 27 15. COMMUNICATION FUNCTION 15.5.5 Device ON/OFF POINT The ON/OFF states of all devices in the servo amplifier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device ON every time. Each input device can be switched on/off. However, when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9][2], data No. corresponding to the input device and data. Command Data No. [9][2] [6][0] Set data See below. [6][1] b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the slave station as hexadecimal data. bit 0 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 Data No. [6][0] Device name Symbol Servo-on Forward rotation stroke end Reverse rotation stroke end SON LSP LSN Internal torque limit selection Proportion control Reset Clear TL1 PC RES CR Forward rotation start Reverse rotation start ST1 ST2 Automatic/manual selection Proximity dog MD0 DOG Override selection Temporary stop/Restart OVR TSTP Gain changing CDP 15 - 28 Data No. [6][1] Device name Point table No. selection 1 Point table No. selection 2 Point table No. selection 3 Point table No. selection 4 Point table No. selection 5 Point table No. selection 6 Point table No. selection 7 Point table No. selection 8 Symbol DI0 DI1 DI2 DI3 DI4 DI5 DI6 DI7 15. COMMUNICATION FUNCTION 15.5.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled. Signal Status Input devices (DI) OFF (1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN. Transmit the following communication commands. (a) Disable Command Data No. Data [9][0] [0][0] 1EA5 (b) Enable Command Data No. Data [9][0] [1][0] 1EA5 (2) Disabling/enabling the output devices (DO) Transmit the following communication commands. (a) Disable Command Data No. Data [9][0] [0][3] 1EA5 (b) Enable Command Data No. Data [9][0] [1][3] 1EA5 15 - 29 15. COMMUNICATION FUNCTION 15.5.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. corresponding to the input device and data. Command Data No. [9][2] [0][0] Set data See below [0][1] b31 b1 b0 1: ON 0: OFF Command of each bit is transmitted to the slave station as hexadecimal data. Data No. [0][0] bit 0 Device name Servo-on Data No. [0][1] Symbol Device name Symbol SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 4 Internal torque limit selection TL1 5 Proportion control 6 Reset RES 7 Clear CR 11 Forward rotation start ST1 12 Reverse rotation start ST2 3 PC 8 9 10 13 14 15 16 17 Automatic/manual selection MD0 18 Proximity dog DOG 23 Override selection OVR 24 Temporary stop/Restart TSTP 19 20 21 22 25 26 Point table No. selection 1 DI0 Point table No. selection 2 DI1 Point table No. selection 3 DI2 Point table No. selection 4 DI3 28 Point table No. selection 5 DI4 29 Point table No. selection 6 DI5 30 Point table No. selection 7 DI6 31 Point table No. selection 8 DI7 27 Gain changing CDP 15 - 30 15. COMMUNICATION FUNCTION 15.5.8 Test operation mode POINT The test operation mode is used to confirm operation. Do not use it for actual operation. If communication stops for longer than 0.5s during test operation, the servo amplifier decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g. monitor the status display. Even during operation, the servo amplifier can be put in the test operation mode. In this case, as soon as the test operation mode is selected, the base circuit is shut off, coasting the servo amplifier. (1) Preparation and cancel of test operation mode (a) Preparation of test operation mode Set the test operation mode type in the following procedure. Send the command [8][B] + data No. [0][0] to select the test operation mode. Command Data No. Transmission Data Test Operation Mode Selection [8][B] [0][0] 0001 JOG operation 0002 Positioning operation 0003 Motorless operation 0004 DO forced output 0005 Single-step feed 2) Confirmation of test operation mode Read the test operation mode set for the slave station, and confirm that it is set correctly. a. Transmission Send the command [0][0] + data No. [1][2]. Command Data No. [0][0] [1][2] b. Return The slave station returns the set test operation mode. 0 0 0 Test operation mode read 0: Normal mode (not test operation mode) 1: JOG operation 2: Positioning operation 3: Motorless operation 4: DO forced output 5: Single-step feed 15 - 31 15. COMMUNICATION FUNCTION (2) JOG operation Send the command, data No. and data as indicated below to execute JOG operation. Start Select the JOG operation in the test operation mode. Command : [8][B] Data No. : [0][0] Data : 0001(JOG operation) Servo motor speed setting Command: [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal. Set the operation pattern. Acceleration/deceleration time constant setting Command: [A][0] Data No. : [1][1] Data : Write the acceleration/ deceleration time constant [ms] in hexadecimal. When LSP/LSN was turned OFF by external input signal When LSP/LSN was turned OFF by external input signal or automatically Start Start Command : [9][2] Data No. : [0][0] Data : Forward rotation direction 00000807 (SON, LSP, LSN, ST1 turned ON) Reverse rotation direction 00001007 (SON, LSP, LSN, ST2 turned ON) Command: [9][2] Data No. : [0][0] Data : Forward rotation direction 00000801 (SON, ST1 turned ON) Reverse rotation direction 00001001 (SON, ST2 turned ON) Stop Start. Stop Command: [9][2] Data No. : [0][0] Data : 00000007 (SON, LSP, LSN turned ON) Command: [9][2] Data No. : [0][0] Data : 00000001 (SON turned ON) End Command : [8][B] Data No. : [0][0] Data : 0000 (JOG operation cancel) Stop. Cancel the JOG operation. Power on the servo amplifier. Shift to the CC-Link operation mode. 15 - 32 15. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indicated below to execute positioning operation. Start Command : [8][B] Data No. : [0][0] Data : 0002 (positioning operation) Select the positioning operation in the test operation mode. Servo motor speed setting Command: [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal. Acceleration/deceleration time constant setting Command: [A][0] Data No. : [1][1] Data : Write the acceleration /deceleration time constant [ms] in hexadecimal. Set the operation pattern. Movement distance setting Command: [A][0] Data No. : [2][0] Data : Write the movement distance [pulse] in hexadecimal. Rotation direction selection Command : [A][0] Data No. : [2][0] Data : 0000(forward rotation direction) 0001(reverse rotation) When LSP/LSN was turned OFF by external input signal When LSP/LSN was turned OFF by external input signal or automatically turned ON Make input device valid Make input device valid Command : [9][2] Data No. : [0][0] Data : 00000007 (SON, LSP, LSN turned ON) Command : [9][2] Data No. : [0][0] Data : 00000001 (SON turned ON) Turn ON Servo-on (SON) to make the servo amplifier ready. (Note) Positioning start Command: [A][0] Data No. : [4][0] Data : 1EA5 Start. End Command: [8][B] Data No. : [0][0] Data : 0000 (Positioning operation cancel) Power on the servo amplifier. Cancel the positioning operation. Shift to the CC-Link operation mode. Note. There is a 100ms delay. 15 - 33 15. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following command, data No. and data during a temporary stop to make a restart. Command Data No. [A][0] [4][1] Note. (Note) Data GO indicates a blank. Send the following command, data No. and data during a temporary stop to stop positioning operation and erase the remaining movement distance. Command Data No. [A][0] [4][1] Note. (Note) Data CLR indicates a blank. 15 - 34 15. COMMUNICATION FUNCTION (4) Single-step feed Set necessary items to the point table before starting the single-step feed. Send the command, data No. and data as indicated below to execute single-step feed. Start Command : [8][B] Data No. : [0][0] Data : 0005 (Single-step feed) Select the single-step feed in the test operation mode. Point table No. setting Command : [9][2] Data No. : [0][1] Data : Write the point table No. in hexadecimal. When LSP/LSN was turned OFF by external input signal Set the point table No. When LSP/LSN was turned OFF by external input signal or automatically turned ON Make input device valid Make input device valid Command : [9][2] Data No. : [0][0] Data : 00020001 (SON, MD0 turned ON) Command : [9][2] Data No. : [0][0] Data : 00020007 (SON, LSP, LSN, MD0 turned ON) (Note) Turn ON Servo-on (SON) to make the servo amplifier ready. (Note) Operation start Operation start Command : [9][2] Data No. : [0][0] Data : 00020801 (ST1 is ON) Command : [9][2] Data No. : [0][0] Data : 00020807 (ST1 is ON) Start. End Command : [8][B] Data No. : [0][0] Data : 0000 (Single-step feed cancel) Cancel the single-step feed. Power on the servo amplifier. Shift to the CC-Link operation mode. Note. Start operation after home position return completion (ZP) is confirmed. Refer to 17th bit of the data read with command [1][2] and data No.[8][0]. 15 - 35 15. COMMUNICATION FUNCTION (5) Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (a) Choosing DO forced output in test operation mode Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output. 0 0 0 4 Selection of test operation mode 4: DO forced output (output signal forced output) (b) External output signal ON/OFF Transmit the following communication commands. Command Data No. Setting data [9][2] [A][0] See below. b31 b1 b0 1: ON 0: OFF Command of each bit is sent to the slave station in hexadecimal. bit CN6 connector pin bit 0 1 2 3 14 15 16 8 9 10 11 CN6 connector pin 16 17 18 19 bit CN6 connector pin 24 25 26 27 bit 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 CN6 connector pin (c) Canceling DO forced output Transmit command [8][B] + data No. [0][0] + data to cancel DO forced output. Command Data No. Transmission data Description [8][B] [0][0] 0000 Cancel DO forced output (6) Motorless operation (a) Performing motorless operation Transmit command [8][B] + data No. [0][0] + data "0003" to perform motorless operation. 0 0 0 3 Selection of test operation mode 3: Motorless operation To perform operation after performing the motorless operation, issue a command from the host controller. (b) Canceling motorless operation The motorless operation cannot be canceled in the same way as the test operation mode (transmit command [8][B] + data No. [0][0] + data "0000"). To cancel the motorless operation, power on the servo amplifier and shift to the CC-Link operation mode beforehand. 15 - 36 15. COMMUNICATION FUNCTION 15.5.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 15.4.1. (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in hexadecimal. For example, "0032" means A32 and "00FF" means A_ _ (no alarm). (2) Alarm occurrence time read Read the occurrence time of alarm which occurred in the past. The alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning with operation start, with the minute unit omitted. (a) Transmission Send command [3][3] and data No. [2][0] to [2][5]. Refer to section 15.4.1. (b) Reply The alarm occurrence time is transferred in hexadecimal. Hexadecimal must be converted into decimal. For example, data "01F5" means that the alarm occurred in 501 hours after start of operation. (3) Alarm history clear Erase the alarm history. Send command [8][2] and data No. [2][0]. Command Data No. Data [8][2] [2][0] 1EA5 15 - 37 15. COMMUNICATION FUNCTION 15.5.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. 0 0 Alarm No. is transferred in hexadecimal. For example, "0032" means A32 and "00FF" means A_ _ (no alarm). (2) Read of the status display at alarm occurrence Read the status display data at alarm occurrence. When the data No. corresponding to the status display item is transmitted, the data value and data processing information are sent back. (a) Transmission Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to be read. Refer to section 15.4.1. (b) Reply The slave station sends back the requested status display data at alarm occurrence. 0 0 Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required) Display type 0: Conversion into decimal required 1: Used unchanged in hexadecimal Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit (3) Current alarm clear As by the reset (RES) on, reset the servo amplifier alarm to make the servo amplifier ready to operate. After removing the cause of the alarm, reset the alarm with no command entered. Command Data No. Data [8][2] [0][0] 1EA5 15 - 38 15. COMMUNICATION FUNCTION 15.5.11 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the position data of the requested point table. Hexadecimal data 0 0 Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Position data write type 0: Valid after write 1: Valid when power is switched on again after write (b) Speed data Read the speed data of the point table. 1) Transmission Transmit command [5][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the speed data of the requested point table. 0 Hexadecimal data 0 0 Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Speed data write type 0: Valid after write 1: Valid when power is switched on again after write 15 - 39 15. COMMUNICATION FUNCTION (c) Acceleration time constant Read the acceleration time constant of the point table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table. 0 Hexadecimal data 0 0 Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Deceleration time constant write type 0: Valid after write 1: Valid when power is switched on again after write (d) Deceleration time constant Read the deceleration time constant of the point table. 1) Transmission Transmit command [5][8] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the deceleration time constant of the requested point table. 0 Hexadecimal data 0 0 Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Deceleration time constant write type 0: Valid after write 1: Valid when power is switched on again after write 15 - 40 15. COMMUNICATION FUNCTION (e) Dwell Read the dwell of the point table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the dwell of the requested point table. 0 Hexadecimal data 0 0 Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Dwell write type 0: Valid after write 1: Valid when power is switched on again after write (f) Auxiliary function Read the auxiliary function of the point table. 1) Transmission Transmit command [6][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the auxiliary function of the requested point table. 0 Hexadecimal data 0 0 Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Auxiliary function write type 0: Valid after write 1: Valid when power is switched on again after write 15 - 41 15. COMMUNICATION FUNCTION (2) Data write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000. (a) Position data Write the position data of the point table. Transmit command [C][0], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No. Data [C][0] [0][1] to [F][F] See below. Hexadecimal data Decimal point position 0: No decimal point 1: Lower first digit 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit The decimal point position should be the same as the feed length multiplication (STM) set in parameter No. 1. The slave station will not accept the decimal point position which is different from the STM setting. Write mode 0: EEP-ROM, RAM write 1: RAM write When the position data is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. (b) Speed data Write the speed data of the point table. Transmit command [C][6], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No. Data [C][6] [0][1] to [F][F] See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the speed data is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. 15 - 42 15. COMMUNICATION FUNCTION (c) Acceleration time constant Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No. Data [C][7] [0][1] to [F][F] See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the acceleration time constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. (d) Deceleration time constant Write the deceleration time constant of the point table. Transmit command [C][8], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No. Data [C][8] [0][1] to [F][F] See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the deceleration time is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. (e) Dwell Write the dwell of the point table. Transmit command [C][A], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No. Data [C][A] [0][1] to [F][F] See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the dwell constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. 15 - 43 15. COMMUNICATION FUNCTION (f) Auxiliary function Write the auxiliary function of the point table. Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No. Data [C][B] [0][1] to [F][F] See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the auxiliary function constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM. 15 - 44 15. COMMUNICATION FUNCTION 15.5.12 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No. [0][0] and data. Command Data No. Data [9][F] [0][0] See below. 0 0 Group designation 0: No group designation 1: Group a 2: Group b 3: Group c 4: Group d 5: Group e 6: Group f Response command enable Set whether data can be sent back or not in response to the read command of the master station. 0: Response disable Data cannot be set back. 1: Response enable Data can be set back. (2) Group setting read Read the set group designation value from the slave station. (a) Transmission Transmit command [1][F] and data No. [0][0]. Command Data No. [1][F] [0][0] (b) Reply The slave station sends back the group setting of the point table requested. 0 0 Group designation 0: No group designation 1: Group a 2: Group b 3: Group c 4: Group d 5: Group e 6: Group f Response command enable 0: Response disable 1: Response enable 15 - 45 15. COMMUNICATION FUNCTION 15.5.13 Other commands (1) Servo motor side pulse unit absolute position Read the absolute position in the servo motor side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] (b) Reply The slave station sends back the requested servo motor side pulses. Absolute value is sent back in hexadecimal in the servo motor side pulse unit. (Must be converted into decimal) For example, data "000186A0" is 100000 [pulse] in the motor side pulse unit. (2) Command unit absolute position Read the absolute position in the command unit. (a) Transmission Send command [0][2] and data No. [9][1]. Command Data No. [0][2] [9][1] (b) Reply The slave station sends back the requested command pulses. Absolute value is sent back in hexadecimal in the command unit. (Must be converted into decimal) For example, data "000186A0" is 100000 [pulse] in the command unit. (3) Software version Reads the software version of the servo amplifier. (a) Transmission Send command [0][2] and data No.[7][0]. Command Data No. [0][2] [7][0] (b) Reply The slave station returns the software version requested. Space Software version (15 digits) 15 - 46 16. INDEXER POSITIONING OPERATION 16. INDEXER POSITIONING OPERATION POINT To execute the indexer positioning operation, parameter needs to be changed. Set the parameter No.PA01 to "1 ". This chapter provides the indexer positioning operation method using MR-J3- T servo amplifier. Any matters not described in this chapter are the same as those of the point table positioning operation. For more information, refer to chapters up to 15. 16.1 Function 16.1.1 Overview Using the next station selection 1 (RYnA) to the next station selection 8 (RY(n 2)5) devices, stations from No.0 to No.254 can be specified. Settings of servo motor speed and acceleration/deceleration time constant are carried out by specifying the point table number from 1 to 8 using the speed selection 1 (RY(n 2)C) to the speed selection 3 (RY(n 2)E) devices. Speed command data can be directly specified by using the remote register when two stations are occupied. 16.1.2 Servo amplifier standard specifications (functions only) Item Station command input Command system Remote Speed register command Speed input No. input Operation mode Rotation direction Automatic specifying indexer operation Shortest rotating mode indexer Manual operation mode Home position return mode Description Available with CC-Link communication CC-Link communication (1 station occupied): 31 stations CC-Link communication (2 stations occupied): 255 stations Available with CC-Link communication (2 stations occupied) Set the speed command data (speed) by the remote register. Select a speed and acceleration/deceleration time constant by the point table Positioning operation is executed to the set station. Rotation direction can be specified. Positioning operation is executed to the set station. The servo motor rotates in the closest direction from current position. Indexer JOG operation Turning on the start signal (RYn1) makes the servo motor rotate in the direction specified by the rotation direction specifying. Turning off the start signal (RYn1) makes the servo motor perform positioning operation to the closest station where the motor can decelerate to stop. JOG operation In accordance with the speed data set in parameters, JOG operation is performed by using CC-Link communication Torque limit changing dog type Home position return is performed by the Z-phase pulse count after passing proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected. Automatic at-dog home position return return/automatic stroke return function. Automatic torque limit changing function Torque limit changing data setting type Home position return is made without dog. Home position may be set at any position by manual operation, etc. Home position address may be set. Automatic torque limit changing function Automatic positioning to home position High-speed automatic return to a defined home position. 16 - 1 16. INDEXER POSITIONING OPERATION 16.1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Automatic operation mode 1 (Rotation direction specifying indexer) Automatic operation mode 2 (Shortest rotating indexer) Manual operation mode Home position return High-resolution encoder Absolute position detection system Gain changing function Advanced vibration suppression control Adaptive filter Low-pass filter Machine analyzer function Machine simulation Gain search function Slight vibration suppression control Electronic gear Auto tuning Regenerative option Brake unit Regeneration converter Alarm history clear Description In this operation mode, the servo motor rotates in the specified direction and performs a positioning operation to the next station divided in 2 to 255. In this operation mode, the servo motor rotates in the shortest direction and performs a positioning operation to the next station divided in 2 to 255. 1. Indexer JOG operation When stopping, this JOG operation enables the servo motor to perform positioning to the station where the servo motor can decelerate to stop. 2. JOG operation When stopping, this JOG operation enables the servo motor to decelerate to stop regardless of stations. Torque limit changing dog type, torque limit changing data setting type High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder. By merely setting the home position once, home position return need not be done at each power on. You can switch between gains during rotation and gains during stop or use an input device to change gains during operation. This function suppresses vibration at the arm end or residual vibration. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator installed personal computer and servo amplifier. MR Configurator is necessary for this function. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. MR Configurator is necessary for this function. Personal computer changes gains automatically and searches for overshoot-free gains in a short time. MR Configurator is necessary for this function. Suppresses vibration of 1 pulse produced at a servo motor stop. The electronic gear is used to make adjustment so that the servo amplifier setting matches the machine moving distance. Also, changing the electronic gear value allows the machine to be moved at any multiplication ratio to the moving distance using the servo amplifier. Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative option cannot provide enough regenerative power. Can be used with the servo amplifier of 5kW or more. Used when the regenerative option cannot provide enough regenerative power. Can be used with the servo amplifier of 5kW or more. Reference Section 16.7.2 Section 16.7.3 Section 16.8 Section 16.9 Section 16.10 Section 10.6 Section 10.4 Section 10.2 Section 10.5 Parameters No. PB24 Parameter No. PA06, PA07 Section 9.2 Section 14.2 Section 14.3 Section 14.4 Parameter No. PC18 Alarm history is cleared. 16 - 2 16. INDEXER POSITIONING OPERATION Function Description Torque limit Reference Servo motor-torque is limited. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. JOG operation positioning operation DO forced output. MR Configurator is necessary for this function. The servo motor travel region can be limited using the forward rotation stroke end (LSP)/reverse rotation stroke end (LSN). Output signal (DO) forced output Test operation mode Limit switch Section 16.3.2 (3) Section 16.11.1 (9) Section 7.7.4 Section 8.5.7(4) Section 7.7 Section 8.5.7 16.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU 16.2.1 I/O signals (I/O devices) (1) When 1 station is occupied RYn/RXn: 32 points each, RWrn/RWwn: 4 points each Programmable controller (Note) Device No. Servo amplifier (RYn) Device name Servo amplifier Programmable controller (RXn) (Note) Device No. Device name RYn0 Servo-on RXn0 Ready RYn1 Start RXn1 In position RYn2 Rotation direction specifying RXn2 Rough match RYn3 RXn3 Home position return completion Not available RXn4 Limiting torque RXn5 Not available RYn6 Operation mode selection 1 RXn6 Electromagnetic brake interlock RYn7 Operation mode selection 2 RXn7 Temporary stop RYn8 Monitor output execution demand RXn8 Monitoring RYn9 Instruction code execution demand RXn9 Instruction code execution completion RYnA Next station selection 1 RXnA Warning RYnB Next station selection 2 RXnB Battery warning RYnC Next station selection 3 RXnC Movement completion RYnD Next station selection 4 RXnD Dynamic brake interlock RYnE Next station selection 5 RXnE RYnF to Not available to RYn5 to Not available RX(n 1)9 RY(n 1)9 RX(n 1)A Trouble RY(n 1)A Reset RX(n 1)B Remote station communication ready RY(n 1)B to Not available RY(n 1)F Programmable controller Address No. RWwn RX(n 1)C to Not available RX(n 1)F Servo amplifier (RWwn) Signal Servo amplifier Address No. Monitor 1 RWrn Signal Monitor 1 data RWwn 1 Monitor 2 RWrn 1 RWwn 2 Instruction code RWrn 2 Respond code RWwn 3 Writing data RWrn 3 Reading data Note. "n" depends on the station number setting. 16 - 3 Programmable controller (RWrn) Monitor 2 data 16. INDEXER POSITIONING OPERATION (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Programmable controller (Note) Device No. Servo amplifier (RYn) Device name Servo amplifier Programmable controller (RXn) (Note) Device No. Device name RYn0 Servo-on RXn0 RYn1 Start RXn1 In position RYn2 Rotation direction specifying RXn2 Rough match RXn3 Home position return completion Not available RXn4 Limiting torque RXn5 Not available RYn6 Operation mode selection 1 RXn6 Electromagnetic brake interlock RYn7 Operation mode selection 2 RXn7 Temporary stop RYn8 Monitor output execution demand RXn8 Monitoring RYn9 Instruction code execution demand RXn9 Instruction code execution completion RYnA Next station selection 1 RXnA Warning RYnB Next station selection 2 RXnB Battery warning RYnC Next station selection 3 RXnC Movement completion RYnD Next station selection 4 RXnD Dynamic brake interlock RYnE Next station selection 5 RXnE RYnF to Not available RYn3 to RYn5 Ready to Not available RX(n 1)F RY(n 1)F RX(n 2)0 Position instruction execution completion RY(n 2)0 Position instruction execution demand RX(n 2)1 Speed instruction execution completion RY(n 2)1 Speed instruction execution demand RX(n 2)2 Station output 1 RY(n 2)2 Not available RX(n 2)3 Station output 2 RY(n 2)3 Next station selection 6 RX(n 2)4 Station output 3 RY(n 2)4 Next station selection 7 RX(n 2)5 Station output 4 RY(n 2)5 Next station selection 8 RX(n 2)6 Station output 5 RY(n 2)6 Internal torque limit selection RX(n 2)7 Station output 6 RY(n 2)7 Proportion control RX(n 2)8 Station output 7 RY(n 2)8 Gain changing RX(n 2)9 Station output 8 RY(n 2)9 Not available RX(n 2)A RY(n 2)A Position/speed specifying system selection RY(n 2)B Not available RX(n 3)9 RY(n 2)C Speed selection 1 RX(n 3)A Trouble RY(n 2)D Speed selection 2 RX(n 3)B Remote station communication ready RY(n 2)E Speed selection 3 RX(n 3)C RY(n 2)F to Not available RY(n 3)9 RY(n 3)A Reset to Not available to Not available RX(n 3)F RY(n 3)B to Not available RY(n 3)F Note. "n" depends on the station number setting. 16 - 4 16. INDEXER POSITIONING OPERATION Programmable controller (Note 1) Address No. RWwn Servo amplifier (RWwn) Signal Servo amplifier Monitor 1 (Note 2) RWwn 1 RWwn RWwn Programmable controller (RWrn) (Note 1) Address No. RWrn Signal Monitor 1 data lower 16 bit Monitor 2 (Note 2) RWwn 1 Monitor 1 data upper 16 bit 2 Instruction code RWwn 2 Respond code 3 Writing data RWwn 3 Reading data RWwn 4 Next station RWwn 5 RWwn 6 RWwn 7 RWwn 4 RWwn 5 Point table No./Speed command data (Note 3) RWwn 6 Monitor 2 data upper 16 bit Not available RWwn 7 Not available Monitor 2 data lower 16 bit Note 1. "n" depends on the station number setting. 2. Specify the code of the lower 16 bit as the monitor code of 32-bit data. 3. When the parameter No.PC30 setting is " 0 ", specify the point table No. in RWwn 6. When the parameter No.PC30 setting is " 1 ", specify the speed data in RWwn 6, and turn ON Speed instruction execution demand (RY(n 2)1). When setting the parameter No.PC30 to " 1 ", always set the acceleration/deceleration time constant in the point table No.1. 16.2.2 Detailed explanation of I/O signals (1) Input signals (Input devices) The note signs in the remarks column indicates the following descriptions. *: Can be automatic turned ON internally by setting parameters No.PD01. Signal name (Device name) Device No. Description 1 station occupied 2 stations occupied Remarks * Servo-on Turning RYn0 ON powers on the base circuit, making operation ready to start. (Servo on status) Turning it OFF powers off the base circuit, coasting the servo motor. (Servo off status) RYn0 RYn0 Start 1. Automatic operation mode 1 and 2 Turning on RYn1 performs positioning operation once to the specified station number. 2. Manual operation mode Turning on RYn1 in the indexer JOG operation makes the servo motor rotate in the RYn2 specified direction only while RYn1 is on. Turning it off makes the servo motor perform positioning to the station where the servo motor can decelerate to stop. Turning on RYn1 in JOG operation makes the servo motor rotate in the RYn2 specified direction only while RYn1 is on. Turning it off makes the servo motor decelerate to stop regardless of stations. 3. Home position return mode Turning on RYn1 immediately starts a home position return. RYn1 RYn1 16 - 5 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Rotation direction specifying Description 1 station occupied 2 stations occupied Turning on/off RYn2 specifies the rotation direction at start. 1. Automatic operation mode 1 Rotation direction changes according to the parameter No.PA14 setting. RYn2 is used only for the automatic operation mode 1 (Rotation direction specifying indexer). It is not used for the automatic operation mode 2 (Shortest rotating indexer). RYn2 RYn2 (Note) RYn2 Parameter No.PA14 Servo motor rotation direction 0 CCW 1 CW 0 1 0 CW 1 CCW Note. 0: OFF 1: ON 2. Manual operation mode It is not affected by the parameter No.PA14. (Note) RYn2 Parameter No.PA14 Servo motor rotation direction 0 0 CCW 1 0 1 CW 1 Note. 0: OFF 1: ON 3. Home position return mode RYn2 is invalid. Specify the rotation direction in the home position return mode by using the parameter No.PC03. Operation mode selection 1 Select the operation mode. Operation mode selection 2 (Note) Remote input Operation mode Ryn7 Ryn6 0 0 Home position return mode 0 1 Manual operation mode 1 0 Automatic operation mode 1 (Rotation direction specifying indexer) 1 1 Automatic operation mode 2 (Shortest rotating indexer) Note. 0: OFF 1: ON 16 - 6 RYn6 RYn6 RYn7 RYn7 Remarks 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Description 1 station occupied 2 stations occupied Monitor output execution demand When RYn8 is turned ON, the following data and signals are set. At the same time, RXn8 turns ON. While RYn8 is ON, the monitor values are kept updated. 1) When 1 station is occupied Remote register RWrn: Data demanded by Monitor 1 (RWwn) Remote register RWrn 1: Data demanded by Monitor 2 (RWwn 1) Remote register RWrn 2: Respond code indicating normal or error 2) When 2 stations are occupied Remote register RWrn: Lower 16 bits of data demanded by Monitor 1 (RWwn) Remote register RWrn 1: Upper 16 bits of data demanded by Monitor 1 (RWwn) Remote register RWrn 5: Lower 16 bits of data demanded by Monitor 2 (RWwn 2) Remote register RWrn 6: Upper 16 bits of data demanded by Monitor 2 (RWwn 2) Remote register RWrn 2: Respond code indicating normal or error RYn8 RYn8 Instruction code execution demand Turning RYn9 ON executes the processing corresponding to the instruction code stored in remote register RWwn 2. After completion of instruction code execution, the respond code indicating normal or error is set to RWrn 2. At the same time, RXn9 turns ON. Refer to section 16.2.4 for details. RYn9 RYn9 Next station selection 1 Select the station number by using RYnA to RY(n 2)5. RYnA RYnA RYnB RYnB RYnC RYnC RYnD RYnD RYnE RYnE Next station selection 2 Next station selection 3 Next station selection 4 Next station selection 5 Station No. (Note 1) Remote input RY RY RY (n+2)5 (n+2)4 (n+2)3 RYnE RYnD RYnC RYnB RYnA 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 1 4 0 0 0 0 0 1 0 0 Next station selection 6 RY(n 2)3 Next station selection 7 RY(n 2)4 Next station selection 8 RY(n 2)5 254 1 1 1 1 1 1 1 0 (Note 2) 1 1 1 1 1 1 1 1 Note 1. 0: OFF 1: ON 2. When setting “1” for all RYnA to RYnE and RY(n 2)3 to RY(n 2)5, the station warning (A97) occurs. 16 - 7 Remarks 16. INDEXER POSITIONING OPERATION Signal name (Device name) Device No. Description 1 station occupied 2 stations occupied Position instruction execution demand When RY(n 2) is turned on, the next station number set in the remote register RWwn 4 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2. At the same time, RX(n 2)0 turns ON. Refer to section 3.6.3 for details. RY(n 2)0 Speed instruction demand When RY(n 2)1 is turned ON, the point table No. or speed command data set to remote register RWwn 6 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2. At the same time, RX(n 2)1 turns ON. Refer to section 3.6.3 for details. RY(n 2)1 Internal torque limit selection Turning RY(n 2)6 OFF makes the torque limit value of parameter No.PA11 (forward rotation torque limit) parameter No.PA12 (reverse rotation torque limit) valid, and turning it ON makes that of parameter No.PC35 (internal torque limit). (Refer to section 16.3.2 (3)) RY(n 2)6 Proportion control When RY(n 2)7 is turned ON, the speed amplifier is switched from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse by an external factor, it develops torque in an attempt to compensate for a position shift. When the shaft is locked mechanically after Movement completion (RXnC) is turned OFF, for example, turning Proportion control (RY(n 2)7) ON as soon as Movement completion (RXnC) turns OFF allows control of unnecessary torque developed in an attempt to compensate for a position shift. When the shaft is to be locked for an extended period of time, turn Internal torque limit selection (RY(n 2)6) ON simultaneously with Proportion control (RY(n 2)7) to make the torque not more than the rated torque using Internal torque limit (parameter No.PC35). RY(n 2)7 Gain changing When RY(n 2)8 is turned ON, the load inertia moment ratio and the corresponding gain values change to the values of parameter No.PB29 to PB32. To change the gain using RY(n 2)8, make the auto tuning invalid. RY(n 2)8 Position/speed specifying system selection Select how to give a speed command. (Refer to section 3.6.3.) OFF: Remote input-based speed specifying system Specifying the point table No. with Point table No. selection (RYnA to RYnE) gives a speed command. ON : Remote register-based speed specifying system Setting the instruction code to the remote register (RWwn 4 to RWwn 6) gives a speed command. Set the parameter No.PC30 (direct specification selection) to " 2". RY(n 2)A 16 - 8 Remarks * 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Speed selection 1 Speed selection 2 Speed selection 3 Description 1 station occupied Set the servo motor speed, acceleration time constant, and deceleration time constant for positioning operation by selecting the point table number from 1 to 8 using RY(n 2)C, RY(n 2)D, and RY(n 2)E. (Note) Remoto input RY(n 2)E RY(n 2)D RY(n 2)C 2 stations occupied RY(n 2)C RY(n 2)D RY(n 2)E Point table No. 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8 Note. 0: OFF 1: ON Reset Keeping RY(n 1)A or RY(n 3)A ON for 50ms or longer allows an alarm to be deactivated. Some alarms cannot be deactivated by Reset RY(n 1)A or RY(n 3)A. (Refer to section 16.12.4 (1)) If RY(n 1)A or RY(n 3)A is turned ON with no alarm occurring, the base circuit will not be shut off. When " 1 " is set in parameter No.PD20 (function selection D-1), the base circuit is shut off. This device is not designed to make a stop. Do not turn it ON during operation. 16 - 9 RY(n 1)A RY(n 3)A Remarks 16. INDEXER POSITIONING OPERATION (2) Output signals (Output device) POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Signal name (Device name) Device No. Description 1 station occupied 2 stations occupied Ready A ready is assigned to the CN6-14 pin as an external output signal. RXn0 turns ON when the servo amplifier is ready to operate after servo-on. RXn0 RXn0 In position RXn1 turns ON when the droop pulse value is within the preset in-position range. The in-position range can be changed using parameter No.PA10. Increasing the in-position range may result in a continuous conduction status during low-speed rotation. RXn1 turns ON at servo-on. RXn1 RXn1 Rough match RXn2 turns ON when the command remaining distance becomes less than the rough match output range set in the parameter. RXn2 turns ON at servo-on. RXn2 RXn2 Home position return completion The home position return completion is assigned to the CN6-16 pin as an external output signal. RXn3 turns ON when a home position return is completed. RXn3 turns ON at completion of a home position return. In an absolute position detection system, RXn3 turns ON when operation is ready to start, but turns OFF in any of the following cases. 1) Servo-on (RYn0) is turned OFF. 2) Forced stop (EMG) is turned OFF. 3) Reset (RY(n 1)A or RY(n 3)A) is turned ON. 4) Alarm occurs. 5) Forward rotation stroke end (RYn4) or Reverse rotation stroke end (RYn5) is turned OFF. 6) Home position return has not been made after product purchase. 7) Home position return has not been made after occurrence of Absolute position erase (A25) or Absolute position counter warning (AE3). 8) Home position return has not been made after electronic gear change. 9) Home position return has not been made after the absolute position detection system was changed from invalid to valid. 10) Parameter No.PA14 (Station No. direction selection) has been changed. 11) While a home position return is being made. When any of 1) to 11) has not occurred and a home position return is already completed at least once, Home position return completion (RXn3) turns to the same output status as Ready (RXn0). RXn3 RXn3 Limiting torque RXn4 turns ON when the torque is reached at the time of torque generation. RXn4 RXn4 Electromagnetic brake interlock RXn6 turns OFF at servo-off or alarm occurrence. At alarm occurrence, it turns OFF independently of the base circuit status. RXn6 RXn6 RXn8 RXn9 RXn8 RXn9 Monitoring Refer to Monitor output execution demand (RYn8). Instruction code execution Refer to Instruction code execution demand (RYn9). completion 16 - 10 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Warning Battery warning Movement completion Dynamic brake interlock Position instruction execution completion Speed instruction execution completion Station output 1 Station output 2 Station output 3 Station output 4 Station output 5 Description 1 station occupied 2 stations occupied RXnA turns ON when a warning occurs. When no warning has occurred, RXnA turns OFF within about 1s after power-on. RXnB turns ON when Open battery cable warning (A92) or Battery warning (A9F) occurs. When no battery warning has occurred, RXnB turns OFF within about 1s after power-on. RXnC turns ON when In position (RXn1) turns ON and the command remaining distance is "0". RXnC turns ON at servo-on. RXnD turns off simultaneously when the dynamic brake is operated. When using the external dynamic brake on the servo amplifier of 11kW or more, this device is required. (Refer to section 14.6.) For the servo amplifier of 7kw or less, it is not necessary to use this device. Refer to Speed instruction execution demand (RY(n 2)0). RXnA RXnA RXnB RXnB RXnC RXnC RXnD RXnD RX(n 2)0 Refer to Position instruction execution demand (RY(n 2)1). RX(n 2)1 As soon as the movement completion (RXnC) turns on, the station number is output in 8-bit code. RX(n 2)2 Station No. (Note 1) Remote output RX(n 2)3 RX RX RX RX RX RX RX RX (n+2)9 (n+2)8 (n+2)7 (n+2)6 (n+2)5 (n+2)4 (n+2)3 (n+2)2 RX(n 2)4 (Note 2) 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 2 1 1 1 1 1 1 0 1 RX(n 2)5 RX(n 2)6 Station output 6 RX(n 2)7 Station output 7 RX(n 2)8 Station output 8 253 0 0 0 0 0 0 1 0 254 0 0 0 0 0 0 0 1 Note 1. 0: OFF 1: ON 2. All station outputs turn to “0” (OFF) when the current position is out of the in-position range. At power-on, emergency stop or alarm occurrence, if the current position is within the in-position range of each station, corresponding station number is output. While operating in the automatic operation mode, if the current position is within the in-position range of the target next station, corresponding station number is output. While operating in the indexer JOG operation of manual operation mode, if the current position is within the in-position range of the station where the servo motor stops by turning off the start (RYn1), corresponding station number is output. When home position return is incomplete, station number is not output. 16 - 11 RX(n 2)9 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Description 1 station occupied 2 stations occupied Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to shut off the base circuit. When no alarm has occurred, RX(n 1)A or RX(n 3)A turns OFF within about 1.5s after power is switched ON. RX(n 1)A RX(n 3)A Remote station communication ready This signal turns ON at power-on and turns off at a trouble occurrence or in the reset (RY(n 1)A or RY(n 3)A) ON status. RX(n 1)B RX(n 3)B (3) Remote registers The signal whose Remote Register field has an oblique line cannot be used. (a) Input (Programmable controller servo amplifier) Remote register Signal name Description Setting range 1 station occupied 2 stations occupied RWwn RWwn Monitor 1 Refer to section Demands the status indication data of the servo amplifier. 16.2.3. 1) When 1 station is occupied Setting the monitor code of the status indication item to be monitored to RWwn and turning RYn8 to ON sets data to RWrn. RXn8 turns on at the same time. 2) When 2 stations are occupied Setting the monitor code of the status indication item to be monitored to RWwn and turning RYn8 to ON sets data to RWrn. RXn8 turns on at the same time. When demanding 32-bit data, specifying the lower 16-bit code No. and turning RYn8 to ON sets the lower 16-bit data to RWwn and the upper 16-bit data to RWrn. data is stored in the RXn8. RXn8 turns on at the same time. Refer to section 16.2.3 for the item of the monitor code of the status indication. RWwn 1 RWwn 1 Monitor 2 Refer to section Demands the status indication data of the servo amplifier. 16.2.3. 1) When 1 station is occupied Setting the monitor code of the status indication item to be monitored to RWwn 1 and turning RYn8 to ON sets data to RWrn 1. RXn8 turns on at the same time. 2) When 2 stations are occupied Setting the monitor code of the status indication item to be monitored to RWwn 1 and turning RYn8 to ON sets data to RWrn 5. RXn8 turns on at the same time. When demanding 32-bit data, specifying the lower 16-bit code No. and turning RYn8 to ON sets the lower 16-bit data to RWwn 5 and the upper 16-bit data to RWrn 6. Data is stored in the RXn8. RXn8 turns on at the same time. Refer to section 16.2.3 for the item of the monitor code of the status indication. RWwn 2 RWwn 2 Instruction code Sets the instruction code used to perform parameter or point Refer to section 16.2.4 (1). table data read and write, alarm reference or the like. Setting the instruction code No. to RWwn 2 and turning RYn9 to ON executes the instruction. RXn9 turns to ON on completion of instruction execution. Refer to section 16.2.4 (1) for instruction code No. definitions. 16 - 12 16. INDEXER POSITIONING OPERATION Remote register 1 station occupied 2 stations occupied RWwn 3 RWwn 3 Signal name Writing data Description Setting range Refer to section Sets the written data used to perform parameter or point 16.2.4 (2). table data write, alarm history clear or the like. Setting the written data to RWwn 3 and turning RYn9 to ON writes the data to the servo amplifier. RXn9 turns to ON on completion of write. Refer to section 16.2.4 (2) for written data definitions. (b) Output (Servo amplifier Programmable controller) Note that the data set to RWrn and RWrn 1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to respond code (RWrn 2). Refer to section 3.5.5 for the error code. When 1 station is occupied Remote register Signal name Description RWrn Monitor 1 data The data of the monitor code set to RWwn is set. RWrn 1 Monitor 2 data The data of the monitor code set to RWwn 1 is set. RWrn 2 Respond code "0000" is set when the codes set to RWwn to RWwn 3 are executed normally. RWrn 3 Reading data Data corresponding to the read code set to RWwn 2 is set. When 2 stations are occupied Remote register Signal name Description RWrn Monitor 1 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn are set. RWrn 1 Monitor 1 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn are set. A sign is set if there are no data in the upper 16 bits. RWrn 2 Respond code "0000" is set when the codes set to RWwn to RWwn 6 are executed normally. RWrn 3 Reading data Data corresponding to the read code set to RWwn 2 is set. RWrn 4 RWrn 5 RWrn 6 Monitor 2 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn 1 are set. Monitor 2 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn 1 are set. A sign is set if there are no data in the upper 16 bits. RWrn 7 16 - 13 16. INDEXER POSITIONING OPERATION 16.2.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn 2). At this time, "0000" is set to RWrn, RWrn 1, RWrn 5 and RWrn 6. Code No. 1 station occupied Monitored item 2 stations occupied 0000h 0000h 0001h 0001h (Servo amplifier Answer data Programmable controller) Data length Unit 16bit [No.] Not used in indexer positioning operation. 0002h 0003h 0003h 0004h 0005h 0005h 0006h 0007h 0007h 0008h 0008h Point table No. 000Ah Feedback pulse value lower 16bit 16bit [pulse] Feedback pulse value upper 16bit 16bit [pulse] Droop pulse value lower 16bit 16bit [pulse] Droop pulse value upper 16bit 16bit [pulse] 0009h 000Ah 000Bh 000Ch 000Dh 000Eh 000Eh 000Fh 0010h 0010h 0011h 0011h Regenerative load factor 16bit [%] 0012h 0012h Effective load factor 16bit [%] 0013h 0013h Peak load factor 16bit [%] 0014h 0014h Instantaneously occurring torque 16bit [%] 0015h 0015h ABS counter 16bit 0016h 0016h Motor speed lower 16bit 16bit 0.1[rev/min] Motor speed upper 16bit 16bit 0.1[rev/min] 0018h 0018h Bus voltage 16bit [V] 0019h 0019h Not used in indexer positioning operation. Within one-revolution position lower 16bit 16bit [pulse] Within one-revolution position upper 16bit 16bit [pulse] Station No. 16bit [No.] 0017h [rev] 001Ah 001Bh 001Bh 001Ch 001Ch 001Dh 001Eh 001Eh 16 - 14 16. INDEXER POSITIONING OPERATION 16.2.4 Instruction codes (RWwn 2 RWwn 3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn 3). Set the command code No. corresponding to the item to RWrn 2. The codes and answer data are all 4digit hexadecimal numbers. Setting any command code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn 2). At this time, "0000" is set to Reading data (RWrn 3). Code No. Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function 0000h Operation mode Reads the current operation mode. 0002h Travel multiplying factor Reads the multiplying factor of the position data in the point table set in parameter No.PA05. 0000: CC-Link operation mode 0001: Test operation mode Travel multiplying factor 0300: 0200: 0100: 0000: 0010h Current alarm (warning) reading Reads the alarm No. or warning No. occurring currently. 1000 100 10 1 0 0 Occurring alarm No./warning No. 0020h Alarm number in alarm history (most recent alarm) 0021h Alarm number in alarm history (first recent alarm) 0022h Alarm number in alarm history (second recent alarm) 0023h Alarm number in alarm history (third recent alarm) 0024h Alarm number in alarm history (fourth recent alarm) 0025h Alarm number in alarm history (fifth recent alarm) 0030h Alarm occurrence time in alarm history (most recent alarm) 0031h Alarm occurrence time in alarm history (first recent alarm) 0032h Alarm occurrence time in alarm history (second recent alarm) 0033h Alarm occurrence time in alarm history (third recent alarm) 0034h Alarm occurrence time in alarm history (fourth recent alarm) 0035h Alarm occurrence time in alarm history (fifth recent alarm) 0 0 Alarm No. that occurred in past Occurrence time of alarm that occurred in past 16 - 15 16. INDEXER POSITIONING OPERATION Code No. 0040h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Input device status 0 Reads the statuses (OFF/ON) of the input devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. bitF bit0 bit Device 0 Servo-on bit Device 8 Monitor output execution 1 Start demand 2 Rotation direction specifying 9 Instruction code execution demand 3 Proximity dog A Next station selection 1 4 Forward rotation stroke end B Next station selection 2 C Next station selection 3 5 Reverse rotation stroke end D Next station selection 4 E Next station selection 5 6 Operation mode selection 1 F 7 Operation mode selection 2 0041h Input device status 1 Reads the statuses (OFF/ON) of the input devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. bitF bit0 bit Device 0 Position instruction execution demand 1 Speed instruction execution demand bit 8 Gain changing 9 A Position/speed specifying 2 system selection 3 Next station selection 6 B 4 Next station selection 7 C Speed selection 1 5 Next station selection 8 D Speed selection 2 6 Internal torque limit E Speed selection 3 selection 0042h Input device status 2 Reads the statuses (OFF/ON) of the input devices. Device 7 Proportion control F For manufacturer setting bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. bitF bit 0 bit0 Device bit 8 1 9 2 A Reset 3 B 4 C 5 D 6 E 7 F 16 - 16 Device 16. INDEXER POSITIONING OPERATION Code No. 0050h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Output device status 0 Reads the statuses (OFF/ON) of the Output devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. bitF bit0 bit Device bit Device 0 Ready 8 Monitoring 1 In position 9 Instruction code execution 2 Rough match 3 Home position return completion completion A Warning B Battery warning 4 Limiting torque C Movement completion 5 D Dynamic brake 6 Electromagnetic brake interlock E F 7 0051h Output device status 1 Reads the statuses (OFF/ON) of the Output devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. bitF bit0 bit Device 0 Position instruction execution completion 1 Speed instruction execution completion 0052h Output device status 2 Reads the statuses (OFF/ON) of the Output devices. bit Device 7 Station output 6 8 Station output 7 9 Station output 8 A Station output 9 2 Station output 1 B 3 Station output 2 C 4 Station output 3 D 5 Station output 4 E 6 Station output 5 F For manufacturer setting bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. bitF bit bit0 Device bit Device 0 9 1 A Trouble 2 B Remote station 3 communication ready 4 C 5 D 6 E 7 F 8 16 - 17 16. INDEXER POSITIONING OPERATION Code No. 0081h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Energization time Reads the energization time from shipment. Returns the energization time [h]. Energization time 0082h Power ON frequency Reads the number of power-on times from shipment. Returns the number of power-on times. Power ON frequency 00A0h Ratio of load inertia moment Reads the estimated ratio of load inertia moment to servo motor shaft inertia moment. Return unit [times]. Ratio of load inertia moment 00B0h 00B1h 00B2h Home position within-1-revolution position lower 16bit (CYC0) Reads the lower 16 bits of the cycle counter value of the absolute home position. Return unit [pulses]. Home position within-1-revolution position upper 16bit Reads the upper 16 bits of the cycle counter value of the absolute home position. Return unit [pulses]. Home position Multi-revolution data (ABS0) Multi-revolution counter value of absolute home position reading. Return unit [rev]. Cycle counter value Cycle counter value Multi-revolution counter value 00C0h 0100h to 011Dh Error parameter No./Point data No. reading Reads the parameter No./point table No. in error. Parameter No. or point table No. Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) Type 1: Parameter No. 2: Point table No. Monitor multiplying factor Reads the multiplying factor of the data to be read with the monitor code. The instruction codes 0100 to 011D correspond to the monitor codes 0000 to 001D. 0000 applies to the instruction code that does not correspond to the monitor code. Monitor multiplying factor 0003: 0002: 0001: 0000: 16 - 18 1000 100 10 1 ) 16. INDEXER POSITIONING OPERATION Code No. 0200h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Parameter group reading Reads the parameter group to be read with code No.8200h to be written. 0 0 0 Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) 0201h to 02FFh 0301h to 03FFh Parameter data reading Reads the set value of each No. of the parameter group read with code No.0200h. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. If the instruction code is set outside the range set in parameter No.PA19, an error code is returned and the data cannot be read. Data form of parameter Reads the data format of each No. of the parameter group read with code No.0200h. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. If the instruction code is set outside the range set in parameter No.PA19, an error code is returned and the data cannot be read. ) The value set in the parameter No. corresponding to the requested group name is stored. The value set in the parameter No. corresponding to the requested group name is stored. 0 Data format 0: Used unchanged as hexadecimal 1: Must be converted into decimal Decimal point position 0: Without decimal point 1: First least significant digit (without decimal point) 2: Second least significant digit 3: Third least significant digit 4: Fourth least significant digit Parameter write type 0: Valid after write 1: Valid when power is switched on again after write 0601h to 06FFh Servo motor speed of point table No.1 to 255 The servo motor speed set to the requested point table No. is The decimal value converted from the 2 lower returned. digits of the code No. corresponds to the point table No. Servo motor speed 0701h to 07FFh 0801h to 08FFh Acceleration time constant of point table No.1 to 255 The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Deceleration time constant of point table No.1 to 255 The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. The acceleration time constant set to the requested point table No. is returned. The deceleration time constant set to the requested point table No. is returned. 16 - 19 16. INDEXER POSITIONING OPERATION (2) Write instruction codes Set the data, which was requested to be written with the instruction code 8010h to 91FFh. Set the instruction code No. corresponding to the item to Instruction code (RWwn 2) and the written data to Writing data (RWwn 3). The codes and answer data are all 4-digit hexadecimal numbers. When the instruction code which has not been described in this section is set, the error code ( 1 ) is stored in respond code (RWrn 2). Code No. Item 8010h Alarm reset command Deactivates the alarm that occurred. Feedback pulse value display data is clear Resets the display data of the status indication "feedback pulse value" to 0. Parameter group write command Writes the group of parameters that are written to with codes No.8201h to 82FFh and 8301h to 83FFh. Writes the group of parameters that are read with codes No.0201h to 02FFh and 0301h to 03FFh. 8101h 8200h 8201h to 82FFh 8301h to 83FFh 8601h to 86FFh Writing data (RWwn 3) contents (Programmable controller Servo amplifier) 1EA5 1EA5 0 0 0 Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) Data RAM instruction of parameter Convert the decimal values into hexadecimal before setting. Writes the set value of each No. of the parameter group written by code No.8200h to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. An error code is returned if an instruction code outside the range set in parameter No. PA19 or a value outside the setting range of the corresponding parameter is written. Data EEP-ROM instruction of parameter Convert the decimal values into hexadecimal before setting. Writes the set value of each No. of the parameter group written with code No.8200h to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. An error code is returned if an instruction code outside the range set in parameter No.PA19 or a value outside the setting range of the corresponding parameter is written. Motor speed of point table Convert the values into hexadecimal before setting. Writes the motor speeds of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. 16 - 20 ) 16. INDEXER POSITIONING OPERATION Writing data (RWwn 3) contents (Programmable controller Servo amplifier) Code No. Item 8701h to 87FFh Acceleration time constant data RAM command of point table Writes the acceleration time constants of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Deceleration time constant data RAM command of point table Writes the deceleration time constants of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Servo motor speed data EEP-ROM command of point table Writes the servo motor speeds of point table No.1 to 255 to EEP-ROM. Written to EEPROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Acceleration time constant data EEP-ROM command of point table Writes the acceleration time constants of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Deceleration time constant data EEP-ROM command of point table Writes the deceleration time constants of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. 8801h to 88FFh 8D01h to 8DFFh 8E01h to 8EFFh 8F01h to 8FFFh Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. Convert the values into hexadecimal before setting. 16 - 21 16. INDEXER POSITIONING OPERATION 16.2.5 Respond codes (RWrn 2) If any of the monitor codes, instruction codes, Next station, Point table Nos./Speed command data set to the remote register is outside the setting range, the corresponding error code is set to respond code (RWwn 2). "0000" is set if they are normal. Error related to Monitor code 1/Monitor code 2 Error related to Instruction code/Writing data Error related to Next station Error related to point table No./Speed command data Code No. 0 1 2 3 Error Normal answer Details Instruction was completed normally. Code error The monitor code not in the specifications was set. Read/write of the point table of No.255 or later was set. Parameter point table selection error The parameter No. disabled for reference was set. Write range error An attempt was made to write the parameter or point table data outside the setting range. 16 - 22 16. INDEXER POSITIONING OPERATION 16.3 Signal 16.3.1 Signal (device) explanation POINT In the indexer positioning operation, devices assigned to the CN6 connector cannot be changed. (1) I/O device (a) Input device Symbol Connector pin No. Forced stop EMG CN6-1 Turn EMG off (open between commons) to bring the motor to an emergency stop state, in which the base circuit is shut off and the dynamic brake is operated. Turn EMG on (short between commons) in the emergency stop state to reset that state. Proximity dog DOG CN6-2 When DOG is turned OFF, the proximity dog is detected. The polarity of dog detection can be changed using parameter No.PD16. Device Functions/Applications Parameter No.PD16 0 Proximity dog (DOG) detection polarity (initial value) OFF 1 Forward rotation stroke end LSP CN6-3 Reverse rotation stroke end LSN CN6-4 ON When starting operation, turn LSP/LSN to ON. Turning it to OFF causes a sudden stop, resulting in servo lock. A stopping method can be changed in parameter No.PD20. When not using the forward/reverse rotation stroke end, set "Automatic ON" in parameter No.PD01. (Note) Input signal LSP LSN 1 1 0 1 1 0 0 0 Note. 0: OFF 1: ON 16 - 23 Operation CCW direction CW direction 16. INDEXER POSITIONING OPERATION (b) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Device Symbol Connector pin No. Functions/Applications Ready RD CN6-14 RD turns ON when the servo amplifier is ready to operate after servo-on. Trouble ALM CN6-15 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after power-on. The significance of this device is opposite of that of remote output (RX (n 1)A or RX (n 3)A). ZP CN6-16 ZP turns ON when a home position return is completed. ZP turns ON at completion of a home position return. In an absolute position detection system, RXn3 turns ON when operation is ready to start, but turns OFF in any of the following cases. 1) Servo-on (RYn0) is turned OFF. 2) Forced stop (EMG) is turned OFF. 3) Reset (RY(n 1)A or RY(n 3)A) is turned ON. 4) Alarm occurs. 5) Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN) is turned OFF. 6) Home position return has not been made after product purchase. 7) Home position return has not been made after occurrence of Absolute position erase (A25) or Absolute position counter warning (AE3). 8) Home position return has not been made after electronic gear change. 9) Home position return has not been made after the absolute position detection system was changed from invalid to valid. 10) Parameter No.PA14 (Station No. direction selection) has been changed. 11) While a home position return is being made. When any of 1) to 11) has not occurred and a home position return is already completed at least once, Home position return completion (ZP) turns to the same output status as Ready (RD). Symbol Connector pin No. Home position return completion (2) Input signals Device Manual pulse generator PP CN6-6 NP CN6-19 Functions/Applications Not used in indexer positioning operation. 16 - 24 16. INDEXER POSITIONING OPERATION (3) Output signals Refer to section 4.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Symbol Connecto r pin No. Encoder A-phase pulse (differential line driver) LA LAR CN6-11 CN6-24 Encoder B-phase pulse (differential line driver) LB LBR CN6-12 CN6-25 Encoder Z-phase pulse (differential line driver) LZ LZR CN6-13 CN6-26 Symbol Connector pin No. Digital I/F power supply input DICOM CN6-5 Digital I/F common DOCOM CN6-17 OPC CN6-18 LG CN6-23 SD Plate Device Functions/Applications I/O division Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of /2. The relationships between rotation direction and phase difference of the A- and B-phase pulses can be changed using parameter No.PC19 DO-2 Outputs the zero-point signal of the encoder in the differential line driver system. One pulse is output per servo motor revolution. This signal turns on when the zero-point position is reached. (Negative logic) The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100r/min. or less. DO-2 (4) Power supply Signal MR-HDP01 open collector power input Control common Shield Functions/Applications Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. Connect the plus of 24VDC terminal external power supply for the sink interface. Common terminal for input signals such as DOG and EMG. Pins are connected internally. Separated from LG. Connect the plus of 24VDC terminal external power supply for the source interface. Not used in indexer positioning operation. Common terminal for the differential line driver of the encoder pulses (LA LAR LB LBR LZ LZR). Connect the external conductor of the shield cable. 16 - 25 I/O division 16. INDEXER POSITIONING OPERATION 16.3.2 Detailed description of signals (devices) (1) Forward rotation start reverse rotation start temporary stop/restart (a) A start (RYn1) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD). (b) A start in the servo amplifier is made when a start (RYn1) changes from OFF to ON. The delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other devices is max. 10ms. (c) When a programmable controller is used, the ON time of a start (RYn1), should be 6ms or longer to prevent a malfunction. (d) During operation, the start (RYn1) is not accepted. The next operation should always be started after the rough match (RXn2) is output with the rough match output range set to “0” or after the movement completion (RXnC) is output. (2) Movement completion rough match in position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement completion (MEND), Rough-match, (CPO) and In position (INP) are turned on. To resume operation, confirm the current position and the selected point table No. for preventing unexpected operation. (a) Movement completion The following timing charts show the output timing relationships between the position command generated in the servo amplifier and the movement completion (RYnC). This timing can be changed using parameter No.PA10 (in-position range). RYnC turns ON in the servo-on status. Start (RYn1) ON OFF 3ms or less Position command and servo motor speed Position command Servo motor speed Forward rotation In-position range 0r/min Movement completion (RXnC) ON OFF When parameter No.PA10 is small Start (RYn1) Position command and servo motor speed ON OFF 3ms or less Position command Forward rotation In-position range 0r/min Movement completion (RXnC) Servo motor speed ON OFF When parameter No.PA10 is large 16 - 26 16. INDEXER POSITIONING OPERATION (b) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No.PC11 (rough match output range). RXn2 turns ON in the servo-on status. Start (RYn1) ON OFF 3ms or less Forward Position command rotation 0r/min Rough match (RXn2) ON OFF When "0" is set in parameter No.PC11 Start (RYn1) ON OFF 3ms or less Position command Rough match output range Forward rotation 0r/min Rough match (RXn2) ON OFF When more than "0" is set in parameter No.PC11 (c) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No.PA10 (in-position range). turns on RYn1 in the servo-on status. Start (RYn1) ON OFF 3ms or less Servo motor speed In-position range Forward rotation 0r/min In position (RXn1) ON OFF When positioning operation is performed once 16 - 27 16. INDEXER POSITIONING OPERATION (3) Torque limit CAUTION If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position. POINT In the indexer positioning operation, the torque limit 2 becomes automatically effective depending on the operation status. (a) Torque limit and torque By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque limit), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below. Max. torque CCW direction Torque CW direction 100 0 100 [%] Torque limit value in Torque limit value in parameter No.PA12 parameter No.PA11 (b) Torque limit value selection As shown below, the forward rotation torque limit (parameter No.PA11), reverse rotation torque limit (parameter No.PA12) or internal torque limit 2 (parameter No.PC35) can be chosen using the external torque limit selection (RY(n 2)6). (Note) RY(n 2) 6 Limit value status 0 Parameter No.PC35 1 Parameter No.PC35 Parameter No.PA11 Parameter No.PA12 Parameter No.PA11 Parameter No.PA12 Torque limit to be enabled CCW driving/CW CW driving/CCW regeneration regeneration Parameter No.PA11 Parameter No.PA12 Parameter No.PA11 Parameter No.PA12 Parameter No.PC35 Parameter No.PC35 Note. 0: OFF 1: ON (c) Limiting torque (RXn4) RXn4 turns on when the servo motor torque reaches the torque limited. 16 - 28 16. INDEXER POSITIONING OPERATION 16.4 Switching power on for the first time WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury. When switching power on for the first time, follow this section to make a startup. 16.4.1 Startup procedure Wiring check Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (Section 7.7.4, 8.5.7 (4)), etc. (Refer to section 16.4.3.) Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 16.4.3.) Parameter setting Set the parameters as necessary, such as the used control mode and regenerative option selection with the parameter unit or MR Configurator. (Refer to chapter 6.) Test operation of servo motor alone in test operation mode For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, and check whether the servo motor rotates correctly. (Refer to sections 7.7 and 8.5.7.) For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, and check whether the servo motor rotates correctly. Test operation of servo motor alone by commands Test operation with servo motor and machine connected Connect the servo motor with the machine, give operation commands from the host command device, and check machine motions. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 9.) Actual operation Stop Stop giving commands and stop operation. 16 - 29 16. INDEXER POSITIONING OPERATION 16.4.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.2.) (b) Connection of servo amplifier and servo motor 1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor. Servo amplifier U U V V Servo motor M W W 2) The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor. Servo amplifier Servo motor M U V W U V W 3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier. Servo amplifier Servo motor M 4) P1-P2 (For 11kW or more, P1-P) should be connected. Servo amplifier P1 P2 (c) When option and auxiliary equipment are used 1) When regenerative option is used under 3.5kW for 200V class and 2kW for 400V class The lead between P terminal and D terminal of CNP2 connector should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used. (Refer to section 14.2.) 16 - 30 16. INDEXER POSITIONING OPERATION 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to section 14.2.) 3) When brake unit and power regenerative converter are used over 5kW The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. Brake unit, power regenerative converter or power regeneration common converter should be connected to P terminal and N terminal. (Refer to section 14.3 to 14.5.) 4) The power factor improving DC reactor should be connected P1 and P2 (For 11kW or more, P1 and P). (Refer to section 14.11.) Power factor Servo amplifier improving DC reactor P1 (Note) P2 Note. Always disconnect P1 and P2 (For 11kW or more, P1 and P). (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN6 connector. This function can be used to perform a wiring check. (Refer to section 7.7.4.) In this case, switch on the control circuit power supply only. (b) 24VDC or higher voltage is not applied to the pins of connectors CN6. (c) SD and DOCOM of connector CN6 is not shorted. Servo amplifier CN6 DOCOM SD 16.4.3 Surrounding environment (1) Cable routing (a) The wiring cables are free from excessive force. (b) The encoder cable should not be used in excess of its flex life. (Refer to section 13.4.) (c) The connector part of the servo motor should not be strained. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like. 16 - 31 16. INDEXER POSITIONING OPERATION 16.5 Startup 16.5.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (RYn0). 2) Make sure that the start (RYn1) is off. 3) Switch on the main circuit power supply and control circuit power supply. When main circuit power/control circuit power is switched on, the servo amplifier display shows "b01" (if the servo amplifier has the station number of 1). In the absolute position detection system, first power-on results in the absolute position lost (A25) alarm and the servo system cannot be switched on. The alarm can be deactivated then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 3000r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop. (2) Power-off 1) Make sure that the start (RYn1) is off. 2) Switch off the Servo-on (RYn0). 3) Switch off the main circuit power supply and control circuit power supply. 16.5.2 Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor. Refer to section 4.11 for the servo motor equipped with an electromagnetic brake. (a) Servo-on (RYn0) OFF The base circuit is shut off and the servo motor coasts. (b) Alarm occurrence When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. (c) Forced stop (EMG) OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. The servo forced stop warning (AE6) occurs. (d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the opposite direction. 16 - 32 16. INDEXER POSITIONING OPERATION 16.5.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 16.5.1 for the power on and off methods of the servo amplifier. Test operation of servo motor alone in JOG operation of test operation mode In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 7.7 and 8.5.7 for the test operation mode. Test operation of servo motor alone by commands In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the command device. Make sure that the servo motor rotates in the following procedure. 1) Switch on the Forced stop (EMG) and Servo-on (RYn0). When the servo amplifier is put in a servo-on status, the Ready (RD) switches on. 2) Switch on the Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN). 3) When the point table is designated to switch on the start (RYn1) the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check the input signal. Test operation with servo motor and machine connected In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device. Make sure that the servo motor rotates in the following procedure. 1) Switch on the Forced stop (EMG) and Servo-on (RYn0). When the servo amplifier is put in a servo-on status, the Ready (RD) switches on. 2) Switch on the Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN). 3) When the point table is specified from the command device and the start (RYn1) is turned ON, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc. 4) Then, check automatic operation with the program of the command device. 16 - 33 16. INDEXER POSITIONING OPERATION 16.5.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (A16) will occur at power-on. Encoder cable MR-EKCBL20M-L/H Parameter No.PC22 setting 0 (initial value) MR-EKCBL30M-H MR-EKCBL40M-H 1 MR-EKCBL50M-H ) mainly. The servo amplifier can be used by merely changing the basic setting parameters (No.PA ), extension setting parameters (No.PC ) and I/O As necessary, set the gain filter parameters (No.PB setting parameters (No.PD ). Parameter group Main description Basic setting parameter (No.PA ) Set the basic setting parameters first. Generally, operation can be performed by merely setting this parameter group. In this parameter group, set the following items. Control mode selection (select the position control mode) Regenerative option selection Absolute position detection system selection Setting of command input pulses per revolution Electronic gear setting Auto tuning selection and adjustment In-position range setting Torque limit setting Command pulse input form selection Servo motor rotation direction selection Encoder output pulse setting Gain filter parameter (No.PB ) If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning, execute in-depth gain adjustment using this parameter group. This parameter group must also be set when the gain changing function is used. Extension setting parameter (No.PC ) This parameter group is unique to MR-J3- T servo amplifier. I/O setting parameter (No.PD ) Set the stopping method of the stroke end (LSP and LSN), torque limit delay time and others. 16 - 34 16. INDEXER POSITIONING OPERATION 16.5.5 Point table setting Set necessary items to the point table before starting operation. The following table indicates the items that must be set. Name Description Position data Not used in indexer positioning operation. Do not change this value by any means. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant. Deceleration time constant Set the deceleration time constant. Dwell Not used in indexer positioning operation. Do not change this value by any means. Auxiliary function Not used in indexer positioning operation. Do not change this value by any means. 16.5.6 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. Perform a home position return as necessary. 16 - 35 16. INDEXER POSITIONING OPERATION 16.6 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3) Waiting for CC-Link communication (Note 1) When alarm warning No. is displayed CC-Link master module power ON CC-Link communication beginning At occurrence of overload (Note 3) Flicker display Not ready At occurrence of overload warning (Note 2) Flicker display Servo ON (Note 3) When alarm occurs, alarm code appears. During forced stop Flicker display Ready Alarm reset or warning 2s later Station No. display 2s later Servo amplifier power OFF Note 1. Only alarm and warning No. are displayed, but no station No. is displayed. 2. If warning other than AE6 occurs during the servo on, flickering the second place of decimal point indicates that it is during the servo on. 3. The right-hand segments of b01, c02 and d16 indicate the axis number. (Below example indicates Station No.1) Station Station No.1 No.2 16 - 36 Station No.64 16. INDEXER POSITIONING OPERATION (2) Indication list Indication Status Description Power of the CC-Link master module was switched on at the condition that the power of CC-Link master module is OFF. The CC-Link master module is faulty. b # # Waiting for CC-Link communication (Note 1) d # # Ready The servo was switched on after completion of initialization and the servo amplifier is ready to operate. (This is indicated for 2 seconds.) (Note 1) C # # Not ready The servo amplifier is being initialized or an alarm has occurred. (Note 2) $ $ $ Ready for operation Two seconds have passed after the servo amplifier is ready to operate by turning ON the servo-on (RYn1). (Note 3) A Alarm 8 8 8 CPU error (Note 4) (Note 1) Warning b 0 0. (Note 4) d # #. Test operation mode C # #. The alarm No./warning No. that occurred is displayed. (Refer to section 16.12.4.) CPU watchdog error has occurred. JOG operation positioning operation programmed operation DO forced output Motor-less operation Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below. ## Description 00 Set to the test operation mode. 01 Station number 1 02 Station number 2 03 Station number 3 : : : : 62 Station number 62 63 Station number 63 64 Station number 64 Note 2. $$$ indicates numbers from 0 to 254, and the number indicates the executing station number. 3. indicates the warning/alarm No. 4. Requires MR Configurator or MR-PRU03 parameter module. 16 - 37 16. INDEXER POSITIONING OPERATION 16.7 Automatic operation mode POINT In the absolute position detection system, the following restriction condition applies for the number of gears on machine-side (parameter No.PA06 CMX) and servo motor speed (N). When CMX 2000, N 3076.7 r/min When CMX 2000, N 3276.7–CMX r/min When the servo motor is operated at servo motor speed higher than the limit value, the absolute position counter warning (AE3) occurs. 16.7.1 What is automatic operation mode? (1) Concept of indexer Select the station, which is dividing the circumference (360 degrees) of the machine side into up to 255, using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning. Station No.253 Station No.2 Station No.254 Station No.1 Station No.0 Set the number of stations in the parameter No.PC46. (2) Rotation direction There are two types of operation methods: Rotation direction specifying indexer, which is to always rotate in the fixed direction and execute positioning to a station, and Shortest rotating indexer, which is to automatically change the rotation direction for the shortest distance and execute positioning to a station. Rotation direction specifying indexer 16 - 38 Shortest rotating indexer 16. INDEXER POSITIONING OPERATION 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer) In this operation mode, the servo motor rotates in the fixed direction and executes positioning to a station. (1) When not using the remote register Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning. For the servo motor speed and acceleration/ deceleration time constant during operation, the value set in the point table is used. (a) Device/Parameter Set the input devices and parameters as indicated below. Item Device/Parameter Indexer positioning operation selection Parameter No.PA01 Setting description 1 Automatic operation mode 1 Operation mode selection 1 (RYn6) (Rotation direction specifying indexer) Operation mode selection 2 (RYn7) selection : Select the indexer positioning operation. Turn off RYn6. Turn on RYn7. (b) Other parameter settings 1) Setting the allocation direction of station numbers Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Parameter No.PA14 setting 0 (Initial value) 1 CCW Station No. allocation direction Start (RYn1) ON Station No. is allocated in CW direction in order of 1, 2, 3… Station No. is allocated in CCW direction in order of 1, 2, 3… CW CCW direction CW direction 4 3 Station No. 2 1 4 3 1 2 Station No. Parameter No.PA14: 0 (Initial value) 16 - 39 Parameter No.PA14: 1 16. INDEXER POSITIONING OPERATION 2) Setting the number of stations Set the number of stations in the parameter No.PC46. Parameter No.PC46 setting value 0000 to 0002 0003 0004 00FF 2 3 4 255 Number of stations No.1 No.2 No.2 No.1 No.3 Station No. No.254 No.0 No.0 No.1 No.0 No.0 No.1 (c) Setting the speed data Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table number 1 to 8. Name Setting range Unit Description Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible speed of the servo motor. Servo motor speed 0 to permissible speed Acceleration time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached. Deceleration time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop. r/min (d) Operation Select the station number for positioning, using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5). (Note) Device 2 stations occupied Station No. 1 stations occupied RY(n 2)5 RY(n 2)4 RY(n 2)3 RYnE RYnD RYnC RYnB RYnA 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 1 0 1 3 1 1 1 1 1 1 0 1 253 1 1 1 1 1 1 1 0 254 Note. 0: OFF 1: ON 16 - 40 16. INDEXER POSITIONING OPERATION Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn on the start (RYn1) to execute positioning with the speed data set in the point table. Rotation direction of the servo motor is the direction set in the rotation direction specifying (RYn2). When one station is occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number cannot be selected. Use point table No.1 when one station is occupied. (Note) Device Point table No. RY(n 2)E RY(n 2)D RY(n 2)C 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8 Note. 0: OFF 1: ON 16 - 41 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) ON OFF ON OFF ON OFF (Note 2) Next station selection 1 to 8 (RYnA to RYnE RY(n 2)3 to RY(n 2)5) Speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) Start (RYn1) Rotation direction specifying (RYn2) (Note 5) Servo motor speed In position (RXn1) Rough match (RXn2) Movement completion (RXnC) No.1 No.3 Point table No.1 (Note 1) 4ms or more 4ms or more Point table No.2 (Note 3) ON OFF ON OFF 6ms or more 3ms or less Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF *3 *1 *2 (Note 7) Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) Torque limit value to be effective No.1 (Note 4) No.1 ON OFF Parameter No.PC35 Out of in-position range No.3 Out of in-position range (Note 6) Out of in-position range (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 No.1 Parameter No.PC35 Parameter No.PA11, PA12 16 - 42 (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4. Change of the servo motor speed and acceleration/deceleration time constant by the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E) becomes effective when the start (RYn1) turns on. Even if the speed selection 1 to 3 are changed during servo motor rotation, they do not become effective. 5. The following shows the operation to be executed. Operation *1 *2 *3 Station No.1 No.3 No.1 Servo motor speed Acceleration/deceleration time constant Point table No.1 Point table No.1 Point table No.2 2 1 Positioning 3 2 0 3 0 1 0 1 2 3 6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the parameter No.PD26. 7. After power-on, if the current position is within the in-position range of each station, the in position (RXn1) turns on. (2) When using the remote register Select the station number using the next station (RWwn 4) remote register and execute positioning. For the speed data during operation, select the point table number using the point table No./Speed command data (RWwn 6) remote register, or directly set the servo motor speed. (a) Device/Parameter Set the input devices and parameters as indicated below. Item Device/Parameter Setting description Indexer positioning operation selection Parameter No.PA01 1 Speed data setting method selection Parameter No.PC30 Select the setting method for speed data. 0 : Uses the point table setting value. 1 : Uses the servo motor speed setting value for the point table No./Speed command data (RWwn+6) remote register. In the case, always set the acceleration/deceleration time constant in the point table No.1. (Refer to (2) (c) in this section.) Automatic operation mode 1 Operation mode selection 1 (RYn6) (Rotation direction specifying indexer) Operation mode selection 2 (RYn7) selection Position/speed specifying system selection Position/speed specifying system selection (RY(n 2)A) 16 - 43 : Select the indexer positioning operation. Turn off RYn6. Turn on RYn7. Turn on RY(n 2)A. 16. INDEXER POSITIONING OPERATION (b) Other parameter settings 1) Setting the servo motor rotation direction and allocation direction of station numbers Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Setting is the same as that for when not using the remote register. Refer to (1) (b) 1) in this section. 2) Setting the number of stations Set the number of stations in the parameter No.PC46. Setting is the same as that for when not using the remote register. Refer to (1) (b) 2) in this section. (c) Setting the speed data 1) When using the speed data of point table Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table number 1 to 8. Name Setting range Unit Description Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible speed of the servo motor. Servo motor speed 0 to permissible speed Acceleration time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached. Deceleration time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop. r/min (2) When directly setting the servo motor speed (only when two stations are occupied) Set the followings because the acceleration time constant and deceleration time constant of the point table No.1 are used. Name Setting range Unit Description Setting is not required. Servo motor speed 0 to permissible speed Acceleration time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached. Deceleration time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop. r/min (d) Operation 1) When using the speed data of point table Set the station number for positioning by using the next station (RWwn 4) remote register. Set the point table number in the point table No./Speed command data (RWwn 6) remote register. Turn on the start (RYn1) to execute positioning with the speed data set in the point table. 2) When directly setting the servo motor speed (only when two stations are occupied) Set the station number for positioning by using the next station (RWwn 4) remote register. Set the servo motor speed in the point table No./Speed command data (RWwn 6) remote register. Turn on the start (RYn1) to execute positioning with the servo motor speed set in RWwn 6 and the acceleration time constant and deceleration time constant set in the point table No.1. 16 - 44 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. 1) When using the speed data of point table Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) No.1 No.3 No.1 Point table No./speed command data (RWwn 6) No.1 No.1 No.2 (Note 4) Position instruction execution demand (RY(n 2)0) ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Position instruction execution completion (RX(n 2)0) (Note 4) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) Start (RYn1) Rotation direction specifying (RYn2) 4ms or more (Note 1) (Note 3) 6ms or more 3ms or less (Note 5) Servo motor speed Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF In position (RXn1) Rough match (RXn2) Movement completion (RXnC) *3 *1 *2 (Note 7) Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) No.1 Torque limit value to be effective ON OFF Parameter No.PC35 Out of in-position range No.3 Out of in-position range (Note 6) (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 No.1 Out of in-position range Parameter No.PC35 Parameter No.PA11, PA12 16 - 45 (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3). 5. The following shows the operation to be executed. Operation *1 *2 *3 Station No.1 No.2 No.3 Servo motor speed Acceleration/deceleration time constant Point table No.1 Point table No.1 Point table No.2 2 1 Positioning 3 0 2 3 1 0 0 1 2 3 6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the parameter No.PD26. 7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on. 16 - 46 16. INDEXER POSITIONING OPERATION 2) When directly setting the servo motor speed Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) Point table No./Speed command data (RWwn 6) (Note 4) Position instruction execution demand (RY(n 2)0) ON OFF ON OFF ON OFF ON OFF Position instruction execution completion (RX(n 2)0) (Note 4) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) ON OFF ON OFF Start (RYn1) Rotation direction specifying (RYn2) No.1 No.3 No.1 Speed 1 Speed 2 Speed 3 4ms or more (Note 1) (Note 3) 6ms or more 3ms or less (Note 5) Servo motor speed Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF In position (RXn1) Rough match (RXn2) Movement completion (RXnC) *3 *1 *2 (Note 7) Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) No.1 Torque limit value to be effective ON OFF Parameter No.PC35 Out of in-position range No.3 Out of in-position range (Note 6) Out of in-position range (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 16 - 47 (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 No.1 Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3). 5. The following shows the operation to be executed. Operation *1 *2 *3 Station No.1 No.3 No.1 Servo motor speed Speed 1 Speed 2 Speed 3 Acceleration/deceleration time constant Point table No.1 Point table No.1 Point table No.1 2 1 Positioning 3 0 2 3 1 0 0 1 2 3 6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the parameter No.PD26. 7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on. 16 - 48 16. INDEXER POSITIONING OPERATION 16.7.3 Automatic operation mode 2 (Shortest rotating indexer) In this operation mode, the servo motor automatically changes the direction for the shortest distance and executes positioning. (1) When not using the remote register Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning. For the servo motor speed and acceleration/ deceleration time constant during operation, the value set in the point table is used. (a) Device/Parameter Set the input devices and parameters as indicated below. Item Device/Parameter Indexer positioning operation selection Setting description Parameter No.PA01 1 Automatic operation mode 2 Operation mode selection 1 (RYn6) (Rotation direction specifying indexer) Operation mode selection 2 (RYn7) selection : Select the indexer positioning operation. Turn on MD0. Turn on MD1. (b) Other parameter settings (Setting the number of stations) Set the number of stations in the parameter No.PC46. Setting is the same as that for the automatic operation mode 1. Refer to (1) (b) 2) in section 16.7.2. In the automatic operation mode 2, the station No. direction selection (parameter No.PA14) is not used. (c) Setting the speed data Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table number 1 to 8. Setting is the same as that for the automatic operation mode 1. Refer to (1) (c) in section 16.7.2. (d) Operation Select the station number for positioning, using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5). (Note) Device 2 stations occupied Station No. 1 stations occupied RY(n 2)5 RY(n 2)4 RY(n 2)3 RYnE RYnD RYnC RYnB RYnA 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 1 0 1 3 1 1 1 1 1 1 1 0 253 1 1 1 1 1 1 1 1 254 Note. 0: OFF 1: ON 16 - 49 16. INDEXER POSITIONING OPERATION Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn on the start (RYn1) to execute positioning with the speed data set in the point table. When one station is occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number cannot be selected. Use the point table No.1 when one station is occupied. (Note) Device Pint table No. RY(n 2)E RY(n 2)D RY(n 2)C 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8 Note. 0: OFF 1: ON 16 - 50 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) ON OFF ON OFF ON OFF (Note 2) Next station selection 1 to 8 (RYnA to RYnE RY(n 2)3 to RY(n 2)5) No.1 No.1 (Note 4) Speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) Start (RYn1) No.3 Point table No.1 Point table No.1 (Note 1) 4ms or more (Note 3) ON OFF 6ms or more 3ms or less (Note 5) Servo motor speed In position (RXn1) Rough match (RXn2) Movement completion (RXnC) Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF *2 *1 *3 (Note 7) Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) Torque limit value to be effective No.1 ON OFF Parameter No.PC35 Out of in-position range No.3 Out of in-position range (Note 6) Parameter No.PA11, PA12 Out of in-position range (Note 6) Parameter No.PC35 16 - 51 (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 No.1 Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4. Change of the servo motor speed and acceleration/deceleration time constant by the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E) becomes effective when the start (RYn1) turns on. Even if the speed selection 1 to 3 are changed during servo motor rotation, they do not become effective. 5. The following shows the operation to be executed. Operation *1 *2 *3 Station No.1 No.3 No.1 Servo motor speed Acceleration/deceleration time constant Point table No.1 Point table No.1 Point table No.2 2 1 Positioning 3 2 0 3 0 0 1 1 2 3 6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the parameter No.PD26. 7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on. (2) When using the remote register Select the station number using the next station (RWwn 4) remote register and execute positioning. For the speed data during operation, select the point table number using the point table No./Speed command data (RWwn 6) remote register, or directly set the servo motor speed. (a) Device/Parameter Set the input devices and parameters as indicated below. Item Device/Parameter Setting description Indexer positioning operation selection Parameter No.PA01 1 Speed data setting method selection Parameter No.PC30 Select the setting method for speed data. 0 : Uses the point table setting value. 1 : Uses the servo motor speed setting value for the point table No./Speed command data (RWwn 6) remote register. In the case, always set the acceleration/deceleration time constant in the point table No.1. (Refer to (2) (c) in this section.) Automatic operation mode 2 Operation mode selection 1 (RYn6) (Rotation direction specifying indexer) Operation mode selection 2 (RYn7) selection Position/speed specifying system selection Position/speed specifying system selection (RY(n 2)A) 16 - 52 : Select the indexer positioning operation. Turn on RYn6. Turn on RYn7. Turn on RY(n 2)A. 16. INDEXER POSITIONING OPERATION (b) Other parameter settings (Setting the number of stations) Set the number of stations in the parameter No.PC46. Setting is the same as that for the automatic operation mode 1. Refer to (1) (b) 2) in section 16.7.2. In the automatic operation mode 2, the station No. direction selection (parameter No.PA14) is not used. (c) Setting the speed data 1) When using the speed data of point table Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table number 1 to 7. Setting is the same as that for the automatic operation mode 1. Refer to (2) (c) 1) in section 16.7.2. 2) When directly setting the servo motor speed (only when two stations are occupied) Set the followings because the acceleration time constant and deceleration time constant of the point table No.1 are used. Setting is the same as that for the automatic operation mode 1. Refer to (2) (c) 2) in section 16.7.2. (d) Operation 1) When using the speed data of point table Set the station number for positioning by using the next station (RWwn 4) remote register. Set the point table number in the point table No./Speed command data (RWwn 6) remote register. Turn on the start (RYn1) to execute positioning with the speed data set in the point table. 2) When directly setting the servo motor speed (only when two stations are occupied) Set the station number for positioning by using the next station (RWwn 4) remote register. Set the servo motor speed in the point table No./Speed command data (RWwn 6) remote register. Turn on the start (RYn1) to execute positioning with the servo motor speed set in RWwn 6 and the acceleration time constant and deceleration time constant set in the point table No.1. 16 - 53 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. 1) When using the speed data of point table Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) No.1 No.3 No.1 Point table No./Speed command data (RWwn 6) No.1 No.1 No.2 (Note 4) Position instruction execution demand (RY(n 2)0) ON OFF ON OFF ON OFF ON OFF ON OFF Position instruction execution completion (RX(n 2)0) (Note 4) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) Start (RYn1) 4ms or more (Note 1) (Note 3) 6ms or more 3ms or less (Note 5) Servo motor speed Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF In position (RXn1) Rough match (RXn2) Movement completion (RXnC) *1 *2 *3 (Note 7) Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) No.1 Torque limit value to be effective ON OFF Parameter No.PC35 Out of in-position range No.3 Out of in-position range (Note 6) (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 16 - 54 (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 No.1 Out of in-position range Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3). 5. The following shows the operation to be executed. Operation *1 *2 *3 Station No.1 No.3 No.1 Servo motor speed Acceleration/deceleration time constant Point table No.1 Point table No.1 Point table No.2 2 1 Positioning 3 0 2 3 1 0 0 1 2 3 6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the parameter No.PD26. 7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on. 16 - 55 16. INDEXER POSITIONING OPERATION 2) When directly setting the servo motor speed (only when 2 stations are occupied) Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) Point table No./speed command data (RWwn 6) (Note 4) Position instruction execution demand (RY(n 2)0) ON OFF ON OFF ON OFF ON OFF Position instruction execution completion (RX(n 2)0) (Note 4) Speed instruction execution demand (RY(n 2)1) Speed instruction execution completion (RX(n 2)1) ON OFF Start (RYn1) No.1 No.3 No.1 Speed 1 Speed 2 Speed 3 4ms or more (Note 1) (Note 3) 6ms or more 3ms or less (Note 5) Servo motor speed Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF In position (RXn1) Rough match (RXn2) Movement completion (RXnC) *1 *2 *3 (Note 7) Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) No.1 Torque limit value to be effective ON OF Parameter No.PC35 Out of in-position range No.3 Out of in-position range (Note 6) Out of in-position range (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 No.1 Parameter No.PC35 Parameter No.PA11, PA12 16 - 56 (Note 6) Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3). 5. The following shows the operation to be executed. Operation *1 *2 *3 Station No.1 No.3 No.1 Servo motor speed Speed 1 Speed 2 Speed 3 Acceleration/deceleration time constant Point table No.1 Point table No.1 Point table No.1 2 1 Positioning 3 0 2 3 1 0 0 1 2 3 6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the parameter No.PD26. 7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on. 16 - 57 16. INDEXER POSITIONING OPERATION 16.8 Manual operation mode For adjusting the machine or home position, JOG operation or indexer JOG operation can be used to move the position to any position. 16.8.1 Indexer JOG operation (1) Setting Set the devices and parameters as indicated below according to the purpose of use. In this case, the next station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) are invalid. Item Device/Parameter Indexer positioning operation selection Parameter No.PA01 Manual operation mode selection Setting description 1 : Select the indexer positioning operation. Operation mode selection 1 (RYn6) Turn on RYn6. Operation mode selection 2 (RYn7) Turn off RYn7. Indexer JOG operation selection Parameter No.PC45 Set it to " Station No. direction Parameter No.PA14 Refer to (2) in this section. JOG speed Point table No.1 Use the servo motor speed in the point table No.1. Acceleration/deceleration time constant Point table No.1 Use the acceleration/deceleration time constant in the point table No.1. 0 (Initial value)" (2) Setting the allocation direction of station numbers Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Parameter No.PA14 setting 0 (Initial value) 1 CCW Station No. allocation direction Start (RYn1) ON Station No. is allocated in CW direction in order of 1, 2, 3… Station No. is allocated in CCW direction in order of 1, 2, 3… CW CCW direction CW direction 4 3 Station No. 2 1 4 3 1 2 Station No. Parameter No.PA14: 0 (Initial value) 16 - 58 Parameter No.PA14: 1 16. INDEXER POSITIONING OPERATION (3) Operation Turn on the start (RYn1) to operate the servo motor with the servo motor speed, acceleration time constant, and deceleration time constant set in the point table No.1. Turning off RYn1 makes the servo motor execute positioning to the station where the servo motor can decelerate to stop. For the rotation direction, refer to (2) in this section. (4) Timing chart The following timing chart shows an example when executing the indexer JOG operation from the status where the servo motor is at a stop on the station No.0 when the servo-on is turned on. ON OFF ON OFF Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) 4ms or more ON OFF ON OFF Start (RYn1) Rotation direction specifying (RYn2) Servo motor speed 6ms or more 4ms or more (Note 2) Forward rotation 0r/min Reverse rotation 0 Current station No. In position (RXn1) 2 3 4 4 5 6 7 8 8 7 6 5 4 ON OFF Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) Torque limit value to be effective 1 No.4 No.0 ON OFF Parameter No.PC35 Out of in-position range (Note 1) No.8 Out of in-position range (Note 1) No.4 Out of in-position range (Note 1) Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12 Note 1. Torque limit delay time can be set in the parameter No.PD26. 2. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 16 - 59 16. INDEXER POSITIONING OPERATION 16.8.2 JOG operation (1) Setting Set the devices and parameters as indicated below for the purpose of use. In this case, the next station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) are invalid. Item Indexer positioning operation selection Device/Parameter Setting description 1 Parameter No.PA01 : Select the indexer positioning operation. Operation mode selection 1 (RYn6) Turn on RYn6 Operation mode selection 2 (RYn7) Turn off RYn7 JOG operation selection Parameter No.PC45 Set it to " Station No. direction Parameter No.PA14 Refer to (2) in this section. JOG speed Point table No.1 The setting is the same as for the indexer JOG operation. Refer to (2) in section 16.8.1. Acceleration/deceleration time constant Point table No.1 Use the acceleration/deceleration time constant in the point table No.1. Manual operation mode selection 1". (2) Operation Turn on the start (RYn1) to operate the servo motor with the servo motor speed, acceleration time constant, and deceleration time constant set in the point table No.1. Turning off RYn1 makes the servo motor decelerate to stop regardless of stations. For the rotation direction, refer to (2) in section 16.8.1. (3) Timing chart The following timing chart shows an example when executing the indexer JOG operation from the status where the servo motor is at a stop on the station No.0 when the servo-on is turned on. ON OFF ON OFF Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) 6ms or more Start (RYn1) Rotation direction specifying (RYn2) Servo motor speed 4ms or more ON OFF ON OFF Forward rotation 0r/min Reverse rotation In position (RXn1) ON OFF Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) Torque limit value to be effective No.0 ON OFF Out of in-position range (Note) Parameter No.PC35 Parameter No.PC35 Parameter No.PA11, PA12 Note. Torque limit delay time can be set in the parameter No.PD26. 16 - 60 Parameter No.PC35 Parameter No.PA11, PA12 16. INDEXER POSITIONING OPERATION 16.9 Home position return mode 16.9.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off. Hence, home position return is not required when power is switched on again. This servo amplifier has the home position return methods given in this section. Choose the most appropriate method for your machine structure and application. This servo amplifier has the home position return automatic return function which executes home position return by making an automatic return to a proper position if the machine has stopped beyond or at the proximity dog. Manual motion by jog operation or the like is not required. (1) Home position return types Choose the optimum home position return according to the machine type, etc. Type Home position return method Features With deceleration started at the front end of a proximity dog, the position where the first Torque limit changing dog Z-phase signal is given past the rear end of the dog or type home position return a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. General home position return method using a proximity dog. Repeatability of home position return is excellent. The machine is less burdened. Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor. Torque limit value by the parameter No.PC35 (Internal torque limit 2) becomes effective while the servo motor at stop. Torque limit changing data setting type home position return No proximity dog required. Torque limit value turns to “0” in the home position return mode. An arbitrary position is defined as a home position. 16 - 61 16. INDEXER POSITIONING OPERATION (2) Home position return parameter When performing home position return, set each parameter as follows. (a) Choose the home position return method with parameter No.PC02 (Home position return type). Parameter No.PC02 0 0 0 Home position return method 0: 1: 2: 3: 4: 5: Not used in indexer postioning operation. 6: 7: 8: 9: A: C: Torque limit changing dog type D: Torque limit changing data setting type (b) Choose the starting direction of home position return with parameter No.PC03 (Home position return direction). Set "0" to start home position return in the direction in which the station No. is incremented from the current position, or "1" to start home position return in the direction in which the address is decremented. Parameter No.PC03 0 0 0 Home position return direction 0: Station No. increment direction 1: Station No. decrement direction (c) Choose the polarity at which the proximity dog is detected with parameter No.PD16 (Input polarity setting). Set "0" to detect the dog when the proximity dog device (DOG) is OFF, or "1" to detect the dog when the device is ON. Parameter No.PD16 0 0 0 Proximity dog input polarity 0: OFF indicates detection of the dog 1: ON indicates detection of the dog (3) Instructions 1) Before starting home position return, always make sure that the limit switch operates. 2) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely. 3) Confirm the proximity dog input polarity. Not doing so may cause unexpected operation. 16 - 62 16. INDEXER POSITIONING OPERATION 16.9.2 Torque limit changing dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. A limit can be put on the servo motor torque at home position return execution and at stop separately. (1) Devices, parameters Set the input devices and parameters as follows. Item Home position return mode selection Device/Parameter used Description Operation mode selection 1 (RYn6) Turn off RYn6. Operation mode selection 2 (RYn7) Turn off RYn7. Torque limit changing dog type home position return Parameter No.PC02 C: Torque limit changing dog type home position return is selected. Home position return direction Parameter No.PC03 Refer to section 16.9.1 (2) and choose home position return direction. Dog input polarity Parameter No.PD16 Refer to section 16.9.1 (2) and choose dog input polarity. Home position return speed Parameter No.PC04 Set speed until detection of dog. Creep speed Parameter No.PC05 Set speed after detection of dog. Home position shift distance Parameter No.PC06 Set when shifting the home position starting at the first Z-phase signal after passage of proximity dog rear end. Home position return acceleration/deceleration time constants Point table No.1 Use the acceleration/deceleration time constants of point table No.1. Set the torque limit value for the forward rotation direction at home position return execution. Set the torque limit value for the reverse rotation direction at home position return execution. Point table No.PA11 Torque limit value at home position return execution Point table No.PA12 Torque limit value at stop Set the torque limit value at stop. Point table No.PC35 (2) Length of proximity dog Adjust the length of proximity dog or home position return speed so that the servo motor speed reaches to the creep speed while detecting the proximity dog (DOG). L1 L1 V td V 60 td 2 CDV 360 CMX : Angle that proximity dog holds on the circumference of machine side [degree] : Home position return speed of motor side [r/min] : Deceleration time of motor side [s] 16 - 63 16. INDEXER POSITIONING OPERATION (3) Timing chart Operation mode selection 1 (RYn6) ON Operation mode selection 2 (RYn7) ON OFF OFF ON Start (RYn1) Servo motor speed OFF Forward rotation 0r/min (Note) 4ms or more 6ms or more Point table No.1 Point table No.1 Home position return speed deceleration time acceleration Home position shift distance parameter No.PC04 constant time constant parameter No.PC06 Creep speed 3ms or less parameter No.PC05 Home position td Proximity dog Z-phase Proximity dog (DOG) Rough match (RXn2) In position (RXn1) ON OFF ON OFF ON OFF ON OFF Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) Out of in-position range No.0 Home position return completion ON (RXn3/ZP) OFF Torque limit value to be effective ON Parameter No.PA11, PA12 OFF Parameter No.PC35 Parameter No.PC35 Note. Configure a sequence that changes the operation mode earlier, considering the delay time of CC-Link communication. 16 - 64 16. INDEXER POSITIONING OPERATION 16.9.3 Torque limit changing data setting type home position return POINT Torque limit becomes effective after completing the torque limit changing data setting type home position return, so that when the servo motor is rotated by the external force, a difference occurs in between the command position and the current position. In the home position return mode, even if a difference occurs in between the command position and the current position, the error excessive alarm (A52) does not occur. Therefore, when the mode is changed from home position return to automatic operation, depending on the size of difference between the command position and the current position, the error excessive alarm (A52) occurs. Note that if the error excessive alarm (A52) does not occur, the servo motor rotates to eliminate the difference. Use the torque limit changing data setting type home position return to set the home position in any place. JOG operation can be used for moving a position. For this home position return, torque generation is stopped at the same time when the mode is changed to the home position return mode. Home position can be set for any position by rotating the axis with external force. The proximity dog (DOG) cannot be used. The proximity dog (DOG) is disabled even if it is turned off. (1) Device/Parameter Set the input devices and parameters as indicated below. Item Home position return mode selection Device/Parameter Setting description Operation mode selection 1 (RYn6) Turn off RYn6. Operation mode selection 2 (RYn7) Turn off RYn7. Position/speed specifying system by remote register (only when 2 stations are occupied) Position/speed specifying system selection (RY(n 2)A) Turn off RY(n 2)A. Torque limit changing data setting type home position return Parameter No.PC02 Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Start (RYn1) In position (RXn1) ON OFF ON OFF ON (Note) 4ms or more 6ms or more OFF ON OFF Station output 1 to 8 (RX(n 2)2 to RX(n 2)9) No.0 3ms or more Home position return completion ON (RXn3/ZP) OFF Torque limit value to be effective D: Select the torque limit changing data setting type. ON 0 OFF Parameter No.PC35 Parameter No.PC35 Note. Configure a sequence that changes the operation mode earlier, considering the delay time of CC-Link communication. 16 - 65 16. INDEXER POSITIONING OPERATION 16.9.4 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made. (1) When the current position is at the proximity dog When the current position is at the proximity dog, an automatic return is made before home position return. Home position return direction Proximity dog Home position return start position Makes an automatic return to a position before the proximity dog, then executes home position return at this position. (2) When the current position is beyond the proximity dog At a start, a motion is made in the home position return direction and an automatic return is made on detection of the stroke end (LSP or LSN). The motion stops past the front end of the proximity dog, and home position return is resumed at that position. If the proximity dog cannot be detected, the motion stops on detection of the LSP or LSN switch and A90 occurs. Stroke end (LSP or LSN) Home position return direction Proximity dog Home position return start position Makes an automatic return to a position before the proximity dog, then executes home position return at this position. Software limit cannot be used with these functions. 16 - 66 16. INDEXER POSITIONING OPERATION 16.10 Absolute position detection system CAUTION If an absolute position erase alarm (A25) or an absolute position counter warning (AE3) has occurred, always perform home position setting again. Not doing so may cause unexpected operation. POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series. HF-MP, HF-KP, HC-SP, HC-RP, HC-UP, HCLP, and HA-LP. After disconnecting the encoder cable, always execute home position setting and then positioning operation. When the following parameters are changed, the home position is lost when turning on the power after the change. Execute the home position return again when turning on the power. Parameter No.PA06 (Number of gears on machine-side) Parameter No.PA07 (Number of gears on servo motor-side) Parameter No.PA14 (Station No. direction selection) Parameter No.PC07 (Home position return position data) This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position detection system. Hence, an absolute position detection system can be configured up by merely loading an absolute position data back-up battery and setting parameter values. (1) Restrictions In the absolute position detection system, the following restriction condition applies for the number of gears on machine-side (parameter No.PA06 CMX) and servo motor speed (N). When CMX 2000, N 3076.7 r/min When CMX 2000, N 3276.7 - CMX r/min When the servo motor is operated at servo motor speed higher than the limited value, the absolute position counter warning (AE3) occurs. (2) Specifications Item Description System Electronic battery backup system. Battery 1 piece of lithium battery ( primary battery, nominal 3.6V) Type: MR-J3BAT. Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure 3000r/min (Note 2) Battery backup time Approx. 10,000 hours (battery life with power off) Battery storage period 5 years from date of manufacture. Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. 2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of whether power is kept on or off. 16 - 67 16. INDEXER POSITIONING OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-J3BAT Encoder cable Use a standard model. (Refer to section 14.1.) (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programming controller power is on or off. Therefore, once the home position is defined at the time of machine installation, home position return is not needed when power is switched on thereafter. If a power failure or a fault occurs, restoration is easy. Home position return data Point table No. selection, etc. I/O circuit EEP-ROM memory Current position LSO 1XO Position data, speed data (current position read) Backup at power off 1X LS Detection of position Speed detection within one revolution Speed control Position control Servo amplifier MR-J3BAT Servo motor 1 pulse/rev. Cumulative revolution counter High-speed serial communication Within one-revolution counter (5) Battery installation procedure WARNING Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. POINT The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions. Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand. Before starting battery changing procedure, make sure that the main circuit power is switched OFF with the control circuit power ON. When battery is changed with the control power OFF, the absolute position data is lost. 16 - 68 16. INDEXER POSITIONING OPERATION (a) For MR-J3-350T or less MR-J3-200T4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier. Insert connector into CN4. (b) For MR-J3-500T or more MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute position detection system valid. Parameter No.PA03 1 Selection of absolute position detection system 0: Incremental system 1: Absolute position detection system 16 - 69 16. INDEXER POSITIONING OPERATION 16.11 Parameters CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. In this servo amplifier, the parameters are classified into the following groups on a function basis. Parameter group Main description Basic setting parameters (No.PA ) Make basic setting with these parameters. Generally, the operation is possible only with these parameter settings. Gain/filter parameters (No.PB ) Use these parameters when making gain adjustment manually. Extension setting parameters (No.PC ) These parameters are inherent to the MR-J3- T servo amplifier. I/O setting parameters (No.PD ) Use these parameters when changing the I/O devices of the servo amplifier. Mainly setting the basic setting parameters (No.PA time of introduction. 16.11.1 Basic setting parameters (No.PA ) allows the setting of the basic parameters at the ) (1) Parameter list No. Symbol Initial value Name PA01 *STY Control mode 0000h PA02 *REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 Not used in indexer positioning operation. 0000h PA05 Do not change the parameter. 0000h Unit PA06 *CMX Number of gears on machine-side 1 PA07 *CDV Number of gears on servo motor-side 1 PA08 ATU Auto tuning mode PA09 RSP Auto tuning response 12 PA10 INP In-position range 100 pulse PA11 TLP Forward rotation torque limit 100.0 % PA12 TLN Reverse rotation torque limit 100.0 % For manufacturer setting 0002h PA14 *POL Rotation direction selection PA15 *ENR Encoder output pulses 4000 PA16 For manufacturer setting 0000h PA17 Do not change this valve by any means. PA13 0001h 0 0000h PA18 PA19 0000h *BLK Parameter write inhibit 000Ch 16 - 70 pulse/rev 16. INDEXER POSITIONING OPERATION (2) Parameter write inhibit Initial value Parameter No. Symbol PA19 *BLK Name Parameter write inhibit Unit 000Ch Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes. The following table indicates the parameters which are enabled for reference and write by the setting of parameter No.PA19. Operation can be performed for the parameters marked . Parameter No.PA19 setting Basic setting parameters No.PA Setting operation Gain/Filter parameters No.PB Extension setting parameters No.PC I/O setting parameters No.PD Reference 0000h Write Reference 000Bh Write 000Ch (initial value) Reference Write Reference 100Bh Write Parameter No. PA19 only Reference 100Ch Write Parameter No. PA19 only (3) Selection of command system Initial value Parameter No. Symbol PA01 *STY Name Control mode 0000h Unit Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the command system. Parameter No.PA01 0 0 0 Operation method 0: Point table positioning operation 1: Indexer positioning operation 16 - 71 16. INDEXER POSITIONING OPERATION (4) Selection of regenerative option Initial value Parameter No. Symbol PA02 *REG Name Regenerative option Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Wrong setting may cause the regenerative option to burn. If the regenerative option selected is not for use with the servo amplifier, parameter error (A37) occurs. Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power regeneration common converter. Parameter No.PA02 0 0 Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fan is required) 84: MR-RB34-4(Cooling fan is required) 85: MR-RB54-4(Cooling fan is required) FA: When the supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW. (5) Using absolute position detection system Parameter No. Symbol PA03 *ABS Initial value Name Absolute position detection system Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Set this parameter when using the absolute position detection system. Parameter No.PA03 0 0 0 Selection of absolute position detection system (refer to section 16.10) 0: Used in incremental system 1: Used in absolute position detection system 16 - 72 16. INDEXER POSITIONING OPERATION (6) Electronic gear Initial value Parameter Name Unit Setting range No. Symbol PA06 *CMX Number of gears on machine-side 1 1 to 16384 PA07 *CDV Number of gears on servo motor-side 1 1 to 16384 CAUTION False setting will result in unexpected fast rotation, causing injury. POINT This parameter is made valid when power is switched off, then on after setting. Set the electronic gear within the following condition range. (1) 1/9999 CMX/CDV (2) CDV STN 32767 (3) CMX CDV 100000 9999 When a value out of the condition range is set, the parameter error (A37) occurs. If the setting of electronic gear ratio is small, the servo motor may not operate with the set servo motor speed. Setting range of the parameters No.PA06 and PA07 for the indexer positioning operation is 1 to 16384. It is different from the setting range for the point table positioning operation. Use the parameters No. PA06 and PA07 to adjust the rotation amount “m” on the servo motor shaft that is necessary to rotate the machine side “n” times. A setting example for electronic gear is shown next. 16 - 73 16. INDEXER POSITIONING OPERATION (a) Example 1 When the number of pulley teeth on the machine-side is 50, and the number of pulley teeth on the servo motor side is 20. Number of pulley teeth on macine side: 50 Parameter No.PA06: 50 Parameter No.PA07: 20 Number of pulley teeth on servo motor side: 20 (b) Example 2 When the number of pulley teeth on the machine-side is 50, the number of pulley teeth on the servo motor side is 20, and using the servo motor with 1/9 reduction gear. Number of pulley teeth on macine side: 50 50 20 9 1 450 20 Parameter No.PA06: 450 Parameter No.PA07: 20 Number of pulley teeth on servo motor side: 20 Reduction ratio of servo motor with a reduction gear: 1/9 16 - 74 16. INDEXER POSITIONING OPERATION (7) Auto tuning Initial value Parameter No. Symbol Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Unit Setting range 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details. (a) Auto tuning mode (parameter No.PA08) Select the gain adjustment mode. Parameter No.PA08 0 0 0 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No. (Note) 0 Interpolation mode PB06 PB08 PB09 PB10 1 Auto tuning mode 1 PB06 PB07 PB08 PB09 PB10 2 Auto tuning mode 2 PB07 PB08 PB09 PB10 3 Manual mode Note. The parameters have the following names. Parameter No. PB06 Name Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10 Speed integral compensation (b) Auto tuning response (parameter No.PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Setting Response Guideline for machine resonance frequency [Hz] Setting Response Guideline for machine resonance frequency [Hz] 1 Low response Low response 67.1 10.0 17 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.1 8 23.0 24 154.4 9 25.9 25 173.9 10 29.2 26 195.9 11 32.9 27 220.6 12 37.0 28 248.5 13 41.7 29 279.9 14 47.0 30 315.3 15 16 Middle response 52.9 31 59.6 32 16 - 75 355.1 Middle response 400.0 16. INDEXER POSITIONING OPERATION (8) In-position range Parameter No. Symbol PA10 INP Name In-position range Initial value Unit Setting range 100 pulse 0 to 10000 Set the range for outputting the movement completion (RXnC) and the in position (RXn1) in command pulse unit. Servo motor Droop pulse Command pulse Command pulse In-position range [pulse] Droop pulse ON In position (RXn1) OFF (9) Torque limit Parameter No. Symbol Name Initial value Unit Setting range PA11 TLP Forward rotation torque limit 100.0 % 0 to 100.0 PA12 TLN Reverse rotation torque limit 100.0 % 0 to 100.0 The torque generated by the servo motor can be limited. (a) Forward rotation torque limit (parameter No.PA11) Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode. Set this parameter to "0.0" to generate no torque. (b) Reverse rotation torque limit (parameter No.PA12) Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode. Set this parameter to "0.0" to generate no torque. 16 - 76 16. INDEXER POSITIONING OPERATION (10)Station No. direction selection Initial value Parameter No. Symbol PA14 *POL Name Station No. direction selection Unit Setting range 0 0 1 POINT This parameter is made valid when power is switched off, then on after setting. Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Station No. allocation direction Start (RYn1) ON Parameter No.PA14 setting 0 (Initial value) 1 CCW Station No. is allocated in CW direction in order of 1, 2, 3... Station No. is allocated in CCW direction in order of 1, 2, 3... CW CCW direction CW direction 4 3 Station No. 2 1 4 3 1 2 Station No. Parameter No.PA14: 0 (Initial value) 16 - 77 Parameter No.PA14: 1 16. INDEXER POSITIONING OPERATION (11)Encoder output pulse Parameter No. Symbol PA15 *ENR Name Encoder output pulse Initial value Unit Setting range 4000 pulse/ rev 1 to 65535 POINT This parameter is made valid when power is switched off, then on after setting. Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.PC19 to choose the output pulse setting or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range. (a) For output pulse designation Set " 0 " (initial value) in parameter No.PC19. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below. A B-phase output pulses 5600 1400[pulse] 4 (b) For output division ratio setting 1 " in parameter No.PC19. Set " The number of pulses per servo motor revolution is divided by the set value. Output pulse Resolution per servo motor revolution [pulses/rev] Set value For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below. A B-phase output pulses 262144 1 8 4 8192[pulse] 16 - 78 16. INDEXER POSITIONING OPERATION 16.11.2 Gain/filter parameters (No.PB ) (1) Parameter list No. Symbol PB01 FILT PB02 VRFT PB03 PB04 PB05 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PB19 PB20 PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 PB29 FFC GD2 PG1 PG2 VG2 VIC VDC NH1 NHQ1 NH2 NHQ2 LPF VRF1 VRF2 Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control tuning mode (Advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch shape selection 1 Machine resonance suppression filter 2 Notch shape selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Initial value 0000h 0000h 0 500 7.0 24 37 823 33.7 980 0 4500 0000h 4500 0000h Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to servo motor inertia moment 3141 100.0 100.0 0.00 0.00 0000h 0000h 0000h 0000h 10 1 7.0 PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB33 VRF1B Gain changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration suppression control resonance frequency setting PB35 For manufacturer setting 37 823 33.7 100.0 100.0 0.00 PB36 0.00 PB37 100 PB38 0 PB39 0 VFBF *MVS *CDP CDL CDT GD2B PB40 0 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 0000h 16 - 79 Unit 0000h % Multiplier ( 1) rad/s rad/s rad/s ms Hz Hz rad/s Hz Hz ms Multiplier ( 1) rad/s rad/s ms Hz Hz 16. INDEXER POSITIONING OPERATION (2) Detail list Symbol Name and function Initial value PB01 FILT Adaptive tuning mode (Adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No.PB13) and notch shape selection (parameter No.PB14). 0000h Response of mechanical system No. Machine resonance point Notch depth Frequency Notch frequency Frequency 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.PB13 Parameter No.PB14 2 Manual mode Note. Parameter No.PB13 and PB14 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the filter tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the machine resonance suppression filter 1 and notch shape selection. However, this does not occur when the servo off. 16 - 80 Unit Setting range 16. INDEXER POSITIONING OPERATION No. Symbol Name and function Initial value PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning. Setting this parameter to " 1" (vibration suppression control tuning mode) automatically changes the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) after positioning is done the predetermined number of times. 0000h Droop pulse Command Setting range Droop pulse Automatic adjustment Machine side position Unit Command Machine side position 0 0 0 Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF (Note) 1 Vibration suppression control tuning mode (Advanced vibration suppression control) Parameter No.PB19 Parameter No.PB20 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the vibration suppression control tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the vibration suppression control - vibration frequency and vibration suppression control resonance frequency. However, this does not occur when the servo off. PB03 PB04 For manufacturer setting Do not change this value by any means. FFC 0000h Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed. 16 - 81 0 % 0 to 100 16. INDEXER POSITIONING OPERATION No. Symbol PB05 Name and function Initial value For manufacturer setting Do not change this value by any means. 500 Unit Setting range PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 9.1.1) In this case, it varies between 0 and 100.0. 7.0 Multiplier ( 1) 0 to 300.0 PB07 PG1 Model loop gain Set the response gain up to the target position. Increase the gain to improve track ability in response to the command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used. 24 rad/s 1 to 2000 PB08 PG2 Position loop gain Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. 37 rad/s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 manual mode and interpolation mode is selected, the result of auto tuning is automatically used. 823 rad/s 20 to 50000 PB10 VIC Speed integral compensation Used to set the integral time constant of the speed loop. Lower setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. 33.7 ms 0.1 to 1000.0 PB11 VDC Speed differential compensation Used to set the differential compensation. Made valid when the proportion control (RY(n 2)7) is switched on. 980 PB12 PB13 For manufacturer setting Do not change this value by any means. NH1 0 to 1000 0 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1. Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored. 16 - 82 4500 Hz 100 to 4500 16. INDEXER POSITIONING OPERATION No. Symbol PB14 NHQ1 Name and function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial value Unit 0000h Refer to name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting range Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored. PB15 NH2 PB16 NHQ2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2. Set parameter No.PB16 (notch shape selection 2) to " 1" to make this parameter valid. 4500 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2. 0000h 0 Machine resonance suppression filter 2 selection 0: Invalid 1: Valid PB17 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Automatic setting parameter The value of this parameter is set according to a set value of parameter No.PB06 (Ratio of load inertia moment to servo motor inertia moment). 16 - 83 Hz 100 to 4500 Refer to name and function column. 16. INDEXER POSITIONING OPERATION Setting range No. Symbol Name and function Initial value Unit PB18 LPF Low-pass filter Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No.PB23 is set to " 1 ", this parameter can be set manually. 3141 rad/s 100 to 18000 PB19 VRF1 Vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No.PB02 is set to " 2", this parameter can be set manually. 100.0 Hz 0.1 to 100.0 PB20 VRF2 Vibration suppression control resonance frequency setting Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No.PB02 is set to " 2", this parameter can be set manually. 100.0 Hz 0.1 to 100.0 PB21 For manufacturer setting Do not change this value by any means. PB22 PB23 VFBF 0.00 0.00 Low-pass filter selection Select the low-pass filter. 0 0 0000h Refer to name and function column. 0000h Refer to name and function column. 0 Low-pass filter selection 0: Automatic setting 1: Manual setting (parameter No.PB18 setting) When automatic setting has been selected, select the filter that has the band VG2 10 width close to the one calculated with [rad/s] 1 + GD2 PB24 *MVS Slight vibration suppression control selection Select the slight vibration suppression control. When parameter No.PA08 (auto tuning mode) is set to " is made valid. 3", this parameter 0 0 0 Slight vibration suppression control selection 0: Invalid 1: Valid 16 - 84 16. INDEXER POSITIONING OPERATION No. Symbol PB25 PB26 *CDP Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Gain changing selection Select the gain changing condition. (Refer to section 10.6.) 0000h Unit Setting range Refer to name and function column. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings. 0: Invalid 1: Gain changing (RX(n 2)8) is ON 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (Valid when gain changing (RX(n 2)8) is ON) 1: Valid at less than condition (Valid when gain changing (RX(n 2)8) is OFF) PB27 CDL Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.PB26. The set value unit changes with the changing condition item. (Refer to section 10.6.) 10 kpps pulse r/min 0 to 9999 PB28 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No.PB26 and PB27. (Refer to section 10.6.) 1 ms 0 to 100 PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). 7.0 Multiplier ( 1) 0 to 300.0 PB30 PG2B Gain changing position loop gain Set the position loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). 37 rad/s 1 to 2000 PB31 VG2B Gain changing speed loop gain Set the speed loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). Note. The setting range of 50000 applies to the servo amplifier whose software version is A3 or later. The setting range of the servo amplifier whose software version is older than A3 is 20 to 20000. When the software version of MR Configurator is A3 or earlier, 20001 or more cannot be set. Use the display/operation section of the servo amplifier to set 20001 or more. 823 rad/s 20 to 20000 PB32 VICB Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). 33.7 ms 0.1 to 5000.0 16 - 85 16. INDEXER POSITIONING OPERATION No. Name and function Setting range Initial value Unit PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. 100.0 Hz 0.1 to 100.0 PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. 100.0 Hz 0.1 to 100.0 PB35 0.00 PB36 Symbol For manufacturer setting Do not change this value by any means. 0.00 PB37 100 PB38 0 PB39 0 PB40 0 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 0000h 16 - 86 16. INDEXER POSITIONING OPERATION 16.11.3 Extension setting parameters (No.PC ) (1) Parameter list No. Symbol PC01 Name Initial value For manufacturer setting 0000h Unit PC02 *ZTY Home position return type 0000h PC03 *ZDIR Home position return direction 0001h PC04 ZRF Home position return speed 500 r/min PC05 CRF Creep speed 10 r/min PC06 ZST Home position shift distance 0 m Not used in indexer positioning operation. 0 PC07 PC08 1000 PC09 100 PC10 15.0 PC11 CRP Rough match output range PC12 JOG Jog speed PC13 PC14 Not used in indexer positioning operation. *BKC PC15 PC16 MBR PC17 PC18 *BPS 0 pulse 100 r/min 0 Backlash compensation 0 For manufacturer setting 0000h Electromagnetic brake sequence output 100 Not used in indexer positioning operation. 50 Alarm history clear *SNO Station number setting PC21 *SOP RS-422 communication function selection 0000h 0 0000h PC23 For manufacturer setting 0000h PC24 Not used in indexer positioning operation. 0000h PC25 For manufacturer setting 0000h PC26 *COP5 Function selection C-5 0000h PC27 0000h For manufacturer setting PC28 Not used in indexer positioning operation. 0000h PC29 For manufacturer setting 0000h Remote register-based position/speed specifying system selection 0000h *DSS PC31 station 0000h PC22 *COP1 Function selection C-1 PC30 ms 0000h PC19 *ENRS Encoder output pulse selection PC20 pulse Not used in indexer positioning operation. 0 PC32 PC33 0 PC34 PC35 Internal torque limit 2 100.0 PC36 TL2 For manufacturer setting 0000h PC37 Not used in indexer positioning operation. % 0 PC38 PC39 0 PC40 PC41 For manufacturer setting 0000h PC42 0000h PC43 0000h PC44 0000h PC45 *COP9 Function selection C-9 0000h PC46 *STN Indexer positioning operation number of stations/rotation 0000h PC47 PSST Indexer positioning operation station home position shift distance 0000h For manufacturer setting 0000h PC48 16 - 87 pulse 16. INDEXER POSITIONING OPERATION No. Symbol PC49 Name and function Initial value For manufacturer setting Unit 0000h 0000h PC50 (2) Detail list No. Symbol PC01 PC02 *ZTY Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h Home position return type Used to set the home position return system. (Refer to section 5.6.) 0000h Refer to name and function column. 0001h Refer to name and function column. Parameter No.PC02 0 0 0 Home position return method 0: 1: 2: 3: 4: 5: Not used in indexer postioning operation. 6: 7: 8: 9: A: C: Torque limit changing dog type D: Torque limit changing data setting type PC03 *ZDIR Home position return direction Used to set the home position return direction. Parameter No.PC03 0 0 0 Home position return direction 0: Station No. increment direction 1: Station No. decrement direction Home position return speed Used to set the servo motor speed for home position return. (Refer to section 16.9.) 500 Creep speed Used to set the creep speed after proximity dog detection. (Refer to section 16.9.) 10 Home position shift distance Used to set the shift distance starting at the Z-phase pulse detection position inside the encoder. (Refer to section 16.9.) 0 PC07 Not used in indexer positioning operation. 0 PC08 Do not change the parameter. PC04 PC05 PC06 ZRF CRF ZST r/min 0 to permissible speed r/min 0 to permissible speed m 0 to 65535 10STM m 0 to 65535 1000 PC09 100 PC10 15.0 PC11 CRP Rough match output range Used to set the command remaining distance range where the rough match (RXn2) is output. PC12 JOG Jog speed Used to set the jog speed command. 0 100 16 - 88 r/min 0 to permissible speed 16. INDEXER POSITIONING OPERATION No. Symbol PC13 PC14 *BKC PC15 PC16 MBR *BPS Initial value 0 Backlash compensation Used to set the backlash compensation made when the command direction is reversed. This function compensates for the number of backlash pulses in the opposite direction to the home position return direction. For the home position ignorance (servo-on position as home position), this function compensates for the number of backlash pulses in the opposite direction to the first rotating direction after establishing the home position by switching ON the servo-on (RYn0). In the absolute position detection system, this function compensates for the backlash pulse count in the direction opposite to the operating direction at power-on. 0 For manufacturer setting Do not change this value by any means. PC17 PC18 Name and function Not used in indexer positioning operation. Do not change the parameter. Unit Setting range pulse 0 to 32000 ms 0 to 1000 0000h Electromagnetic brake sequence output Used to set the delay time (Tb) between when the electromagnetic brake interlock (MBR) switches off and when the base circuit is shut off. 100 Not used in indexer positioning operation. Do not change the parameter. 50 Alarm history clear Used to clear the alarm history. 0000h Refer to name and function column. 0000h Refer to name and function column. 0 0 0 Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0). PC19 *ENRS Encoder output pulse selection Use to select the, encoder output pulse direction and encoder output pulse setting. 0 0 Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output . Servo motor rotation direction CCW CW Set value 0 1 A-phase A-phase B-phase B-phase A-phase A-phase B-phase B-phase Encoder output pulse setting selection (refer to parameter No.PA15). 0: Output pulse designation 1: Division ratio setting 2: Outputs the encoder pulse without processing it. 16 - 89 16. INDEXER POSITIONING OPERATION No. Symbol Name and function Initial value Unit Setting range PC20 *SNO Station number setting Used to specify the station number for RS-422 serial communication and USB communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made. 0 station 0 to 31 PC21 *SOP RS-422 communication function selection Select the communication I/F and select the RS-422 communication conditions. 0 0000h Refer to name and function column. 0000h Refer to the name and function field. 0 RS-422 communication baud rate selection 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps] 3: 57600 [bps] 4: 115200[bps] RS-422 communication response delay time 0: Invalid 1: Valid, reply sent after delay time of 800 s or more PC22 *COP1 Function selection C-1 Select the encoder cable communication system selection. 0 0 0 Encoder cable communication system selection 0: Two-wire type 1: Four-wire type The following encoder cables are of 4-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H The other encoder cables are all of 2-wire type. Incorrect setting will result in an encoder alarm 1 (A16) or encoder alarm 2 (A20). PC23 For manufacturer setting Do not change this value by any means. 0000h PC24 Not used in indexer positioning operation. Do not change the parameter. 0000h PC25 For manufacturer setting Do not change this value by any means. 0000h PC26 *COP5 Function selection C-5 Select the stroke limit warning (A99). 0000h 0 0 0 Stroke limit warning (A99) selection 0: Valid 1: Invalid When this parameter is set to "1", A99 will not occur if the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns OFF. PC27 For manufacturer setting Do not change this value by any means. 0000h PC28 Not used in indexer positioning operation. Do not change the parameter. 0000h 16 - 90 Refer to name and function column. 16. INDEXER POSITIONING OPERATION No. Symbol PC29 PC30 *DSS Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Remote register-based position/speed specifying system selection This parameter is made valid when Position/speed specification selection (RY(n 2)A) is turned ON with 2 stations occupied. Select how to receive the position command and speed command. When 1 station is occupied, selection of "0001" or "0002" will result in a parameter error. 0000h Unit Setting range Refer to name and function column. 0 0 0 Set value Position command 0 1 Speed command Specify the servo point table No. Set the station No. Specify the servo motor speed. (Note) Note. In the case, always set the acceleration/deceleration time constant in the point table No.1. PC31 Not used in indexer positioning operation. PC32 Do not change the parameter. 0 PC33 0 PC34 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced. 100.0 PC36 For manufacturer setting Do not change this value by any means. 0000h PC37 Not used in indexer positioning operation. 0 PC38 Do not change the parameter. PC35 TL2 PC39 % 0 to 100.0 0 PC40 PC41 For manufacturer setting PC42 Do not change this value by any means. 0000h 0000h PC43 0000h PC44 0000h PC45 *COP9 Function selection C-9 Select the manual operation mode. 0000h 0 0 0 Manual operation for indexer positioning operation selection (Refer to section 16.7.3) 0: Indexer JOG operation 1: JOG operation 16 - 91 0000h to 0001h 16. INDEXER POSITIONING OPERATION No. Symbol PC46 *STN Initial value Unit Setting range 0000h Number of stations 0000h to 00FFh Indexer positioning operation station home position shift distance This parameter is available only in the absolute position detection system. Set the distance for shifting the home position toward the set home position in number of pulses. This shift distance does not become valid immediately after the home position setting. It becomes valid after turning off and then on the power. When the sift distance is larger than the in-position range, the in position (RXn1) does not turn on at power-on. Set the number of pulses to be shifted after converting it into hexadecimal. The setting range is from 2000 to 2000 pulse. 0000h pulse Refer to name and function column PC48 For manufacturer setting 0000h PC49 Do not change this value by any means. PC47 PSST Name and function Indexer positioning operation number of stations/rotation Set the number of stations (dividing number) per machine rotation. When the setting value is 2 or lower, the number of stations is set to 2. Setting value Number of stations 0000 2 0001 2 0002 2 0003 3 0004 4 00FF 255 0000h PC50 0000h (3) Alarm history clear The alarm history can be confirmed by using the MR Configurator. The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using parameter No.PC18 (alarm history clear) before starting operation. Clearing the alarm history automatically returns to " 0". This parameter is made valid by switching power off, then on after setting. Parameter No.16 0 0 0 Alarm history clear 0: Invalid (not cleared) 1: Valid (cleared) 16 - 92 16. INDEXER POSITIONING OPERATION (4) Rough match output Rough match (RXn2) is output when the command remaining distance reaches the value set in parameter No.PC11 (rough match output range). The setting range is 0 to 65535 [pulse]. Command remaining distance [pulse] set in parameter No.PC11 Actual servo motor speed Servo motor Command pulse speed Rough match (RXn2) ON OFF In position (RXnC) ON OFF 16.11.4 I/O setting parameters (No.PD ) (1) Parameter list No. Symbol PD01 *DIA1 Name Initial value Input signal automatic ON selection 1 0000h PD02 For manufacturer setting 0000h PD03 Not used in indexer positioning operation. 0000h PD04 0000h PD05 For manufacturer setting 0000h PD06 Not used in indexer positioning operation. 002Bh PD07 000Ah PD08 000Bh PD09 0002h PD10 0003h PD11 0024h PD12 0C00h PD13 For manufacturer setting PD14 Not used in indexer positioning operation. 0800h PD15 For manufacturer setting 0000h Input polarity selection 0000h PD16 *DIAB PD17 0000h For manufacturer setting 0000h PD18 PD19 0000h Response level setting 0002h PD20 *DOP1 Function selection D-1 *DIF 0010h PD21 For manufacturer setting 0000h PD22 Not used in indexer positioning operation. 0000h PD23 For manufacturer setting 0000h PD24 *DOP5 Function selection D-5 0000h PD25 For manufacturer setting 0000h Indexer positioning operation torque limit delay time 0064h For manufacturer setting 0000h PD26 PD27 TLT PD28 0000h PD29 0000h PD30 0000h 16 - 93 Unit 16. INDEXER POSITIONING OPERATION (2) Detail list No. Symbol PD01 *DIA1 Initial value Name and function Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. 0000h 0 0 Unit Setting range Refer to name and function column. Initial value BIN HEX 0 0 Device name Forward rotation stroke end (LSP) 0 Reverse rotation stroke end (LSN) 0 0 Initial value BIN HEX 0 Forced stop (EMG) 0 0 0 0 BIN 0: Used as external input signal. BIN 1: Automatic ON Device name For example, to turn ON SON, the setting is " 4". PD02 For manufacturer setting Do not change this value by any means. 0000h PD03 Not used in indexer positioning operation. 0000h PD04 Do not change the parameter. 0000h PD05 For manufacturer setting Do not change this value by any means. 0000h PD06 Not used in indexer positioning operation. 002Bh PD07 Do not change the parameter. 000Ah PD08 000Bh PD09 0002h PD10 0003h PD11 0024h PD12 0C00h PD13 For manufacturer setting Do not change this value by any means. 0000h PD14 Not used in indexer positioning operation. Do not change the parameter. 0800h PD15 For manufacturer setting Do not change this value by any means. 0000h Input polarity selection Used to set the proximity dog input polarity. (Refer to section 5.6.) 0000h PD16 *DIAB 0 0 0 Proximity dog input polarity 0: OFF indicates detection of the dog 1: ON indicates detection of the dog 16 - 94 Refer to name and function column. 16. INDEXER POSITIONING OPERATION No. Symbol PD17 PD18 PD19 *DIF Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h Response level setting Used to select the input. 0002h Refer to name and function column. 0010h Refer to name and function column. 0000h 0 0 0 Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.88[ms] 2: 1.77[ms] 3: 2.66[ms] 4: 3.55[ms] 5: 4.44[ms] PD20 *DOP1 Function selection D-1 Select the stop processing at forward rotation stroke end (LSN)/reverse rotation stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or RY(n 3)A) ON. 0 0 Stopping method used when forward rotation stroke end (LSP), reverse rotation stroke end (LSN) device or software limit is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Setting contents is the same as for “1”.) 3: Sudden stop (Setting contents is the same as for “0”.) Even in this case, when LSP or LSN is detected, home position return is required again before executing automatic operation. However, in the absolute position detection system (parameter No.PA03: 1), the home position return completion (ZP) can be turned on by turning on the servo-on. In the case, executing another home position. Selection of base circuit status at reset (RY(n 1)A or RY(n 3)A)ON 0: Base circuit not switched off 1: Base circuit switched off PD21 For manufacturer setting Do not change this value by any means. 0000h PD22 Not used in indexer positioning operation. Do not change the parameter. 0000h PD23 For manufacturer setting Do not change this value by any means. 0000h 16 - 95 16. INDEXER POSITIONING OPERATION No. Symbol Initial value Name and function PD24 *DOP5 Function selection D-5 Select the output status of the warning (RXnA). 0 0 Unit Setting range ms Refer to name and function column. 0000h 0 Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n 1)A or RX(n 3)A) output status at warning occurrence. Setting Remote output 0 Output device Remote output 1 Output device (Note) Device status 1 RXnA 0 RX(n+1)A or 1 0 RX(n+3)A ON ALM OFF RXnA RX(n+1)A or RX(n+3)A ALM 1 0 1 0 ON OFF Warning occurred. Warning occurred. Note. 0: OFF 1: ON PD25 For manufacturer setting Do not change this value by any means. 0000h Indexer positioning operation torque limit delay time Set the delay time from when the in position (RXn1) turns on until the internal torque limit 2 (parameter No.PC35) becomes effective. Set the delay time after converting it into hexadecimal. The setting range is from 0 to 1000 ms. 0064h PD27 For manufacturer setting 0000h PD28 Do not change this value by any means. 0000h PD26 TLT PD29 0000h PD30 0000h 16 - 96 16. INDEXER POSITIONING OPERATION (3) Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off. Parameter No.PD20 Stopping method when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Setting contents is the same as for “1”.) 3: Sudden stop (Setting contents is the same as for “0”.) Setting value of parameter No.PD20 Operation status When rotating at constant speed 0 (Initial value) 3 Remarks When decelerating to stop Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Servo motor speed LSP or LSN Servo motor speed 0r/min LSP or LSN ON OFF 1 Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration 0r/min ON OFF Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration Amount of droop pulse Without S-pattern acceleration/deceleration With S-pattern acceleration/deceleration 2 Amount of droop pulse Servo motor speed LSP or LSN 0r/min ON OFF Servo motor speed LSP or LSN 16 - 97 0r/min ON OFF Clears droop pulses and stops. Erases the home position. A difference occurs between the command position and the current position. Execute a home position return again. Moves for the amount of droop pulse and stops. Erases the home position. A difference occurs between the command position and the current position. Execute a home position return again. 16. INDEXER POSITIONING OPERATION 16.12 TROUBLESHOOTING 16.12.1 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the MR Configurator, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. No. 1 2 3 4 Start-up sequence Power on Switch on servo-on (RYn0) signal. Gain adjustment Cyclic operation Fault LED is not lit. LED flickers. Investigation Possible cause Not improved if connectors CN2, CN3 and CN6 are disconnected. 1. Power supply voltage fault 2. Servo amplifier is faulty. Improved when connectors CN6 is disconnected. Power supply of CN6 cabling is shorted. Improved when connector CN2 is disconnected. 1. Power supply of encoder cabling is shorted. 2. Encoder is faulty. Improved when connector CN3 is disconnected. Power supply of CN3 cabling is shorted. Reference Alarm occurs. Refer to section 16.12.4 and remove cause. Section 16.12.4 Alarm occurs. Refer to section 16.12.4 and remove cause. Section 16.12.4 Servo motor shaft is not servo-locked (is free). 1. Check the display to see if 1. Servo-on (RYn0) is not input. (Wiring mistake) the servo amplifier is ready 2. 24VDC power is not supplied to operate. to DICOM. 2. Check the external I/O signal indication to see if the servo-on (RYn0) signal is ON. Rotation ripples (speed fluctuations) are large at low speed. Make gain adjustment in the following procedure. 1. Increase the auto tuning response level. 2. Repeat acceleration and deceleration several times to complete auto tuning. Gain adjustment fault Chapter 9 Large load inertia moment causes the servo motor shaft to oscillate side to side. If the servo motor may be run with safety, repeat acceleration and deceleration several times to complete auto tuning. Gain adjustment fault Chapter 9 Position shift occurs Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position. Pulse counting error, etc. due to noise. 16 - 98 Section 8.5.4 16. INDEXER POSITIONING OPERATION 16.12.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table. Operation mode Error location Description Servo side alarm occurrence Servo operation Stop Stop CC-Link data communication Continued Continued Option unit communication error Servo operation Stop Stop CC-Link data communication Stop Stop CC-Link communication error Servo operation Stop Stop CC-Link data communication Stop Stop Programmable controller error/STOP Servo operation Continued Stop CC-Link data communication Stop Stop Servo side warning occurrence Servo operation Stop Continued CC-Link data communication Continued Continued Test operation CC-Link operation 16.12.3 CC-Link communication error This section gives the definitions of the indications given in the communication alarm display section. The servo amplifier has four LED indications. L.RUN : Lit at normal receive of refresh data. Extinguished when data is not received for a given period of time. SD : Lit when send data is "0". RD : Lit when the carrier of receive data is detected. L.ERR : Lit when the data addressed to the host is in CRC or abort error. (Note) Communication alarm display LED L.RUN SD RD L.ERR Operation Normal communication is made, but a CRC error sometimes occurs due to noise. Normal communication Hardware fault Hardware fault Receive data results in CRC error, disabling a response. Data does not reach the host. Hardware fault Hardware fault Polling response is made, but refresh receive is in CRC error. Hardware fault Hardware fault Hardware fault Data addressed to the host resulted in CRC error. Data does not reach the host, or the data addressed to the host cannot be received due to noise. Hardware fault Baud rate setting illegal Station number setting illegal Baud rate or station number setting changed midway (ERROR flickers for about 4s) Data cannot be received due to power-off, power supply failure, open cable, etc. WDT error occurrence (hardware fault) Note. : Lit : Extinguished : Flicker 16 - 99 16. INDEXER POSITIONING OPERATION 16.12.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2), (3) in this section and take the appropriate action. When an alarm occurs, ALM turns off. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. A10 A12 A13 A1A A20 A24 Undervoltage Memory error 1 (RAM) Clock error Memory error 2 (EEP-ROM) Encoder error 1 (At power on) Board error Memory error 3 (Flash-ROM) Motor combination error Encoder error 2 Main circuit error A25 Absolute position erase A30 Regenerative error A31 A32 A33 A37 Overspeed Overcurrent Overvoltage Parameter error A45 Main circuit device overheat A46 Servo motor overheat A47 Cooling fan alarm A50 Overload 1 A51 Overload 2 A52 A61 Error excessive Operation alarm Serial communication time-out error CC-Link alarm Serial communication error Watchdog A15 A16 A17 A19 Alarms Name A8A A8D A8E 888 Display (Note 3) (Note 2) MR Alarm Power Configurator reset OFF ON parameter (RES) unit A90 Warnings Display Alarm deactivation A92 A96 A97 A99 A9D A9E A9F AE0 AE1 AE3 AE6 AE8 AE9 AEC AED (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) Name Home positioning incomplete warning Open battery cable warning Home position setting error Next station warning Stroke limit warning CC-Link warning 1 CC-Link warning 2 Battery warning Excessive regeneration warning Overload warning 1 Absolute position counter warning Servo forced stop warning Cooling fan speed reduction warning Main circuit off warning Overload warning 2 Output watt excess warning Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 2. Turns on RY(n 1)A or RY(n 3)A. 3. Clicking the "Alarm reset" button on the "Alarm display" screen of MR Configurator allows an alarm to be deactivated. Pressing the "STOP RESET" key of the parameter unit allows an alarm to be deactivated. 16 - 100 16. INDEXER POSITIONING OPERATION (2) Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again. Not doing so may cause unexpected operation. As soon as an alarm occurs, turn off Servo-on (RYn0) and power off. POINT When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly. To do so will cause the servo amplifier/servo motor to fail. Remove the cause of occurrence, and leave a cooling time of more than 30 minutes before resuming operation. Regenerative error (A30) Overload 1 (A50) Overload 2 (A51) For the alarm deactivation method, refer to (1) in this section. When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR Configurator to refer to a factor of alarm occurrence. Display A10 A12 A13 Name Undervoltage Definition Power supply voltage dropped. MR-J3- T: 160VAC or less MR-J3- T1: 83VAC or less MR-J3- T4: 280VAC or less Memory error 1 RAM, memory fault (RAM) Clock error Printed board fault Cause 1. Power supply voltage is low. Action Check the power supply. 2. There was an instantaneous control power failure of 60ms or longer. 3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 4. The bus voltage dropped to the following value or less. MR-J3- T: 200VDC MR-J3- T1: 158VDC MR-J3- T4: 380VDC 5. Faulty parts in the servo amplifier. Checking method Alarm (A10) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. Change the servo amplifier. Faulty parts in the servo amplifier. Change the servo amplifier. Checking method Alarm (any of A12 and A13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 16 - 101 16. INDEXER POSITIONING OPERATION Display A15 Name Cause Definition Memory error 2 EEP-ROM fault (EEP-ROM) 1. Faulty parts in the servo amplifier Action Change the servo amplifier. Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. A16 A17 Encoder error 1 Communication (At power on) error occurred between encoder and servo amplifier. Board error CPU/parts fault A19 Memory error 3 ROM memory fault (Flash ROM) A1A Motor combination error A20 Encoder error 2 Communication error occurred between encoder and servo amplifier. A24 Main circuit error Wrong combination of servo amplifier and servo motor. 3. The multi-revolution data, which is saved as a home position, read from EEP-ROM is abnormal. Execute a home position setting. 1. Encoder connector (CN2) disconnected. Connect correctly. 2. Encoder fault Change the servo motor. 3. Encoder cable faulty (Wire breakage or shorted) Repair or change the cable. 4. Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting. Correct the setting in the fourth digit of parameter No.PC22. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (A17 or A19) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Wrong combination of servo amplifier and servo motor connected. Use correct combination. 1. Encoder connector (CN2) disconnected. Connect correctly. 2. Encoder cable faulty (Wire breakage or shorted) Repair or change the cable. 3. Encoder fault Change the servo motor. Ground fault 1. Power input wires and servo motor occurred at the power wires are in contact. servo motor power 2. Sheathes of servo motor power (U,V and W phases) cables deteriorated, resulting in of the servo ground fault. amplifier. 3. Main circuit of servo amplifier failed. Connect correctly. Change the cable. Change the servo amplifier. Checking method Alarm (A24) occurs if the servo is switched on after disconnecting the U, V, W power cables from the servo amplifier. A25 Absolute position erase Absolute position data in error 1. Voltage drop in encoder (Battery disconnected.) After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. 2. Battery voltage low Change the battery. Always make home position setting again. 3. Battery cable or battery is faulty. Power was switched 4. Home position not set. on for the first time in the absolute position detection system. 16 - 102 After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. 16. INDEXER POSITIONING OPERATION Display A30 Name Regenerative error Definition Cause Permissible 1. Wrong setting of parameter No. regenerative power PA02 of the built-in 2. Built-in regenerative resistor or regenerative resistor regenerative option is not connected. or regenerative 3. High-duty operation or continuous option is exceeded. regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Action Set correctly. Connect correctly 1. Reduce the frequency of positioning. 2. Use the regenerative option of larger capacity. 3. Reduce the load. Checking method Call the status display and check the regenerative load ratio. A31 Overspeed 4. Power supply voltage is abnormal. MR-J3- T:260VAC or more MR-J3- T1:More than 135VAC Check the power supply 5. Built-in regenerative resistor or regenerative option faulty. Change the servo amplifier or regenerative option. Regenerative transistor fault 6. Regenerative transistor faulty. Change the servo amplifier. Speed has exceeded the instantaneous permissible speed. 1. Input command pulse frequency exceeded the permissible instantaneous speed frequency. Set command pulses correctly. 2. Small acceleration/deceleration time constant caused overshoot to be large. Increase acceleration/deceleration time constant. 3. Servo system is instable to cause overshoot. 1. Re-set servo gain to proper value. 2. If servo gain cannot be set to proper value. 1) Reduce load inertia moment ratio; or 2) Reexamine acceleration/ deceleration time constant. 4. Electronic gear ratio is large (parameters No.PA06, PA07) Set correctly. 5. Encoder faulty. Change the servo motor. Checking method 1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option. 16 - 103 16. INDEXER POSITIONING OPERATION Display A32 A33 Name Overcurrent Overvoltage Definition Cause Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (A32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (A32) first occurred, the transistor (IPM, IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power. Check the transistor with the checking method of “Cause 2”.) 1. Short occurred in servo motor power (U, V, W). Correct the wiring. 2. Transistor (IPM, IGBT) of the servo amplifier faulty. Change the servo amplifier. The following shows the input value of converter bus voltage. MR-J3- T(1): 400VDC or more MR-J3- T4: 800VDC or more Action Checking method Alarm (A32) occurs if power is switched on after U,V and W are disconnected. 3. Ground fault occurred in servo motor power (U, V, W). Correct the wiring. 4. External noise caused the overcurrent detection circuit to misoperate. Take noise suppression measures. 1. Regenerative option is not used. Use the regenerative option. Set correctly. 2. Though the regenerative option is used, the parameter No.PA02 setting is " 00 (not used)". 3. Lead of built-in regenerative resistor or regenerative option is open or disconnected. 1. Change the lead. 2. Connect correctly. 4. Regenerative transistor faulty. Change the servo amplifier 5. Wire breakage of built-in regenerative resistor or regenerative option. 1. For wire breakage of built-in regenerative resistor, change the servo amplifier. 2. For wire breakage of regenerative option, change the regenerative option. 6. Capacity of built-in regenerative resistor or regenerative option is insufficient. Add regenerative option or increase capacity. 7. Power supply voltage high. Check the power supply. 8. Ground fault occurred in servo motor power (U, V, W). Correct the wiring. 9. The jumper across BUE-SD of the FR-BU2 brake unit is removed. Fit the jumper across BUE-SD. 16 - 104 16. INDEXER POSITIONING OPERATION Display A37 A45 Name Parameter error Main circuit device overheat Definition Parameter setting is wrong. Cause Action 1. Servo amplifier fault caused the parameter setting to be rewritten. Change the servo amplifier. 2. Regenerative option not used with servo amplifier was selected in parameter No.PA02. Set parameter No.PA02 correctly. 3. Value outside setting range has been set in electronic gear. Set parameters No.PA06, PA07 correctly. 4. The number of write times to EEPROM exceeded 100,000 due to parameter write, etc. Change the servo amplifier. 5. The MR-J3-D01 is connected to the servo amplifier for the indexer positioning operation. The MR-J3-D01 cannot be used for the indexer positioning operation. Point table setting is 6. Setting value is out of the setting wrong. range. Set it correctly. Main circuit device overheat. Change the servo amplifier. 1. Servo amplifier faulty. 2. The power supply was turned on and The drive method is reviewed. off continuously by overloaded status. A46 A47 Servo motor overheat Cooling fan alarm 3. Ambient temperature of servo motor is over 55 (131 ). Check environment so that ambient temperature is 0 to 55 (32 to 131 ). 4. Used beyond the specifications of close mounting. Use within the range of specifications. Servo motor 1. Ambient temperature of servo motor temperature rise is over 40 (104 ). actuated the thermal 2. Servo motor is overloaded. sensor. The cooling fan of the servo amplifier stopped, or its speed decreased to or below the alarm level. Check environment so that ambient temperature is 0 to 40 (32 to 104 ). 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. 3. Thermal sensor in encoder is faulty. Change the servo motor. Cooling fan life expiration (Refer to section 2.5.) Change the cooling fan of the servo amplifier. Foreign matter caught in the cooling fan stopped rotation. Remove the foreign matter. The power supply of the cooling fan failed. Change the servo amplifier. 16 - 105 16. INDEXER POSITIONING OPERATION Display A50 Name Overload 1 Definition Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Servo amplifier is used in excess of its continuous output current. 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. 2. Servo system is instable and hunting. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. 3. Machine struck something. 1. Check operation pattern. 2. Install limit switches. 4. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. Connect correctly. 5. Encoder faulty. Change the servo motor. Checking method When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. 6. After Overload 2 (A51) occurred, turn 1. Reduce load. 2. Check operation pattern. OFF/ON the power supply to clear 3. Use servo motor that provides larger the alarm. Then the overload output. operation is repeated. A51 Overload 2 Machine collision or 1. Machine struck something. the like caused max. For the time of the 2. Wrong connection of servo motor. alarm occurrence, Servo amplifier's output terminals U, refer to the section V, W do not match servo motor's 13.1. input terminals U, V, W. 1. Check operation pattern. 2. Install limit switches. Connect correctly. 3. Servo system is instable and hunting. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. 4. Encoder faulty. Change the servo motor. Checking method When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. 16 - 106 16. INDEXER POSITIONING OPERATION Display A52 Name Definition Error excessive The difference between the model position and the actual servo motor position exceeds three rotations. (Refer to the function block diagram in section 1.1.2.) Cause Action 1. Acceleration/deceleration time constant is too small. Increase the acceleration/deceleration time constant. 2. Forward rotation torque limit (parameter No.PA11) or reverse rotation torque limit (parameter No.PA12) are too small. Increase the torque limit value. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. 1. Check the power supply capacity. 2. Use servo motor which provides larger output. 4. Position loop gain (parameter No.PB08) value is small. Increase set value and adjust to ensure proper operation. 5. Servo motor shaft was rotated by external force. 1. When torque is limited, increase the limit value. 2. Reduce load. 3. Use servo motor that provides larger output. 6. Machine struck something. 1. Check operation pattern. 2. Install limit switches. 7. Encoder faulty. Change the servo motor. 8. Wrong connection of servo motor. Servo amplifier’s output terminals U, V, W do not match servo motor’s input terminals U, V, W. Connect correctly. A61 Operation alarm Setting mistake of auxiliary function. "1" or "3" is set for the auxiliary function Set "0" or "2" for the value of auxiliary of point table No.255. function. A8A Serial communication time-out error Communication stopped for longer than the specified time. 1. Communication cable breakage. Repair or change the communication cable. 2. Communication cycle longer than regulated time. Shorten the communication cycle. 3. Wrong protocol. Correct protocol. CC-Link alarm Normal communication with the master station cannot be made. 1. The station number switch (STATION NO.) setting is 0 or not less than 65. Set the station number to within the range 1 to 64, and switch power on. A8D 2. The baud rate switch (MODE) setting Set the baud rate switch (MODE) to is outside the range 0 to 4. within the range 0 to 4. 3. The transmission status is abnormal. Reexamine the wiring. 4. CC-Link twisted cable wiring incorrect. 1. Repair or change the CC-Link twisted cable. 2. Connect the cable or connector correctly. 5. CC-Link twisted cable faulty. 6. The CC-Link connector has come off. 7. The terminating resistor is not connected. Connect the terminating resistor correctly. 8. Noise entered the CC-Link twisted cable. 9. The programmable controller CCLink unit was reset. A8E Serial communication error Serial 1. Communication cable fault Repair or change the cable. communication error (Open cable or short circuit). occurred between 2. Communication device (e.g. personal Change the communication device (e.g. servo amplifier and computer) faulty. personal computer). communication device (e.g. personal computer). 16 - 107 16. INDEXER POSITIONING OPERATION Display (Note) 888 Name Watchdog Definition CPU, parts faulty. Cause Fault of parts in servo amplifier. Action Change the servo amplifier. Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Note. At power-on, "888" appears instantaneously, but it is not an error. (3) Remedies for warnings CAUTION If an absolute position counter warning (AE3) occurred, always make home position setting again. Not doing so may cause unexpected operation. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation. Excessive regenerative warning (AE0) Overload warning 1 (AE1) Always execute a home position return when the forward rotation stroke end (LSP) or the reverse rotation stroke end (LSN) turns off. 16 - 108 16. INDEXER POSITIONING OPERATION If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence. A90 Home position return incomplete Definition In incremental system Name Cause Action Positioning operation was performed without home position return. 1. Positioning operation was performed without home position return. Home position return ended abnormally. 2. Home position return speed could not be Check home position return speed/creep speed/moving decreased to creep speed. distance after proximity dog. 3. Limit switch was actuated during home Perform home position return. position return starting at other than position beyond dog. Home position return is incomplete. 4. Indexer JOG operation (in automatic/ manual operation) was executed without home position return. 5. The operation method (parameter No.PA01), electronic gear (parameter No.PA06 and PA07), station No. direction selection (parameter No.PA14), or number of stations/rotation (parameter No.PC46) is changed. In absolute position detection system Display Perform home position return. This warning is automatically cleared after executing a home position return. Positioning operation was performed without home position setting. 1. Positioning operation was performed without home position setting. Perform home position setting. Home position setting ended abnormally. 2. Home position setting speed could not be decreased to creep speed. 3. Limit switch was actuated during home position setting starting at other than position beyond dog. Check home position setting speed/creep speed/moving distance after proximity dog. Operation was performed without making home position setting while an absolute position erase (A25) is being occurred. 4. Voltage drop in encoder (Battery disconnected.) After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. 5. Battery voltage low Change the battery. Always make home position setting again. Home position setting is incomplete. 7. Indexer JOG operation (in automatic/ manual operation) was executed without home position setting. 6. Battery cable or battery is faulty. 8. The operation method (parameter No.PA01), electronic gear (parameter No.PA06 and PA07), station No. direction selection (parameter No.PA14), or number of stations/rotation (parameter No.PC46) is changed. 16 - 109 Perform home position setting. This warning is automatically cleared after executing a home position setting. 16. INDEXER POSITIONING OPERATION Display A92 A96 Name Definition Open battery cable warning Absolute position detection system battery voltage is low. Home position setting error Home position setting could not be made. Cause Action 1. Battery cable is open. Repair cable or changed. 2. Battery voltage supplied from the servo amplifier to the encoder fell to about 3V or less. (Detected with the encoder) Change the battery. 1. Droop pulses remaining are greater than the in-position range setting. Remove the cause of droop pulse occurrence 2. Command pulse entered after clearing of Do not enter command pulse droop pulses. after clearing of droop pulses. A97 Next station warning Automatic operation is executed with invalid next station setting. 3. Creep speed high. Reduce creep speed. 1. Automatic operation has been started when station number that exceeded the setting value of parameter No.PC46 (number of stations/rotation) is specified. Specify the station number up to the maximum number of stations set in the parameter No.PC46 (indexer positioning operation number of stations/rotation). 2. Automatic operation has been started when the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5) are all set to on. A99 Stroke limit warning The limit switch become valid. The stroke end (LSP or LSN) of the direction which gave instructions was turned off. A9D CC-Link warning 1 The station number 1. The station number switch position was switch or baud rate changed from the setting at power-on. switch position was 2. The baud rate switch position was changed from the setting changed from the setting at power-on. at power-on. 3. The occupied station count switch position was changed from the setting at power-on. A9E CC-Link warning 2 Communication error of cable. Reexamine the operation pattern to turn LSP/LSN ON. Return to the setting at poweron. 1. The transmission status is abnormal. Take measures against noise. 2. CC-Link twisted cable wiring incorrect. 1. Change the CC-Link twisted cable. 2. Connect the cable or connector correctly. 3. CC-Link twisted cable faulty. 4. The CC-Link connector has come off. 5. The terminating resistor is not connected. Connect the terminating resistor correctly. 6. Noise entered the CC-Link twisted cable. A9F Battery warning Voltage of battery for absolute position detection system reduced. Battery voltage fell to 3.2V or less. (Detected with the servo amplifier) AE0 Excessive regenerative warning There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option. Regenerative power increased to 85% or 1. Reduce frequency of more of permissible regenerative power of positioning. built-in regenerative resistor or regenerative 2. Change the regenerative option. option for the one with larger Checking method capacity. Call the status display and check 3. Reduce load. regenerative load ratio. AE1 Overload warning 1 There is a possibility that overload alarm 1 or 2 may occur. Load increased to 85% or more of overload alarm 1 or 2 occurrence level. Cause, checking method Refer to A50, A51. 16 - 110 Change the battery. Refer to A50, A51. 16. INDEXER POSITIONING OPERATION Display Name AE3 Absolute position counter warning AE6 AE8 Servo forced stop warning Cooling fan speed reduction warning Definition Absolute position encoder pulses faulty. Cause Action 1. Noise entered the encoder. Take noise suppression measures. 2. Encoder faulty. Change the servo motor. The multi-revolution counter value of the absolute position encoder exceeded the maximum revolution range. 3. The movement amount from the home position exceeded a 32767 rotation or 37268 rotation in succession. Make home position setting again. The update cycle for writing the multirevolution counter value of the absolute position encoder to EEPROM is short. Refer to POINT in section 16.7. Refer to POINT in section 16.7. EMG is off. External forced stop was made valid. (EMG was turned off.) Cooling fan life expiration (Refer to section 2.5.) Ensure safety and deactivate forced stop. Change the cooling fan of the servo amplifier. The power supply of the cooling fan is broken. Change the servo amplifier. The speed of the servo amplifier decreased to or below the warning level. This warning is not displayed with MR-J370T/100T among servo amplifiers equipped with a cooling fan. Servo-on (SON) was switched on with main circuit power off. AE9 Main circuit off warning Switch on main circuit power. AEC Overload warning 2 Operation, in which a current exceeding the rating flew intensively in any of the U, V and W phases of the servo motor, was repeated. During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servo motor occurred repeatedly, exceeding the warning level. 1. Reduce the positioning frequency at the specific positioning address. 2. Reduce the load. 3. Replace the servo amplifier/ servo motor with the one of larger capacity. AED Output watt excess warning The status, in which the output wattage (speed torque) of the servo motor exceeded the rated output, continued steadily. Continuous operation was performed with the output wattage (speed torque) of the servo motor exceeding 150% of the rated output. 1. Reduce the servo motor speed. 2. Reduce the load. 16 - 111 16. INDEXER POSITIONING OPERATION 16.12.5 Point table error When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error (A37), the point table error details are displayed. AL37 #00 PB10 PB11 PB12 PB16 Spd001 Point table error details For the point table No.1 speed data error Point table No. with error Error item Spd: speed Acc: acceleration time constant Dec: deceleration time constant 16 - 112 APPENDIX App. 1 Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. No. PA01 PA02 PA03 PA04 PA05 PA06 PA07 PA08 PA09 PA10 PA11 PA12 PA13 PA14 PA15 PA16 to PA18 PA19 Basic setting parameters (PA ) Symbol Name *STY Control mode *REG Regenerative option *ABS Absolute position detection system *AOP1 Function selection A-1 *FTY Feeding function selection *CMX Electronic gear numerator *CDV Electronic gear denominator ATU Auto tuning RSP Auto tuning response INP In-position range TLP Forward rotation torque limit TLN Reverse rotation torque limit For manufacturer setting *POL Rotation direction selection *ENR Encoder output pulses For manufacturer setting *BLK Parameter write inhibit No. PB01 Symbol FILT PB02 VRFT PB03 PB04 PB05 FFC PB06 GD2 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PG1 PG2 VG2 VIC VDC NH1 NHQ1 NH2 NHQ2 LPF PB19 VRF1 PB20 VRF2 PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 For manufacturer setting VFBF *MVS *CDP CDL CDT PB29 GD2B PB30 PB31 PB32 PG2B VG2B VICB PB33 VRF1B PB34 VRF2B PB35 to PB45 App. - 1 Gain/filter parameters (PB ) Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control tuning mode (Advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch form selection 1 Machine resonance suppression filter 2 Notch form selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain Gain changing speed loop gain Gain changing speed integral compensation Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control resonance frequency setting For manufacturer setting APPENDIX No. PC01 PC02 PC03 PC04 PC05 PC06 PC07 PC08 PC09 PC10 PC11 PC12 PC13 PC14 PC15 PC16 PC17 PC18 PC19 PC20 PC21 Extension setting parameters (PC ) Symbol Name For manufacturer setting *ZTY Home position return type *ZDIR Home position return direction ZRF Home position return speed CRF Creep speed ZST Home position shift distance *ZPS Home position return position data DCT Moving distance after proximity dog Stopper type home position return ZTM stopper time Stopper type home position return ZTT torque limit value CRP Rough match output range JOG Jog speed S-pattern acceleration/deceleration *STC time constant *BKC Backlash compensation For manufacturer setting Electromagnetic brake sequence MBR output ZSP Zero speed *BPS Alarm history clear *ENRS Encoder output pulse selection *SNO Station number setting RS-422 communication function *SOP selection PC22 PC23 PC24 PC25 PC26 PC27 PC28 PC29 *COP1 PC30 *DSS PC31 PC32 PC33 PC34 PC35 PC36 PC37 PC38 PC39 PC40 PC41 to PC50 LMPL LMPH LMNL LMNH TL2 *COP3 *COP5 *COP7 *LPPL *LPPH *LNPL *LNPH Function selection C-1 For manufacturer setting Function selection C-3 For manufacturer setting Function selection C-5 For manufacturer setting Function selection C-7 For manufacturer setting Remote register-based position/speed specifying system selection No. PD01 PD02 PD03 PD04 PD05 PD06 PD07 PD08 PD09 PD10 PD11 PD12 PD13 PD14 PD15 PD16 PD17 PD18 PD19 PD20 PD21 PD22 PD23 PD24 PD25 to PD30 Software limit Software limit Internal torque limit 2 For manufacturer setting Position range output address Position range output address For manufacturer setting App. - 2 I/O setting parameters (PD ) Name Input signal automatic ON selection 1 For manufacturer setting *DIA3 Input signal automatic ON selection 3 *DIA4 Input signal automatic ON selection 4 For manufacturer setting *DI2 Input signal device selection 2 (CN6-2) *DI3 Input signal device selection 3 (CN6-3) *DI4 Input signal device selection 4 (CN6-4) *DO1 Input signal device selection 1 (CN6-14) *DO2 Input signal device selection 2 (CN6-15) *DO3 Input signal device selection 3 (CN6-16) DIN1 External DI function selection 1 For manufacturer setting DIN3 External DI function selection 3 For manufacturer setting *DIAB Input polarity selection Symbol *DIA1 For manufacturer setting *DIF *DOP1 *DOP3 *DOP5 Response level setting Function selection D-1 For manufacturer setting Function selection D-2 For manufacturer setting Function selection D-5 For manufacturer setting APPENDIX App. 2 Signal layout recording paper CN6 1 2 14 15 3 4 5 6 PP 16 17 DICOM 7 DOCOM 19 NP 20 22 9 23 10 11 LB OPC 21 8 12 18 LA 13 LG 25 LBR LZ App. - 3 24 LAR 26 LZR APPENDIX App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) [Unit: mm] Latch Coding finger Detecting hole 4 5( 20) 26.45 15.1 2.9 5.25 25 5 4.75 10.6 5.8 5 20.8 2.75 2.7 App. - 4 Driver slot Wire inserting hole APPENDIX App. 4 Change of connector sets to the RoHS compatible products Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability. Model MR-J3SCNS MR-ECNM Current product RoHS compatible product Amplifier connector (3M or equivalent of 3M) 36210-0100JL (Receptacle) (Note) Amplifier connector (3M or equivalent of 3M) 36210-0100PL (Receptacle) MR-PWCNS4 Power supply connector (DDK) CE05-6A18-10SD-B-BSS (Connector and Back shell) CE3057-10A-1 (D265) (Cable clump) Power supply connector (DDK) CE05-6A18-10SD-D-BSS (Connector and Back shell) CE3057-10A-1-D (Cable clump) MR-PWCNS5 Power supply connector (DDK) CE05-6A22-22SD-B-BSS (Connector and Back shell) CE3057-12A-1 (D265) (Cable clump) Power supply connector (DDK) CE05-6A22-22SD-D-BSS (Connector and Back shell) CE3057-12A-1-D (Cable clump) MR-PWCNS3 Power supply connector (DDK) CE05-6A32-17SD-B-BSS (Connector and Back shell) CE3057-20A-1 (D265) (Cable clump) Power supply connector (DDK) CE05-6A32-17SD-D-BSS (Connector and Back shell) CE3057-20A-1-D (Cable clump) MR-PWCNS1 Power supply connector (DDK) CE05-6A22-23SD-B-BSS (Connector and Back shell) CE3057-12A-2 (D265) (Cable clump) Power supply connector (DDK) CE05-6A22-23SD-D-BSS (Connector and Back shell) CE3057-12A-2-D (Cable clump) MR-PWCNS2 Power supply connector (DDK) CE05-6A24-10SD-B-BSS (Connector and Back shell) CE3057-16A-2 (D265) (Cable clump) Power supply connector (DDK) CE05-6A24-10SD-D-BSS (Connector and Back shell) CE3057-16A-2-D (Cable clump) MR-BKCN Electromagnetic brake connector MS3106A10SL-4S(D190) (Plug, DDK) Electromagnetic brake connector D/MS3106A10SL-4S(D190) (Plug, DDK) MR-J2CMP2 Amplifier connector (3M or equivalent of 3M) 10126-3000VE (connector) Amplifier connector (3M or equivalent of 3M) 10126-3000PE (connector) Note. RoHS compatible 36210-0100FD may be packed with current connector sets. App. - 5 APPENDIX App. 5 MR-J3-200T-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. The difference between new MR-J3-200T servo amplifier and existing MR-J3-200T-RT servo amplifier is described in this appendix. Sections within parentheses in the following sections indicate corresponding sections of the instruction manual. App. 5.1 Parts identification (1.6.1 Parts identification) Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 2 3 5 6 2 3 0 1 0 1 2 3 5 6 7 8 9 0 1 7 8 2 3 4 9 4 MODE 7 8 5 6 Baud rate switch (MODE) 5 6 7 8 4 Section 5.3 Chapter 11 Select the CC-Link communication baud rate. Section 3.2.4 9 4 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier. 9 0 1 X10 STATION NO. X1 5 6 4 Section 3.2.3 2 3 7 8 7 8 2 3 5 6 9 4 9 0 1 0 1 Set the one place. Set the ten place. Occupied station count switch (SW1) SW1 Set the number of occupied stations. Main circuit power supply connector (CNP1) Used to connect the input power supply. Communication alarm display section Indicates alarms in CC-Link communication. L.RUN SD RD L.ERR USB communication connector (CN5) Used to connect the personal computer. RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Cooling fan Fixed part (3 places) Section 3.2.5 Section 4.1 Section 4.3 Section 12.1 Section 11.3 Chapter 7 Chapter 7 Chapter 8 Chapter 15 CC-Link connector (CN1) Wire the CC-Link cable. Servo motor power connector (CNP3) Used to connect the servo motor. Section 3.2.2 I/O signal connector (CN6) Used to connect digital I/O signals. Encoder connector (CN2) Used to connect the servo motor encoder. Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 4.2 Section 4.4 Section 4.10 Section 14.1 Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative option. Section 4.1 Section 4.3 Section 12.1 Section 14.2 Battery holder Contains the battery for absolute position data backup. Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Section 5.8 Protective earth (PE) terminal ( Ground terminal. Section 4.1 Section 4.3 Section 12.1 Rating plate App. - 6 ) Section 4.1 Section 4.3 Section 12.1 Section 5.8 Section 14.7 Section 1.4 APPENDIX App. 5.2 Configuration including auxiliary equipment (1.7 Configuration including auxiliary equipment) (Note 3) Power supply RST No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator Personal computer (Note2) Servo amplifier Line noise filter (FR-BSF01) (Note 2) Power factor improving DC reactor(FR-BEL) L1 L2 L3 P1 CN5 CN3 P2 CC-Link CN1 Regenerative option P C L11 CN6 L21 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U V W U Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.2 for the power supply specification. App. - 7 APPENDIX App. 5.3 CNP1, CNP2, CNP3 wiring method (4.3.3 CNP1, CNP2, CNP3 wiring method) (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (Phoenix Contact) Servo amplifier Cable finish OD: to 5mm CNP1 Connector for CNP3 PC4/3-STF-7.62-CRWH (Phoenix Contact) CNP3 CNP2 Cable finish OD: to 3.8mm Connector for CNP2 54928-0520 (Molex) (b) Termination of the cables 1) CNP1 CNP3 Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 7mm Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size 2 [mm ] AWG Bar terminal type For 1 cable For 2 cables 1.25/1.5 16 AI1.5-8BK AI-TWIN2 1.5-8BK 2.0/2.5 14 AI2.5-8BU AI-TWIN2 2.5-10BU 3.5 12 AI4-10Y Crimping tool CRIMPFOX-ZA3 Manufacturer Phoenix Contact 2) CNP2 CNP2 is the same as MR-J3-100T or smaller capacities. Refer to section 4.3.3 (1) (b). App. - 8 APPENDIX App. 5.4 OUTLINE DRAWINGS (Chapter 12 OUTLINE DRAWINGS) [Unit: mm] 90 6 mounting hole 85 45 Rating plate 6 Approx. 80 195 21.4 CNP1 CN1 CNP3 CNP2 6 6 Approx. 68 Approx. 25.5 78 Cooling fan wind direction 6 With MR-J3BAT Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout L1 Approx. 90 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V W Approx. 6 P 0.3 Approx. 6 Mounting hole process drawing C CNP2 78 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in]) D L11 L21 App. - 9 APPENDIX App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30m or less Depending on the cable selected, there may be cases that the cable does not fit into the Mitsubishi optional or recommended cable clamp. Select a cable clamp according to the cable diameter. Selection example when using the 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U, V, and W) is indicated below. Servo motor Wire size [mm2] Servo motor Wire size [mm2] Servo motor Wire size [mm2] HF-SP52 1.25 HC-RP153 2 HA-LP11K1M 14 HF-SP102 1.25 HC-RP203 (Note) 3.5 HA-LP15K1M 22 HF-SP152 2 HC-RP353 (Note) 5.5 HA-LP22K1M 38 HF-SP202 2 HC-RP503 (Note) 5.5 HA-LP502 5.5 HF-SP352 3.5 HC-LP52 1.25 HA-LP702 8 HF-SP502 5.5 HC-LP102 1.25 HA-LP11K2 14 HF-SP702 8 HC-LP152 2 HA-LP15K2 22 HF-SP51 1.25 HC-LP202 3.5 HA-LP22K2 22 HF-SP81 1.25 HC-LP302 5.5 HA-LP6014 5.5 HF-SP121 2 HC-UP72 1.25 HA-LP8014 5.5 HF-SP201 2 HC-UP152 2 HA-LP12K14 8 HF-SP301 3.5 HC-UP202 3.5 HA-LP15K14 14 HF-SP421 5.5 HC-UP352 5.5 HA-LP20K14 14 HF-SP524 1.25 HC-UP502 5.5 HA-LP701M4 5.5 HF-SP1024 1.25 HA-LP601 8 HA-LP11K1M4 8 HF-SP1524 2 HA-LP801 14 HA-LP15K1M4 14 HF-SP2024 2 HA-LP12K1 14 HA-LP22K1M4 14 HF-SP3524 2 HA-LP15K1 22 HA-LP11K24 8 HF-SP5024 3.5 HA-LP20K1 38 HA-LP15K24 14 HF-SP7024 5.5 HA-LP25K1 38 HA-LP22K24 14 HC-RP103 2 HA-LP701M 8 Note. Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable. App. - 10 APPENDIX App. 7 Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. No. PA01 PA02 PA03 PA04 PA05 PA06 PA07 PA08 PA09 PA10 PA11 PA12 PA13 PA14 PA15 PA16 to PA18 PA19 Basic setting parameters (PA ) Symbol Name *STY Control mode *REG Regenerative option *ABS Absolute position detection system Not used in indexer positioning operation. *CMX *CDV ATU RSP INP TLP TLN *POL *ENR *BLK Number of gears on machine-side Number of gears on servo motor-side Auto tuning Auto tuning response In-position range Forward rotation torque limit Reverse rotation torque limit For manufacturer setting Rotation direction selection Encoder output pulses For manufacturer setting Parameter write inhibit No. PB01 Symbol FILT PB02 VRFT PB03 PB04 PB05 FFC PB06 GD2 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PG1 PG2 VG2 VIC VDC NH1 NHQ1 NH2 NHQ2 LPF PB19 VRF1 PB20 VRF2 PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 VFBF *MVS *CDP CDL CDT PB29 GD2B PB30 PB31 PB32 PG2B VG2B VICB PB33 VRF1B PB34 VRF2B PB35 to PB45 App. - 11 Gain/filter parameters (PB ) Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control tuning mode (Advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch form selection 1 Machine resonance suppression filter 2 Notch form selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain Gain changing speed loop gain Gain changing speed integral compensation Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control resonance frequency setting For manufacturer setting APPENDIX No. PC01 PC02 PC03 PC04 PC05 PC06 PC07 PC08 PC09 PC10 PC11 PC12 Extension setting parameters (PC ) Symbol Name For manufacturer setting *ZTY Home position return type *ZDIR Home position return direction ZRF Home position return speed CRF Creep speed ZST Home position shift distance Not used in indexer positioning operation. CRP JOG PC13 PC14 PC15 *BKC PC16 MBR PC17 PC18 PC19 PC20 *BPS *ENRS *SNO PC21 *SOP PC22 PC23 *COP1 PC24 PC25 PC26 PC27 PC28 PC29 PC30 *COP5 *COP7 *DSS PC31 PC32 PC33 PC34 PC35 PC36 PC37 PC38 PC39 PC40 PC41 to PC44 PC45 *COP9 PC46 *STN PC47 PSST PC48 to PC50 TL2 Rough match output range Jog speed Not used in indexer positioning operation. Backlash compensation For manufacturer setting Electromagnetic brake sequence output Not used in indexer positioning operation. Alarm history clear Encoder output pulse selection Station number setting RS-422 communication function selection Function selection C-1 For manufacturer setting Not used in indexer positioning operation. For manufacturer setting Function selection C-5 For manufacturer setting Function selection C-7 For manufacturer setting Remote register-based position/speed specifying system selection Not used in indexer positioning operation. No. PD01 PD02 PD03 PD04 PD05 PD06 PD07 PD08 PD09 PD10 PD11 PD12 PD13 PD14 PD15 PD16 PD17 PD18 PD19 PD20 PD21 PD22 PD23 PD24 PD25 Symbol *DIA1 PD26 TLT PD27 to PD30 Internal torque limit 2 For manufacturer setting Not used in indexer positioning operation. For manufacturer setting Function selection C-9 Indexer positioning operation number of stations/rotation Indexer positioning operation station home position shift distance For manufacturer setting App. - 12 I/O setting parameters (PD ) Name Input signal automatic ON selection 1 For manufacturer setting Not used in indexer positioning operation. For manufacturer setting Not used in indexer positioning operation. *DIAB For manufacturer setting Not used in indexer positioning operation. For manufacturer setting Input polarity selection For manufacturer setting *DIF *DOP1 *DOP5 Response level setting Function selection D-1 For manufacturer setting Not used in indexer positioning operation. For manufacturer setting Function selection D-5 For manufacturer setting Indexer positioning operation torque limit delay time For manufacturer setting APPENDIX App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation) App. 8.1 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in appendix 8.1.1. App.8.1.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied / 2 stations occupied). Programmable controller Power supply A1S62PN CPU A1SHCPU Master station A1SJ61BT11 (X/Y00 to 1F) Input module A1SX40 (X20 to X2F) X20 to Terminating resistor Station No.1 Station No.2 Servo amplifier (1 station occupied) Servo amplifier (2 stations occupied) Terminating resistor App. - 13 APPENDIX App. 8.1.2 Reading the servo amplifier status Read the servo amplifier status from the master station buffer memory. The servo amplifier status is always stored in the remote input RX (addresses E0H to 15FH) Read the servo amplifier status of station 1 to M0 to M31. Reads remote input (RX00 to RX1F) of buffer memory to M0 to M31. Station No.1 Address Remote input E0H RX0F to RX00 E1H RX1F to RX10 E2H RX2F to RX20 E3H RX3F to RX30 E4H RX4F to RX40 E5H RX5F to RX50 15EH RX7EF to RX7E0 15FH RX7FF to RX7F0 Note. area is for one servo amplifier. *: Set 0 or 1 as the bit is not used. 1 Station 2 Station Station No.2 3 Station FROM command M15 RXF to RX0 * M10 0 0 0 0 Servo amplifier status (1 station occupied) M0: Ready (RD) M1: In position (INP) M2: Rough match (CPO) M3: Home position return completion (ZP) M4: Limiting torque (TLC) M5: M6: Electromagnetic brake interlock (MBR) M7: Temporary stop (PUS) M5 0 0 0 0 0 M0 0 0 0 1 1 In position M31 64 Station 0 RX1F to RX10 * M26 * * * 1 0 M21 * * * * * M16 * * * * * Remote station communication ready M8: Monitoring (MOF) M9: Instruction code execution completion (COF) M10: Warning (WNG) M11: Battery warning (BWNG) M12: Movement completion (MEND) M13: Dynamic brake interlock (DB) M14: Position range (POT) M15: App. - 14 Ready M16: M17: M18: M19: M20: M21: M22: M23: M24: M25: M26: Trouble (ALM) M27: Remote station communication ready (CRD) M28: M29: M30: M31: APPENDIX App. 8.1.3 Writing the operation commands To operate the servo amplifier, write the operation commands to the remote output RY (addresses 160H to 1DFH). Perform positioning operation of point table No.2 for the servo amplifier of station 2. Start the operation by turning on X20. Servo-on command (RY00) Point table No. selection 2 command (RY0B) Automatic/manual selection command (RY06) Point table establishment time 10ms *1 Forward rotation start command (RY01) Operation command Command demand time 10ms *1 Forward rotation start command reset Writes M100 to M131 to remote output (RY00 to RY1F) of buffer memory. *1: Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. Address M115 RY0F to RY00 * M110 0 0 0 Point table selection 2 1 * 0 0 0 1 Automatic/manual selection M131 RY1F to RY10 0 M105 M126 * * * * 0 1 M100 1 0 0 1 Forward rotation start M121 * * * * 1 * TO instruction Servo-on M116 * * * * 160H RY0F to RY00 161H RY1F to RY10 162H RY2F to RY20 163H RY3F to RY30 164H RY4F to RY40 165H RY5F to RY50 1DFH RY7FF to RY7F0 Note. M108: Monitor output execution demand (MOR) M109: Instruction code execution demand (COR) M110: Point table No. selection 1 (DI0) M111: Point table No. selection 2 (DI1) M112: Point table No. selection 3 (DI2) M113: Point table No. selection 4 (DI3) M114: Point table No. selection 5 (DI4) M115: Clear (CR) App. - 15 2 Station Station No.2 3 Station * 1DEH RY7EF to RY7E0 Operation commands (1 station occupied) M100: Servo-on (SON) M101: Forward rotation start (ST1) M102: Reverse rotation start (ST2) M103: Proximity dog (DOG) M104: Forward rotation stroke end (LSP) M105: Reverse rotation stroke end (LSN) M106: Automatic/manual selection (MDO) M107: Temporary stop/Restart (TSTP) 1 Station Station No.1 M116: M117: M118: M119: M120: M121: M122: M123: 64 Station area is for one servo amplifier. *: Set 0 as the bit is not used. M124: M125: M126: Reset (RES) M127: M128: M129: M130: M131: APPENDIX App. 8.1.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. H000A Description Cumulative feedback pulse data (hexadecimal) Read the cumulative feedback pulse monitor by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Sets monitor code (H000A) of feedback pulse in RWw4. Read command Turns on Monitor output execution demand (RY28). Reads RWr4 and RWr5 of buffer memory to D10 and D11 when monitoring (RX28) turns on. Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. Monitor stop App. - 16 APPENDIX (2) Reading the parameter Read parameter No.PA04 "Function selection A-1" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No.PA04 setting (hexadecimal) Read the parameter No.PA04 by turning on X20. The respond code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Read command Writes parameter group No. write (H8200) to RWw6 and parameter group PA (H0000) to RWw7. Turns on instruction code execution demand (RY29). Turns off instruction code execution demand (RY29) when instruction code execution completion (RX29) turns on. Writes parameter No.PA04 read (H0204) to RWw6. Turns on instruction code execution demand (RY29). Reads RWr7 and RWr6 of buffer memory to D1 and D9 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. App. - 17 APPENDIX (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. H0010 Description Occurring alarm/warning No. (hexadecimal) Read current alarms by turning on X20. The respond code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Read command Writes current alarm read (H0010) to RWw6. Turns on instruction code execution demand (RY29). Reads RWr7 and RWr6 of buffer memory to D1 and D9 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. App. - 18 APPENDIX App. 8.1.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the point table No.1 of the servo amplifier of station 2 to "100". The following shows a program example for writing data to the servo amplifier when two stations are occupied. Writing is disabled for the servo amplifier when one station is occupied. Code No. H8D01 Description Write of servo motor speed data of point table No.1 (hexadecimal) Set data K100 Description Servo motor speed data of point table No.1 (decimal) Write the data to the servo motor speed data of point table No.1 by turning on X20. The respond code at instruction code execution is set to D2. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Write In position command Writes speed data (H8D01) of point table No.1 to RWw6, and speed data (K100) to RWw7. Turns on instruction code execution demand (RY29). Reads respond code (RWr6) to D2 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. App. - 19 APPENDIX (2) Writing the parameter The following shows a program example when two stations are occupied. Change parameter No.PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No. 8200h Description Parameter group selection Set data H0002 Description Set data (hexadecimal) The parameter No.12 is changed to "100" as follows. Code No. H820C Description Parameter No.PC12 write (hexadecimal) Set data K100 Description Set data (decimal) Write the data to the parameter No.PC12 by turning on X20. The respond code at instruction code execution is set to D2. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Write command Writes parameter group No. write (H8200) to RWw6 and parameter group PC (H0002) to RWw7. Turns on instruction code execution demand (RY29). Turns off instruction code execution demand (RY29) when instruction code execution completion (RX29) turns on. Writes parameter No.PC12 write (H820C) to RWw6 and data (K100) to RWw7. Turns on instruction code execution demand (RY29). Reads RWw6 to D2 when instruction code execution completion (RX29) turns on. Turns on instruction code execution demand (RY29). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. App. - 20 APPENDIX (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the programmable controller. Reset the servo amplifier on the occurrence of a servo alarm by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Turns on reset command (RY5A). Reset command Turns off reset command (RY5A) when trouble flag (RX5A) turns off. Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. (b) Deactivate the alarm of the servo amplifier of station 2 using the instruction code. Code No. H8010 Description Alarm reset command (hexadecimal) Set data H1EA5 Description Execution data (hexadecimal) Reset the servo amplifier by turning on X20. The respond code at instruction code execution is set to D2. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Reset command Writes alarm reset command (H8010) to RWw6 and execution data (H1EA5) to RWw7. Turns on instruction code execution demand (RY29). Reads respond code (RWr6) to D2 when instruction code execution completion (RX29) turns on. Turns off instruction code execution demand (RY29). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. App. - 21 APPENDIX App. 8.1.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Start the forward rotation JOG operation by turning on X22. Start the reverse rotation JOG operation by turning on X23. Reads remote input (RX00 to RX1F) of buffer memory to M200 to M231. Trouble Remote station communication ready Servo-on command (RY00). Forward rotation start (RY01). Forward rotation JOG command Reverse rotation start (RY02). Reverse rotation JOG command Sets monitor code (H0001) of current position (lower 16 bits) to RWw0. Sets monitor code (H0002) of current position (upper 16 bits) to RWw1. Turns on monitor command (RY08). Reads RWr0 and RWr1 of buffer memory to D120 and D121 when monitoring (RX08) turns on. Writes M100 to M131 to remote output (RY00 to RY1F) of buffer memory. App. - 22 APPENDIX (2) Remote register-based position data/speed data setting The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset " 2" in parameter No.PC30. Set data K100000 K1000 Description Position command data (decimal) Speed command data (decimal) Execute positioning operation with position and speed settings specified in the remote register by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Servo-on command (RY20) Automatic operation mode selection (RY26) Position/speed specifying system selection (RY4A) Operation command In position Writes position command data (K100000) to RWw8, RWw9, and speed data (K1000) to RWwA. Turns on position instruction demand (RY40). Turns on speed instruction demand (RY41). Reads respond code (RWr6) to D2 when position instruction execution completion (RX40) and speed instruction execution completion (RX41) turn on. Position and speed data establishment time 10ms *1 Turns on forward rotation start command (RY21). Command request time 10ms *1 Turns off forward rotation start command (RY21). Turns off position instruction demand (RY40). Turns off speed instruction demand (RY41). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. *1: Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. App. - 23 APPENDIX (3) Remote register-based point table No. setting (incremental value command system) The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 with incremental values after specifying the point table No.5 in the direct specification mode. Preset " 0" in parameter No.PA01 and " 0" in parameter No.PC30. Set data K5 Description Point table No. (decimal) Execute positioning operation to the point table No.5 by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Servo-on command (RY20) Automatic operation mode selection (RY26) Position/speed specifying system selection (RY4A) Incremental value selection (RY4B) Operation command In position Writes point table No.5 (K5) to RWw8. Turns on position instruction demand (RY40). Reads respond code (RWr6) to D2 when position instruction execution completion (RX40) turns on. Point table establishment time 10ms *1 Turns on forward rotation start command (RY21). Command request time 10ms *1 Turns off forward rotation start command (RY21). Turns off position instruction demand (RY40). Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory. *1: Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. App. - 24 APPENDIX App. 8.2 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in appendix 8.2.1, appendix 8.2.3. App. 8.2.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied). Programmable controller Power supply A1S62PN CPU A1SHCPU Master station A1SJ61BT11 (X/Y00 to 1F) Input module A1SX40 (X20 to X2F) X20 to X2C Terminating resistor Station No.1 Terminating resistor Servo amplifier (1 station occupied) Input signal assignment Input signal Signal name General operation when the input is on X20 Reset command Resets the servo amplifier on an occurrence of a servo alarm. X21 Servo-on command Turns on the servo motor. (Servo-on status) X22 Forward rotation JOG command Executes a forward JOG operation in the manual operation mode. X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode. X24 Automatic/manual selection OFF: Manual operation mode ON: Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode. X26 Proximity dog command OFF: Proximity dog is on. (Note) ON: Proximity dog is off. X27 Positioning start command Executes a positioning operation to the point table number specified by X28 to X2C when home position return is incomplete in the automatic operation mode. X28 No. selection 1 Specifies the position for the point table No. selection 1 X29 No. selection 2 Specifies the position for the point table No. selection 2 X2A No. selection 3 Specifies the position for the point table No. selection 3 X2B No. selection 4 Specifies the position for the point table No. selection 4 X2C No. selection 5 Specifies the position for the point table No. selection 5 Note. This is when the parameter No.PD16 is set to " App. - 25 0 (initial value)" (detects the dog at off). APPENDIX App. 8.2.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position" data. Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table command Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Check the status of CC-Link. Reads remote input (RX00 to RX1F) of buffer memory to M200 to M231. Writes current alarm read (H0010) to RWw2 at trouble (RX1A) occurrence. Turns on instruction code execution demand (RY09). Reads RWr3 and RWr2 of buffer memory to D11 and D12 when instruction code execution completion (RX09) turns on. Turns off instruction code execution demand (RY09). Alarm reset command (RY1A) Reset command Servo-on command (RY00) Servo-on command Automatic operation mode selection (RY06) Automatic/manual selection Manual operation mode selection (RY06) Automatic/manual selection Home position return request Home position return Home position return completion command Point table establishment time 10ms *1 Forward rotation start request Command request time 10ms *1 Forward rotation start request reset Proximity dog command (RY03) Proximity dog command App. - 26 APPENDIX Forward rotation start request Forward rotation JOG command Positioning start command In position Reverse rotation start request Reverse rotation JOG command Rough match Positioning start command Home position return completion Point table establishment time 10ms *1 Forward rotation start request Command request time 10ms *1 Forward rotation start request reset Point table No. selection 1 (RY0A) No. selection 1 Point table No. selection 2 (RY0B) No. selection 2 Point table No. selection 3 (RY0C) No. selection 3 Point table No. selection 4 (RY0D) No. selection 4 Point table No. selection 5 (RY0E) No. selection 5 Forward rotation start (RY01) Reverse rotation start (RY02) Sets monitor code (H0001) of current position (lower 16 bits) in RWw0. Sets monitor code (H0002) of current position (upper 16 bits) in RWw1. Turns on monitor output execution demand (RY08). Reads RWr0 and RWr1 of buffer memory to D120 and D121 when monitoring (RX08) turns on. Writes M100 to M131 to remote output (RY00 to RY2F) of buffer memory. *1: Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. App. - 27 APPENDIX App. 8.2.3 System configuration example when 2 stations are occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifiers (2 station occupied). Programmable controller Power supply A1S62PN CPU A1SHCPU Master station A1SJ61BT11 (X/Y00 to 1F) Input module A1SX40 (X20 to X2F) X20 to X28 Terminating resistor Station No.1 Terminating resistor Servo amplifier (2 stations occupied) Input signal assignment Input signal Signal name General operation when the input is on X20 Reset command Resets the servo amplifier on an occurrence of a servo alarm. X21 Servo-on command Turns on the servo motor. (Servo-on status) X22 Forward rotation JOG command Executes a forward JOG operation in the manual operation mode. X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode. X24 Automatic/manual selection OFF: Manual operation mode ON: Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode. X26 Proximity dog command OFF: Proximity dog is on. (Note) ON: Proximity dog is off. X27 Positioning start command Executes a positioning operation with position and speed settings specified in the remote register when home position return is completed in the automatic operation mode. X28 Position/speed setting system Changes to position/speed specification by the remote register. changing command Note. This is when the parameter No.PD16 is set to " App. - 28 0 (initial value)" (detects the dog at off). APPENDIX App. 8.2.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed" data. Preset the parameter No.PC30 to " 2". Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table command Code No. H0016 Description 32-bit data of motor speed (hexadecimal) Code No. K50000 K100 Description Position command data (decimal) Speed command data (decimal) Check the status of CC-Link. Reads remote input (RX00 to RX3F) of buffer memory to M200 to M263. Writes current alarm read (H0010) to RWw2 at trouble (RX3A) occurrence. Turns on instruction code execution demand (RY09). Reads RWr3 and RWr2 of buffer memory to D11 and D12 when instruction code execution completion (RX09) turns on. Turns off instruction code execution demand (RY09). Alarm reset command (RY3A) Reset command Servo-on command (RY00) Servo-on command Automatic operation mode selection (RY06) Automatic/manual selection Manual operation mode selection (RY06) Automatic/manual selection Home position return request Home position return Home position return completion command Point table establishment time 10ms *1 Forward rotation start request Command request time 10ms *1 Forward rotation start request reset Proximity dog command (RY03) Proximity dog command App. - 29 APPENDIX Positioning start command Forward rotation start request Forward rotation JOG command Reverse rotation start request Reverse rotation JOG command Position/speed specifying system selection (RY4A) Position/speed setting system changing command In Rough position match Home position return completion Writes position command data (K50000) to RWw4, RWw5, and speed data (K100) to RWw6. Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21). Reads respond code (RWr2) to D2 when position instruction execution completion (RX20) and speed instruction execution completion (RX21) turn on. Position and speed data establishment time 10ms *1 Positioning start command Command request time 10ms *1 Positioning start command reset Turns off position instruction demand (RY20). Turns off speed instruction demand (RY21). Forward rotation start (RY01) Reverse rotation start (RY02) Sets monitor code (H0016) of motor speed to RWw0. Turns on monitor output execution demand (RY08). Reads RWr0 and RWr1 of buffer memory to D120 and D121 when monitoring (RX08) turns on. Writes M100 to M163 to remote output (RY00 to RY3F) of buffer memory. *1: Setting time for the timer should be larger than the command processing time or twice the link scan time whichever larger. When the setting time is short, the command cannot be received properly. App. - 30 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Apr., 2006 SH(NA)030058-A First edition Revision Jul., 2006 SH(NA)030058-B Chapter 2 Section 3.5.2(2) Section 3.5.3 Section 3.6.3(1) Section 3.6.3(2) Section 3.6.3(3) Section 3.7.1 Section 4.8.2(3)(b) Section 4.10.2(2) Section 5.6.5(2) Section 5.6.8 Section 5.8(1) Section 5.8(5)(a) Section 6.2.1 Section 6.2.2 Section 6.3.5 Section 6.4.2 Section 9.3(1)(a) Section 9.5 Section 13.1 Section 14.1.1 Section 15.4.1(5) Section 15.4.2 App 1 Oct., 2007 SH(NA)030058-C Servo amplifier Servo motor Section 1.1.2 Section 1.6.1 Section 1.7 Section 2.1 (1)(b) Section 4.1 Section 4.3.3 (3) Section 4.3.3 (4) Section 4.3.3 (5) Section 4.11.3 Section 6.1.4 Section 7.1 Section 11.4.2 Section 12.2 Section 13.1 CAUTION added Description of DB changed Note deleted On duration: 5ms of RYn1 and RYn2 in diagram modified On duration: 5ms of RYn1 and RYn2 in diagram modified On duration: 5ms of RYn1 and RYn2 in diagram modified Diagram partly modified Parameter No.19 in diagram changed POINT added NOTE added POINT changed Restrictions changed POINT added Name of parameter No.PB17: For manufacturer setting changed Name of parameter No.PB17: For manufacturer setting changed Parameter No.12 in diagram changed Initial value: 0000h of parameter No. PD20 modified Sentence of parameter No. PD24 changed Parameter No. PB07 added Section title modified Diagrams added Model: MR-CCN1 of No.33 modified Commands: [3] and [5] added (15) Group setting (Command [9][F]) added Name of parameter No.PB17: For manufacturer setting changed MR-J3-60T4 to MR-J3-22KT4 added HF-SP524/1024/1524/2024/3524/5024/7024 HA-LP6014/701M4 added Note regarding cooling fan added Description for "motor power supply connector" changed to "servo motor power connector" Note added with change of notation for power supply POINT description changed Note regarding stepdown transformer added Wiring method for MR-J3-200T4 added as (3) Cable insertion method added for Wago Japan Cable insertion method for Phoenix Contact Connector changed Note regarding circuit breaking method deleted For parameter No.PA02, setting values 80 to 87 added Compatible versions added on table For descriptions of A10, A30 and A33, MR-J3- T4 added Connector type changed for RoHS compatibility Diagram layout changed Print Data *Manual Number Oct., 2007 SH(NA)030058-C Revision Section 13.2 Section 13.3 Section 13.5 Section 14.1.1 Section 14.1.1 2) Section 14.1.2 400V compatible added Dynamic brake time constant and load inertia moment ratio compatible with 400V added. The calculation methods and graph in section 13.3.1, the permissible load inertia moment in 13.3.2, each divided by paragraph. Inrush current at 400V added Connector model changed for RoHS compatibility Connector for MR-J3-200T4/350T4 added Connector type and configuration changed for RoHS compatibility 400V compatible regenerative option added Descriptions of table modified For parameter No.PA02, setting values 80 to 87 added 400V compatible regenerative option added Due to the addition of MR-RB34-4 and MR-RB54-4, changed dimension added Description added Outline drawing and dimension table changed Note regarding stepdown transformer added FR-RC-H15K, FR-RC-H30K, FR-RC-H55K added FR-RC-H15K, FR-RC-H30K, FR-RC-H55K added Note regarding stepdown transformer added Wire diameter instructions changed Section 14.2 (1) Section 14.2 (2)(b) Section 14.2 (3) Section 14.2 (4) Section 14.2 (5)(b),(c) Section 14.2 (5) Section 14.3 (3)(b) Section 14.4 (2) Section 14.4 (3) Section 14.4 (4) Section 14.5 (3)(b) Section 14.5 (4)(b) 2) Description "compliant with JIS" deleted Section 14.5 (6) Circuit in connection example changed, note regarding Section 14.6 (2) stepdown transformer added Outline drawing added Section 14.7 (3) Recommended wires compliant with MR-J3-60T4 to MR-J3Section 14.9 (1) 22KT4 added Recommended twist cables for CC-Link changed Section 14.9 (3) Table for changing connector set to RoHS compliant products Appendix 4 added Feb., 2008 SH(NA)030058-D Safety Instructions 1. Additional Partial change of sentence instructions CONFORMANCE WITH UL/C-UL STANDARD (3) Original item title: Short circuit rating, Original current value: 5000A (5) Fuse deleted < > Addition Original mass of MR-J3-200T: 2.3kg Section 1.2 (1) Overview of MR-J3-200T changed Section 1.4 Overview of MR-J3-200T changed Section 1.6.1 (2) Addition in diagram Overview of MR-J3-200T changed Section 1.7 (3) Addition in diagram Section 2.1 (1)(b) POINT Change of sentence Ladder partial change Section 3.7.5 (2) Description in table partially changed Section 4.3.1 Components of terminal block for MR-J3-200T changed Section 4.3.3 Print Data *Manual Number Feb., 2008 SH(NA)030058-D Revision Section 4.10.2 (3)(b) Section 4.11.2 (1) Section 4.11.2 (5) to (8) Section 5.3 (1) Section 5.3 (2) Section 7.2 (1) Section 7.2 (2) 1) Section 8.5.7 (1)(a) Section 11.4.2 Section 12.1 (5) Section 14.1.1 2) Figure partially changed Change of diagram No-fuse breaker for cooling fan added Change of diagram Indication description and Note 2 added Component description changed RS-422/232C converter FA-T-RS40VS deleted Addition of sentence Definition of Parameter error (A37) changed Outline drawing of MR-J3-200T changed, POINT added Components of MR-J3-200T terminal block changed, Applicable wire size for WAGO terminal block changed Section 14.1.3 (2) Addition of Note Section 14.1.4 (2) Addition of Note Section 14.5 (3)(a), Addition of Note (b) POINT addition Section 14.5 (4) 600V Grade heat-resistant polyvinyl chloride insulated wire Section 14.9 (HIV wire) added Fuse class changed (original: K5 class) Section 14.10 Note added to the table Section 14.11 Addition Appendix 5 Addition Appendix 6 Jun., 2008 SH(NA)030058-E All pages “PLC” changed to “programmable controller” CONFORMANCE WITH UL/C-UL STANDARD Change of sentence (2) Installation Change of sentence (3) Short circuit rating Error of communication alarm display position corrected Section 1.1.6 Note 4. Addition of sentence Section 3.5.1 (2) Section 3.5.2 (3) (a) RWwn 6 Addition of sentence Section 3.7 Changed Section 3.8 Changed Section 4.10.1 CAUTION changed Section 5.4.2 (3) Timing chart partially changed, Note 1 changed Section 5.4.3 Description added to the remote register-based position/ speed specifying system selection Timing chart partially changed, Note 1 changed Section 5.6.1 (1) Note. Deleted Section 5.6.2 (3) Note. Change of sentence Section 5.6.3 (2) Note. Change of sentence Section 5.6.4 (2) Note. Change of sentence Section 5.6.5 (2) Note. Change of sentence Section 5.6.6 POINT addition Section 5.6.6 (1) Change of table Section 5.6.7 (2) Note. Change of sentence Section 5.6.8 (2) Note. Change of sentence Section 5.6.9 (2) Note. Change of sentence Section 5.6.10 (2) Note. Change of sentence Print Data *Manual Number Jun., 2008 SH(NA)030058-E SH(NA)030058-E Revision Section 5.6.11 (2) Section 5.6.12 (2) Section 6.3 Section 6.4.3 Section 6.4.4 Section 7.7.1 Section 11.4.2 Section 14.1 Chapter 16 Appendix 7 Appendix 8 Note. Change of sentence Note. Change of sentence Parameter No.PC28 added Addition Addition Starting method added “Cause” added to CC-Link alarm (A8D) POINT addition Addition Addition Addition General-Purpose AC Servo J3 Series Built-in Positioning Function MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030058-E (0806) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice. J3 Series MR-J3- T Servo Amplifier Instruction Manual (CC-Link) E MODEL MR-J3- T SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link) E
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