Mitsubishi Electric MR-MC211 - Manual

A - 4 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servo motor are for holding applications, and must not be used for normal br...

A - 5 (3) Transportation and installation CAUTION Transport the product with the correct method according to the mass. Use the servo motor suspension bolts only for the transportation of the servo motor. Do not transport the servo motor with machine installed on it. Do not stack products past the li...

A - 6 CAUTION Always install the servo motor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Environment Conditions Position board/Servo amplifier Servomotor Ambient temperature According to e...

A - 8 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the position board, servo amplifier or servo motor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintena...

A - 9 (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the position board and servo amplifier. Do not place fingers or hands in t...

A - 10 (9) About processing of waste When you discard position board, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can a...

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Dec., 2013 IB(NA)-0300223-A First edition Dec., 2014 IB(NA)-0300223-B [Additional model] MR-MC240, MR-MC241 [Additional function] Speed-torque control, Mark detection, Continuous opera...

A - 13 3.2.2 Forced stop input cable ...................................................................................................................... 3- 6 4. SYSTEM STARTUP 4- 1 to 4-18 4.1 Startup procedures ........................................................................................

A - 14 5.5.11 Home position return using a Z-phase detection method .............................................................. 5-35 5.5.12 Home position return using a scale home position signal detection method ................................ 5-38 5.5.13 Home position return using a scale home...

A - 15 6.21.2 Processing procedure ..................................................................................................................... 6-54 6.21.3 Sequence example .........................................................................................................................

A - 21 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Position Board Manual Name Manual Number (Model Code) MR-MC210/MR-MC211/MR-MC240/MR-MC241 Position Board User's Manual (Details) This ...

1 - 9 1. SUMMARY 1.3 Specifications 1.3.1 General specifications General specifications of the position board are shown below. Items Specification Operating ambient temperature 0 to 55°C (32 to 131°F) Storage ambient temperature -20 to 65°C (4 to 149°F) Operating ambient humidity 10 to 90% RH, non-c...

1 - 10 1. SUMMARY 1.3.2 List of specifications of position board (1) Position board control specifications Function Contents Remarks MR-MC210 MR-MC211 MR-MC240 MR-MC241 System function Control cycle 0.88ms/0.44ms/0.22ms (Select using parameters.) Control axes Max 20 Max 32 Max 20 Max 32 Control mode...

1 - 12 1. SUMMARY (2) PCI bus specifications Items Specification Address bit 32 bit Data bit 32 bit System clock 33MHz System voltage +5V Shape [mm(inch)] Short size (106.7(4.20) × 167.6(6.60)) Hot swap Not supported Base address Set configuration register by BIOS (3) PCI Express ® bus specification...

1 - 13 1. SUMMARY 1.4 Name of each section 1.4.1 Name of parts for PCI bus compatible position board (1) MR-MC210 4) 3) 2) 5) 7) 1) SW1 (2) MR-MC211 2) 3) 4) 5) 6) 7) 1) SW1

1 - 15 1. SUMMARY 1.4.2 Name of parts for PCI Express ® bus compatible position board (1) MR-MC240 5) 1) 2) 3) 4) 6) 8) SW1 (2) MR-MC241 5) 1) 2) 3) 4) 6) 8) SW1 7)

1 - 23 1. SUMMARY 1.7 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specifications Number of input points Forced stop signal: 1 point Input method Positive common/Negative common shared type Rated input current 2.4mA Isolation method Photocoupler Operatin...

2 - 1 2 2. SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the system configuration and equipment settings for the position board. 2.1 Position board configuration 2.1.1 MR-MC210 system configuration USB EMI SSCNET /H-compatible Servo amplifier MR-J4-B Axis 2 Axis 1 Axis 20 SSCNE...

2 - 2 2. SYSTEM CONFIGURATION 2.1.2 MR-MC211 system configuration Axis 2 Axis 1 Axis 20 USB EMI Axis 2 Axis 1 Axis 12 SSCNET Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B PCI bus compatible position board MR-MC211 DI signal Forced stop (EMI 1) DI signal side limit switch (LSP 1) side limit switch (LSN ...

2 - 5 2. SYSTEM CONFIGURATION 2.2 System configuration equipment (1) MR-MC2 related module Part name Model name (Note 1) Description Position board MR-MC210 Up to 20 axes control, Operation cycle 0.22[ms], 0.44[ms], 0.88[ms], PCI bus compatible (Note 2) MR-MC211 Up to 32 axes control, Operation cycl...

2 - 6 2. SYSTEM CONFIGURATION 2.3 Checking serial number and operating system software version Checking for the serial number of position board and software version are shown below. 2.3.1 Checking serial number (1) Rating plate The serial number is printed on the rating plate which is on the positio...

3 - 1 3 3. INSTALLATION AND WIRING 3. INSTALLATION AND WIRING 3.1 Board installation This section explains instructions for handling and installation environment of the position board. 3.1.1 Instructions for handling The following explains instructions for handling. CAUTION • Do not touch any connec...

3 - 2 3. INSTALLATION AND WIRING 3.2 Connection and disconnection of cable 3.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend radius is less than the mi...

3 - 3 3. INSTALLATION AND WIRING (4) Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Es...

3 - 5 3. INSTALLATION AND WIRING POINT • Migratable plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Optical cord Cable SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, ca...

4 - 6 4. SYSTEM STARTUP 4.5 Parameter setting After parameter initialization, set the parameters according to the system such as for control cycle and external signal (sensor) input option. 4.5.1 Parameter initialization After turning on the position board power, initialize parameter and set before ...

4 - 16 4. SYSTEM STARTUP 4.5.7 Vendor ID and type code setting Available functions, parameter settings and ranges will vary by servo amplifier type. At the time the communication with the servo amplifier has started, the position board will perform consistency check between vendor ID and type code o...

4 - 17 4. SYSTEM STARTUP 4.6 System startup processing (1) System startup procedure After parameter initialization, start system startup before performing operations. Position board 1) Servo amplifier Host controller Dual port memory Parameter data (Internal memory) Parameter initial value Parameter...

5 - 1 5 5. OPERATIONAL FUNCTIONS 5. OPERATIONAL FUNCTIONS POINT Refer to Chapter 10 for the table bit for each signal. There are restrictions for the number of axes which can start simultaneously in each operation function and in start operation using other axes start. When the number of started axe...

5 - 2 5. OPERATIONAL FUNCTIONS 5.1 JOG operation 5.1.1 Summary When the movement direction is specified and the start operation signal (ST) input, it starts in the designated direction and movement continues until the start operation signal (ST) is turned OFF. When the start operation signal (ST) is...

5 - 4 5. OPERATIONAL FUNCTIONS 5.2 Incremental feed 5.2.1 Summary A prescribed feed amount is implemented for each fast start operation signal (FST). The feed amount is defined using the incremental feed movement amount. Incremental feed can be used without completing home position return (home posi...

5 - 9 5. OPERATIONAL FUNCTIONS (a) In-position stop After completion of the command pulse output, if it is in-position, the point movement is completed. Movement to next point Actual speed Command speed When the actual position is within the in-position boundaries, movement to thenext point is start...

5 - 10 5. OPERATIONAL FUNCTIONS For the end point of continuous operation, if the position after deceleration stop exceeds the command position. A selection can be made from the following control option 2 (parameter No.0201). 1) Stop by the alarm 2) After completion of the deceleration stop, return ...

5 - 11 5. OPERATIONAL FUNCTIONS (3) Speed switching point specification If "2: Continue operation" is selected in the deceleration check system, a point where speed change is completed can be specified. 0: After point switching 1: Before point switching (a) After point switching Command spee...

5 - 12 5. OPERATIONAL FUNCTIONS (4) Dwell specification Specify the system of dwell. 0: Dwell 1: Predwell POINT If the setting of the dwell specification is incorrect, it causes a point table setting error (operation alarm 25, detail 01) and operation is stopped. (a) Dwell Specify the time until exe...

5 - 13 5. OPERATIONAL FUNCTIONS 2) When the deceleration check system is In-position stop Time is counted after the in-position signal (INP) turns on after the during smoothing of stopping signal (SMZ) turns on. The following shows the case for the end point. Dwell During operation (OP) During smoot...

5 - 14 5. OPERATIONAL FUNCTIONS CAUTION If large value is set by mistake, the wait time of axis is long and it may look as if axes did not operate. In that case, it is dangerous to approach the moving part because axes operate unexpectedly. Do not approach the moving parts even when axes do not oper...

5 - 16 5. OPERATIONAL FUNCTIONS 5.4 Linear interpolation 5.4.1 Summary Linear interpolation operation has interpolation control performed for the axes set up as a group. This system enables a maximum of 4 axis interpolation control. When the feed speed and position data are defined in the point tabl...

5 - 21 5. OPERATIONAL FUNCTIONS (3) No processing When parameter No.0261 is set to 2, normal operation is continued even if the speed limit is exceeded. Start operation(ST) ONOFF Speed limit for each axis Speed of each axis Feed speed Note. This enables operation at the limits of the motor; however,...

5 - 25 5. OPERATIONAL FUNCTIONS 5.5.3 Start operation method Start operation is performed according to the following procedure. (1) Set parameters "home position return to speed" (parameter No.0242, 0243), "home position return acceleration time constant" (parameter No.0244), "ho...

5 - 28 5. OPERATIONAL FUNCTIONS (3) When the proximity dog is in the opposite direction against the direction of home position return Home position return direction Limit switch Start operation Amount of home position shift Creep speed Home position Home position return speed Z-phase pulse Speed Pro...

5 - 29 5. OPERATIONAL FUNCTIONS 5.5.5 Home position return using a data set method The command position at the start operation of the home position return is defined as the home position. It is necessary to move to home position using JOG operation or something similar in advance. (1) When the home ...

5 - 30 5. OPERATIONAL FUNCTIONS 5.5.7 Home position return using a dog cradle method A method where deceleration is started at the front end of the dog, then return briefly to the front end of the dog, and start moving again at a creep, and that uses the first Z-phase after the dog front end passes ...

5 - 31 5. OPERATIONAL FUNCTIONS (3) When the start operation position is on the dog Proximity dog Amount of home position shift Home position Home position return direction Creep speed Z-phase pulse Speed Start operation (4) If a limit switch is on at the start operation position If the limit switch...

5 - 35 5. OPERATIONAL FUNCTIONS 5.5.11 Home position return using a Z-phase detection method After moving from the position where home position return has started to the nearest Z-phase (in addition, after moving by shift amount when home position shift amount is set), home position return is comple...

5 - 36 5. OPERATIONAL FUNCTIONS [Cautions] In the sequence 2) above, stop processing by response delay to the home position sensor signal and deceleration occurs during the time until the axis stops. Stop processing Home positionsensor signal Stop processing = La + Lb + Lc + Ld La: Travel distance a...

5 - 37 5. OPERATIONAL FUNCTIONS [Encoder Z-phase mask amount] When the stop position is near the encoder Z-phase by the dispersion, the Z-phase position to be the home position can be fixed by setting encoder Z-phase mask amount. 1) When stop position is before the encoder Z-phase Mask encoder Z-pha...

5 - 41 5. OPERATIONAL FUNCTIONS ONOFF sscJogStart function sscJogStop function sscDataSetStart function/sscWaitIntDriveFin function/sscGetDriveFinStatus function Move to home position usingJOG or something similar The current commandposition is changed to thehome position coordinates ONOFF ONOFF ONO...

6 - 1 6 6. APPLICATION FUNCTIONS 6. APPLICATION FUNCTIONS 6.1 Command units 6.1.1 Position command unit - electronic gear Set position command (such as position data of point table and the incremental movement amount) by position command unit. Electronic gears (parameter No.020A, 020B, 020C, 020D) a...

6 - 2 6. APPLICATION FUNCTIONS Example: Relationship between setting range of electronic gear and corresponding maximum revolution speed Number of encoder pulses per revolution [pulse] Electronic gear (CMX/CDV) Maximum speed (limited) [r/min] 262144 1/16 135000 1/1 2160000 10/1 4893355 10000/1 48933...

6 - 3 6. APPLICATION FUNCTIONS 6.1.2 Settings Control parameters Parameter No. (Note) Abbreviation Name Initial Value Unit Setting range Function 020A *CMXL Electronic gear numerator (lower) 0001h 1 to 5242879 (32 bits) Set the numerator for electronic gears. 020B *CMXH Electronic gear numerator (up...

6 - 6 6. APPLICATION FUNCTIONS 6.2.2 Setting example of speed units The following is a setup example for use of mm/min as a speed unit for a piece of equipment that uses ball screws. (1) Equipment specification The equipment specification is same as that of Section 6.1. (2) Parameter setting for the...

6 - 7 6. APPLICATION FUNCTIONS 6.3 Acceleration/deceleration The method of acceleration/deceleration can be set by Speed options (parameter No.0220). POINT The setting at starting operation is valid for the method of acceleration/deceleration. If the method of acceleration/deceleration is changed du...

6 - 10 6. APPLICATION FUNCTIONS The S-curve ratio indicates which part of the Sin-curve is used to draw the acceleration/deceleration curve as shown in the figure below. AB B/2 B/2 Sin-curve Speed V When S-curve ratio is 70% t Speed V When S-curve ratio is 100% t b/a = 0.7 b a (Example) S-curve rati...

6 - 13 6. APPLICATION FUNCTIONS 6.4 Servo off If an axis has moved due to an external force while the servo was off, the current command position is updated in accordance with the movement amount (Current feedback position). After the servo has been off, coordinate return processing such as return t...

6 - 14 6. APPLICATION FUNCTIONS 6.5 Forced stop Commands are turned to " " at forced stop. Servo amplifiers become free from the control of the position board and stops according to their specifications or settings such as dynamic brake stop and deceleration to a stop. For details, refer to ...

6 - 15 6. APPLICATION FUNCTIONS 6.6 Stop operation When the stop operation signal (STP) is turned on, movement is stopped. (Alarms and warnings are not set.) Even if the stop operation signal (STP) is turned back off, operation is not resumed. The time constant used for stopping for stop operation i...

6 - 17 6. APPLICATION FUNCTIONS 6.8 Limit switch (stroke end) When the limit switch signal corresponding to the movement direction is turned off, an alarm occurs and movement is stopped. The deceleration time constant used for stopping by the limit switch is the rapid stop time constant. (Note 2, 3)...

6 - 20 6. APPLICATION FUNCTIONS 6.10 Interlock When the interlock signal (ITL) is turned on, movement is temporarily stopped. During stoppage of movement the interlock stop signal (ISTP) is turned on. When the interlock signal (ITL) is turned off, operation is resumed. The interlock signal (ITL) for...

6 - 22 6. APPLICATION FUNCTIONS 6.11 Rough match output When the command remaining distance (difference between the command position and the current command position) is less than the rough match output limit (parameter No.0230, 0231), the rough match signal (CPO) is output. Rough match output is on...

6 - 23 6. APPLICATION FUNCTIONS 6.12 Torque limit When the torque limit signal (TL) is turned on, the torque is limited by the torque limit values set in the normal revolution torque limit (parameter No.0210) and the reverse revolution torque limit (parameter No.0211). When torque is limited by the ...

6 - 26 6. APPLICATION FUNCTIONS 6.13.3 Position change After rewriting the command position, turning the position change signal (PCHG) on causes the command position to be changed. For automatic operation rewrite position data in the operating point table and for incremental feed, rewrite the feed m...

6 - 28 6. APPLICATION FUNCTIONS The tracks of axis 1 and 2 to each current command position when the position P1 is changed to the position P2 are shown below. At this time, the tracks move to the end position, forming a curve from the position where the position change is performed, to keep the spe...

6 - 31 6. APPLICATION FUNCTIONS In the example above, the current command position of the axis 1 exceeds the new position. The following formulas provide the approximate calculation of the excessive travel distance (excessive position amount). Deceleration quantity [speed unit/s] = Linear interpolat...

6 - 32 6. APPLICATION FUNCTIONS 6.14 Backlash A function that corrects the mechanical error (backlash) when the movement direction is reverse. The compensation amount for backlash is set in backlash compensation amount (Parameter No.0208). Backlash compensation amount Workpiece Ball screw Condition ...

6 - 40 6. APPLICATION FUNCTIONS 6.17 Interference check function Through setting the standard coordinate system for the interference check function, the current command position of all of the axes and movement direction is changed to the standard coordinate system and interference check using relati...

6 - 43 6. APPLICATION FUNCTIONS 6.17.2 Interference check operation image diagram The following example shows where the direction of the interference check coordinate (the direction of the coordinate system for each axis against the standard coordinate system) is the same direction. Axis 2operation ...

6 - 45 6. APPLICATION FUNCTIONS 6.17.4 Operation check In order to prevent collision, the current command position is monitored at all times and if the difference between the relative distance of the axis and the interference check axis is judged to be less than the interference check width, rapid s...

6 - 46 6. APPLICATION FUNCTIONS 2) When Interference check standby is valid If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis, turn the during interference check standby sig...

6 - 47 6. APPLICATION FUNCTIONS (3) While the interference check axis is stopped If the distance between the axis and the interference check axis is judged to drop below the interference check width, an entering interference area error (operation alarm 45, detail 01) is output and rapid stop is exec...

6 - 52 6. APPLICATION FUNCTIONS 6.20 PI-PID switching By turning on the PID control command signal (CPC), control of the servo amplifier is changed to PID control from PI control. Use this function, for example, to remove any interference (torsion) between tandem drive axes by operating an axis (sla...

6 - 53 6. APPLICATION FUNCTIONS 6.21 Absolute position detection system By using a servo motor compatible with the absolute position detection system, the positioning control can be made by the absolute position detection system. In the absolute position detection system, if machinery position is de...

6 - 57 6. APPLICATION FUNCTIONS Wait for operation command Complete return to position (turn on home position return completesignal (ZP).) Is the home position return complete memo on? Execute home position return operation Read the home position multiple revolution data, home position within 1 revo...

6 - 62 6. APPLICATION FUNCTIONS (2) Other axes start data For the other axes start data (1 to 32), set the conditions for starting other axes (start conditions) and the operation (operation content) performed when the condition is satisfied. When the other axes start No. (1 to 32) is set to the othe...

6 - 65 6. APPLICATION FUNCTIONS Address Abbreviation Name Unit Setting range Function E15C OSDOP Digital output signal command (2 bytes) 0000h to FFFFh Set the digital output signal command (ON/OFF) of the digital output signal (DO_ ) selected in the digital output signal valid selection. DO_ 0 (bit...

6 - 66 6. APPLICATION FUNCTIONS 6.23.3 Interface (1) Other axes start command/other axes start status bit The other axes start commands/other axes start statuses related to the other axes start function are shown below. Other axes start command/status table E080 Other axes start command/status table...

6 - 67 6. APPLICATION FUNCTIONS Other axes start command Other axes start status Address Bit Abbreviation Signal name Address Bit Abbreviation Signal name E080 0 OSSTP Other axes start cancel E082 0 OSOP Other axes start notice 1 Reserved 1 OSFIN Other axes start complete 2 2 OSERR Other axes start ...

6 - 68 6. APPLICATION FUNCTIONS (b) Details concerning other axes start status bits Abbreviation Signal name Function details OSOP Other axes start notice [Function] Notifies the monitoring for the other axes start condition. [Operation] <Conditions for turning on> The other axis start data is...

6 - 70 6. APPLICATION FUNCTIONS (2) When the observed axis is valid When "1: Valid" is set to the observed axis specification (in the observed axis option of the other axes start condition), the other axes content is not operated until both the axis judgment condition and the observed axis j...

6 - 71 6. APPLICATION FUNCTIONS (3) When other axes start fails When the other axes start fails due to, for example, an operation alarm on the axis preceding the satisfaction of other axes start condition, the other axes start incomplete (OSERR) turns on. The other axes start incomplete (OSERR) turn...

6 - 72 6. APPLICATION FUNCTIONS [Example of when operation of the axis is completed] Other axes start notice (OSOP )Other axes start complete (OSFIN )Other axes start incomplete (OSERR ) During operation (OP) Start operation (ST) Axis ON OFFON OFFON OFFON OFFON OFFON OFFON OFF Operation alarm (OALM)...

6 - 74 6. APPLICATION FUNCTIONS 6.24.2 Interface (1) System command bits Address Bit Abbreviation Signal name 03E4 0 ITFE Interrupt processing high speed complete 1 Reserved 2 3 4 5 6 7 (2) System status bits Address Bit Abbreviation Signal name 0450 0 ITO Outputting with factor of interrupt 1 IITO ...

6 - 76 6. APPLICATION FUNCTIONS 6.24.4 Interrupt processing high speed completion Using the interrupt processing high speed complete signal (ITFE) as a substitute of the interrupt processing complete signal (ITE) shortens the time for interrupt processing completion. (1) High response interrupt proc...

6 - 80 6. APPLICATION FUNCTIONS 6.27 Servo amplifier general input/output 6.27.1 Summary The servo amplifier general input/output function is a function that controls the input/output signal connected to the servo amplifier via SSCNET. The user program can control the input/output signal with the di...

6 - 86 6. APPLICATION FUNCTIONS (2) Exclusive control procedure on user program side The following shows the procedure to control the digital output signal exclusively. (a) Exclusive control procedure START Set "1: Request" to the digital output signal host occupy request (DORH). END Pre-pro...

6 - 91 6. APPLICATION FUNCTIONS (2) Point table and auxiliary command To use the pass position interrupt, set the pass position interrupt valid to the auxiliary command of the point table. Reserved (bit9 to bit15) 0 0 0 0 0 b15 b12 b8 b4 b0 0 0 Position command system (bit0 to 1)Reserved (bit2 to 3)...

6 - 95 6. APPLICATION FUNCTIONS (5) Interrupt conditions (system parameters) Set the values that designate ON for the bits that correspond to the factor of pass position interrupt outputting to the parameter interrupt conditions (parameter No.0004) to validate the interrupt output of the pass positi...

6 - 96 6. APPLICATION FUNCTIONS (6) Factor of system interrupt API LIBRARY Use the sscResetIntPassPosition/sscSetIntPassPosition/ sscWaitIntPassPosition functions for reset/set/wait of pass position interrupt events. (a) Factor of system interrupt Address Content 0590 Factor of system interrupt 0591...

6 - 97 6. APPLICATION FUNCTIONS (b) Details on factor of system interrupt When the pass position data is passed, the factor of outputting with factor of pass position interrupt (iPPI) of the details on factor of system interrupt is turned on. For details on the factor of interrupt according to the p...

6 - 99 6. APPLICATION FUNCTIONS (8) Details on factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number (1 to 64) turns on. (a) Details on factor of pass position inter...

6 - 100 6. APPLICATION FUNCTIONS 6.29.4 Operation example (1) When the pass position interrupt is complete The pass position interrupt (PPIOP) turns on between the operation start and the completion of all pass position interrupt outputs. When the pass position condition is satisfied, the factor of ...

6 - 101 6. APPLICATION FUNCTIONS (2) When the pass position interrupt fails When the operation is canceled due to an operation alarm preceding the satisfaction of the pass position condition, the pass position interrupt incomplete (PPIERR) turns on. The pass position interrupt incomplete (PPIERR) tu...

6 - 102 6. APPLICATION FUNCTIONS [Example of when operation is completed] During operation (OP) Start operation (ST) Operation alarm (OALM) ON OFFON OFFON OFFON OFF ON OFF ON OFF In-position (INP) ON OFF Pass position interrupt(PPIOP)Pass position interruptcomplete (PPIFIN)Pass position interruptinc...

6 - 103 6. APPLICATION FUNCTIONS (3) When the pass position interrupt is canceled When the pass position interrupt cancel (PPISTP) is turned on preceding the satisfaction of the pass position condition, the pass position interrupt incomplete (PPIERR) turns on. At this time, the factor of interrupt o...

6 - 105 6. APPLICATION FUNCTIONS The following shows the update timing of mark detection positioning data and mark detection edge data when a mark detection signal is detected and both ON/OFF edges are enabled in the mark detection data settings. Servo amplifier side 0 0 2 1 0 2 0 150 190 100 100 15...

6 - 107 6. APPLICATION FUNCTIONS (1) Continuous detection mode Mark detection data is stored in the mark detection data storage area (one buffer) for every mark detection. Mark detection data storage area (When ON edge detection is enabled) Mark detection signal (2) Specified number of detection mod...

6 - 112 6. APPLICATION FUNCTIONS (4) Mark detection data table (a) Mark detection edge data table Address Content Address Content BAF0 Mark detection edge data 0 0: Not detected 1: OFF edge 2: ON edge BAF8 Mark detection edge data 8 BAF1 Mark detection edge data 1 BAF9 Mark detection edge data 9 BAF...

6 - 116 6. APPLICATION FUNCTIONS 6.30.3 Function details (1) Combinations with sensor input method By setting the sensor input method to driver input, and setting the mark detection signal numbers (DI1 to DI3), sensors (LSP/LSN/DOG) can be used in combination with the mark detection function. Exampl...

6 - 117 6. APPLICATION FUNCTIONS (3) Latch data range When data at mark detection is within the latch data range, the data is stored in the mark detection storage device and the mark detection counter increases by one. When the data is outside of the range the mark detection is not processed. The fo...

6 - 118 6. APPLICATION FUNCTIONS 6.30.4 Operation example (1) Continuous detection mode The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer number. When mark detection data is not read before the next mar...

6 - 124 6. APPLICATION FUNCTIONS (2) Point table Set the points where continuous operation to torque control is performed in "continuous operation to torque control specification" in the auxiliary command. Point Position data [Command units] Feed speed [Speed units] Acceleration constant [ms...

6 - 125 6. APPLICATION FUNCTIONS POINT • Position data is the stopping position when switching to continuous operation to torque control could not be made. Set the position data after the continuous operation to torque control switching position (PRCPS) and before the pressing position in continuous...

6 - 128 6. APPLICATION FUNCTIONS 1) When the continuous operation to torque control switching position has not be reached at the start of operation Speed Torque Acceleration timeconstant (Point table) Deceleration time constantat continuous operation to torque control Continuous operation to torquec...

6 - 139 6. APPLICATION FUNCTIONS API LIBRARY • Use the sscAutoStart function for operation startup. • Refer to the sample program "InterruptPressDrive" contained in the utility software for a more specific procedure on continuous operation to torque control. Operate by manual switch by setti...

7 - 1 7 7. AUXILIARY FUNCTION 7. AUXILIARY FUNCTION 7.1 Reading/writing parameters The parameter data in the position board is accessed using the parameter read/write function. Types of parameters include: system parameters, control parameters, and servo parameters. The parameter read/write function...

7 - 3 7. AUXILIARY FUNCTION 7.1.2 Reading parameters Dual port memory Parameter data (internal memory) Servo amplifier 1) 2) Position board Wait until the parameter read command signal (PRD) turns on. The parameters are read from the internal memory area into the 2 port memory (1) in Fig. 7.2). Wait...

7 - 8 7. AUXILIARY FUNCTION 7.4 Monitor function 7.4.1 Summary The monitor function is for referencing servo information such as current command position, speed Feedback etc. and operation information and system information. When monitoring system information, the monitor area in the system command/...

7 - 10 7. AUXILIARY FUNCTION 7.4.2 Monitor latch function Monitor data is not updated while the monitor latch command signal (MONR) is on. sscSetCommandBitSignalEx function(SSC_CMDBIT_AX_MON) Monitor data is not updated during this period sscWaitStatusBitSignalEx function(SSC_STSBIT_AX_MRCH) Monitor...

7 - 12 7. AUXILIARY FUNCTION 7.5.2 Monitor latch function Monitor data is not updated while the high speed monitor latch command signal (RMONR) is on. Monitor data sscSetCommandBitSignalEx function(SSC_CMDBIT_AX_RMONR) Monitor data is not updated during this period High speed monitor islatched (RMRC...

7 - 13 7. AUXILIARY FUNCTION 7.6 Interrupt 7.6.1 Interrupt sequence If the interrupt output valid signal (ITS) is on and interrupt conditions are satisfied (Note1), the position board sets the interrupt trigger on the dual port memory and generates an interrupt. For cancellation of the interrupt, wr...

7 - 18 7. AUXILIARY FUNCTION (b) Details on factor of interrupt on axis n The addresses in the table are the addresses for the axis 1. For the axis 2 and above, increase in units of 04h for each axis. Address Bit (Note) Abbreviation Signal name 04D0 0 iRDY Servo ready (interrupt) to 1 iINP In-positi...

7 - 20 7. AUXILIARY FUNCTION (c) Factor of other axes start interrupt When the outputting with factor of other axes start interrupt (iOASF) is on, the bit corresponding to other axes start data No. (1 to 32) turns on. Address Bit Abbreviation Signal name 0594 0 iOAS1 Other axes start data 1 (interru...

7 - 21 7. AUXILIARY FUNCTION (d) Details on factor of other axes start interrupt When the factor of other axes start interrupt (iOAS ) is on, the interrupt factor of other axes start status bit corresponding to other axes start data No. (1 to 32) turns on. Details on factor of other axes start inter...

7 - 23 7. AUXILIARY FUNCTION (f) Details on factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number (1 to 64) turns on. Address Content 0FA0 Details on factor of pass ...

7 - 24 7. AUXILIARY FUNCTION 7.6.4 Interrupt processing example Write the interrupt signal clear register (Note 2) Set an event for the interrupt service routine (ISR) Interrupt Handler CH number S 1 No Yes No Yes CH number S S 1 Is the maximum number of CH S? Finish Capture of system interrupt fact...

7 - 25 7. AUXILIARY FUNCTION 7.7 User watchdog function User watchdog function is a function that checks for errors of the user program. Reset the value of watchdog check counter on the dual port memory using a host controller on a periodic basis. If the watchdog check counter value is not reset at ...

7 - 28 7. AUXILIARY FUNCTION Note 1. The flash ROM parameter backup function becomes available after the system preparation completion (system status code: 0001h). 2. When the flash ROM transfer preparation error (FRNG) or the flash ROM transfer error (FSNG) occurs, check the procedure and restart t...

7 - 30 7. AUXILIARY FUNCTION API LIBRARY For flash ROM parameter initialization, save the flash ROM parameters with the sscSaveAllParameterToFlashROM function after initializing the parameters with the sscResetAllParameter function. (3) Flash ROM parameter reading The parameters backed up in the fla...

7 - 32 7. AUXILIARY FUNCTION 7.10.2 Test operation mode (1) Limitations (a) If operation is started using the position board, an in test mode error (operation alarm 1A, detail 01) occurs and operation can not be performed. (b) The commands to servo amplifier (servo-on/off, servo alarm reset, torque ...

7 - 33 7. AUXILIARY FUNCTION 7.11 Reconnect/disconnect function 7.11.1 Disconnection function summary By turning on the disconnection command, SSCNET communication with selected axis and later can be disconnected. To use this function, set the consistency check selection at system startup of the con...

7 - 40 7. AUXILIARY FUNCTION 7.12.2 Command/status bit System command/status bits related to sampling function are shown below. System command System status Address Bit Symbol Signal name Address Bit Symbol Signal name 03E1 0 SMPS Sampling start 0451 0 SMPW Waiting for sampling trigger 1 Reserved 1 ...

7 - 61 7. AUXILIARY FUNCTION (c) Fulfilled when the data is the same as trigger value or higher When the data is the same as the trigger value or higher, the trigger condition is met. Data Sampling starts Trigger value Example 1 Trigger condition is met Time Data Sampling starts Trigger value Exampl...

7 - 62 7. AUXILIARY FUNCTION (2) When the trigger content is bit information (a) Fulfilled by leading edge of bit When the bit turns on from off, the trigger conditions are met. Example 1 Example 2 Sampling starts Trigger condition is met Time Bit Bit ON OFF Sampling starts ON OFF Trigger condition ...

7 - 66 7. AUXILIARY FUNCTION 2) When setting 8192 to the sampling points and sampling of 8192 points is completed When the sampling of specified sampling points is completed, the sampling is completed (SMPF) turns on. Start sampling command(SMPS) Sampling is being performed(SMPO) Sampling is complet...

7 - 69 7. AUXILIARY FUNCTION 2) Sampling is being performed The user program reads the sampled data sequentially according to the sampling completion page number. The user program can read the page from the page of the sampling read page number to the page of the sampling completion page number in n...

7 - 71 7. AUXILIARY FUNCTION 3) When the sampling is completed When the sampling of specified points is completed, the sampling is complete (SMPF) turns on. After confirming the sampling is complete (SMPF) turns on, read until the sampling completion page number. Start sampling command(SMPS) Samplin...

7 - 72 7. AUXILIARY FUNCTION 4) Sampling stopped prior to full completion When the start sampling command (SMPS) is turned on during the sampling (SMPO: ON), the sampling is being performed (SMPO) turns off and the sampling finishes. After confirming the sampling is being performed (SMPO) turns off,...

7 - 73 7. AUXILIARY FUNCTION 5) When the reading of sampled data is not finished in time When the next page number of the sampling completion page number matches the sampling read page number during the sampling (SMPO: ON), the position board judges that the reading of sampled data is not finished i...

7 - 74 7. AUXILIARY FUNCTION 7.13 Log 7.13.1 Summary The log function is a function that stores the status when an event occurs (start operation, completion, alarm occurs etc.) on the position board. The log data is stored in the log data buffer area (internal memory of the position board). When a r...

7 - 75 7. AUXILIARY FUNCTION 7.13.2 Log data details The log data for 1 event is 16 bytes. The details of the data are shown in the following. Offset Content 0000h Axis number 0002h Event code 0004h Time stamp 0006h 0008h Information for each event 000Ah 000Ch 000Eh (1) Axis number Axis number [0: f...

7 - 78 7. AUXILIARY FUNCTION 7.13.4 Information for each event Log data set per event is as follows. Also, details concerning the operation mode noted in the information per event is as follows. 0: Automatic operation 1: Home position return 2: JOG operation 3: Incremental feed 4: Mode not selected ...

7 - 80 7. AUXILIARY FUNCTION (15) Change deceleration time constant (16) Position change Offset Content Offset Content 0000h Axis number 0000h Axis number 0002h Event code (0022h) 0002h Event code (0023h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Deceleration time constant after change 000...

7 - 82 7. AUXILIARY FUNCTION (31) Interlock cancelled (32) Stop command (STP) Offset Content Offset Content 0000h Axis number 0000h Axis number 0002h Event code (0403h) 0002h Event code (0404h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Operation mode 0008h Operation mode 000Ah 0 (fixed val...

7 - 84 7. AUXILIARY FUNCTION (46) SSCNET reconnection complete (47) SSCNET reconnection error Offset Content Offset Content 0000h Axis number 0000h Axis number 0002h Event code (0904h) 0002h Event code (0905h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Controlling axis information (lower) 0...

7 - 88 7. AUXILIARY FUNCTION (b) Details concerning system status bits Abbreviation Signal name Function details LOGO Log operation being performed [Function] Notifies that log is now being taken. [Operation] <Conditions for turning on> The log command signal (LOGC) was turned on. <Conditio...

7 - 90 7. AUXILIARY FUNCTION 7.13.6 Timing chart for reading of log data A method for reading log data stored in the log data buffer area is shown below. ONOFF sscReadLogData function Page 1 Page 2 Page 3 ONOFF Reading of log datacommand (LOGR) Log data read pagenumber Reading of log datacomplete (L...

7 - 94 7. AUXILIARY FUNCTION 7.15 External forced stop disabled 7.15.1 Summary The external forced stop disabled function disables the external forced stop by input signal (EMI) from the I/O connector. Note. Software forced stop by system command bit and forced stops due to system errors such as SSC...

7 - 101 7. AUXILIARY FUNCTION (3) Alarm history data Offset Content Offset Content 0000h System startup time 0020h Current feedback position 0001h 0021h 0002h 0022h 0003h 0023h 0004h 0024h Reserved 0005h 0025h 0006h 0026h 0007h 0027h 0008h Free run counter 0028h 0009h 0029h 000Ah 002Ah 000Bh 002Bh 0...

7 - 102 7. AUXILIARY FUNCTION (d) Operation mode Stores the operation mode. 00h: Automatic operation 01h: Home position return 02h: JOG operation 03h: Incremental feed 04h: Mode not selected 05h: Mode error 06h: Home position reset 08h: Linear interpolation operation (e) Current command position Sto...

7 - 106 7. AUXILIARY FUNCTION 7.17.4 Timing chart for alarm history read A method for reading alarm history stored in the alarm history area is shown below. ONOFF Page 1 Page 2 Page 3 sscGetAlarmHistoryData function Alarm history readcommand (ALHR) Alarm history readcomplete (ALHRF) Alarm history re...

7 - 107 7. AUXILIARY FUNCTION 7.17.5 Alarm history initialization procedure The procedure for initialization of parameters are as follows. Yes sscClearAlarmHistoryData function End No Note. Set E15A to the alarm history initialization ID. Turn off alarm historyinitialization command (ALHR) Alarm his...

8 - 6 8. TANDEM DRIVE 8.4 Tandem drive axis operation POINT Only have the master axis call the start operation functions of each axis when in synchronous mode. 8.4.1 Home position return during tandem drive Methods for returning to home position while using tandem drive axes include: dog method, dog...

8 - 7 8. TANDEM DRIVE (1) Home position return using a dog method ONOFF ONOFF ONOFF (Note 2) Creep speed Proximity dog (Note 2) (Master axis) Creep speed Home position return speed Home position return speed Home position return complete (ZP)(master axis) Proximity dog input signal (DOG)(master axis...

8 - 11 8. TANDEM DRIVE (a) Deviation compensation invalid The motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. When deviation compensation is invalid, only the proximity dog signal for the master axis is used. Hom...

8 - 12 8. TANDEM DRIVE (b) Deviation compensation valid The motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. When deviation compensation is valid, the proximity dog signals for the master axis and for the slave ax...

8 - 13 8. TANDEM DRIVE c) Operation example for adjustment mode Tandem drive home position signal offset Home position Home position Creep speed Proximity dog Start operation Home position return speed Proximity dog signal (DOG) (master axis)Proximity dog signal (DOG) (slave axis) Home position retu...

8 - 14 8. TANDEM DRIVE b) Start operation method 1. Set the home position return method (parameter No.0240) to "Dog front end method" and tandem drive option (parameter No.0265) to "Normal mode". 2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start ...

8 - 19 8. TANDEM DRIVE 2) Operation example for normal mode a) Startup method 1. Set the home position return method (parameter No.0240) to scale home position signal detection method and tandem drive option (parameter No.0265) to normal mode. 2. Set the tandem drive home position signal offset (par...

8 - 25 8. TANDEM DRIVE 8.4.3 Incremental feed while using tandem drive (1) Synchronous mode When incremental feed operation is performed while in synchronous mode, master axis data and signals are used. An example is shown below. ONOFF ONOFF ONOFF ONOFF ONOFF Speed (master axis) Speed (slave axis) S...

8 - 28 8. TANDEM DRIVE The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and in-position signals are being used, check the in-position signal for both the master axis and the slave axis. For other types of movement, normal axis movement is ...

8 - 32 8. TANDEM DRIVE 8.9 Tandem drive axis servo alarms If an alarm occurs on the master axis or slave axis, dynamic braking and stoppage is implemented for the axis for which the servo alarm did not occur as well. When the cause for an alarm on an axis is cancelled such as through a servo alarm r...

9 - 4 9. INTERFACE MODE 9.3 Parameters For interface mode, the parameters used and some of the parameter functions change. The following are parameters used in interface mode. (1) System parameters (a) System parameters used Parameter No. Abbreviation Name Remarks 0001 *SYSOP1 System option 1 0002 *...

9 - 5 9. INTERFACE MODE (3) Control parameters (a) Control parameters used Parameter No. Abbreviation Name Remarks 0200 *OPC1 Control option 1 Speed units relates to the units during monitor output. 0203 *AXALC Axis No. assignment 020E SUML Speed units multiplication factor (lower) Speed units multi...

9 - 12 9. INTERFACE MODE 9.5.2 Position control mode Position control mode is where position commands (absolute position in pulse units) generated by the user program can be sent to the servo amplifier. The position command buffer is made up of position data × a maximum of 64 ring buffers, and is co...

9 - 14 9. INTERFACE MODE 9.5.3 Speed control mode Speed control mode is where speed commands (speed in units of 0.01r/min) generated by the user program can be sent to the servo amplifier. The speed command buffer is made up of speed command data × a maximum of 1 buffer. Refer to Section 9.5.6 for t...

9 - 16 9. INTERFACE MODE 9.5.4 Torque control mode Torque control mode is where torque commands (torque in units of 0.1%) generated by the user program of the host controller can be sent to the servo amplifier. The torque command buffer is made up of torque command data × a maximum of 1 buffer. Refe...

9 - 17 9. INTERFACE MODE (1) Parameter (a) System parameter Parameter No. Abbreviation Name Remarks 000F *IFMO Interface mode option Specify the interrupt output cycle and command data update cycle. (2) Axis data command/status table Axis data command table Address Content Setting range 1048 Torque ...

9 - 19 9. INTERFACE MODE The following is an example of when the maximum buffer number is 11. When the buffer status resembles "Example 1: Before buffer set", and there are 5 cycles of position command data that have been calculated by the user program, set the latest position command buffer...

9 - 21 9. INTERFACE MODE 9.5.6 Control method for interrupt output valid There is no difference in control method for position control mode, speed control mode and torque control mode when control method for interrupt output is valid. The control method is as follows. The following is the control me...

9 - 24 9. INTERFACE MODE (2) When command data update cycle = interrupt output cycle (a) When command data update cycle is control cycle × 1, and interrupt out cycle is control cycle × 1. Handler sscIfmRenewLatestBufferEx function sscSetCommandBitSignalEx function(SSC_CMDBIT_SYS_HMA) User programpro...

9 - 33 9. INTERFACE MODE 9.8 Servo off When axes are moved by an external force during servo off, perform a follow up (refer to the formula below) that updates the position command to align with the movement (feedback position). CAUTION If a follow up is not performed, the servo amplifiers will alig...

9 - 34 9. INTERFACE MODE 9.9 Home position return When startup is performed in interface mode, the operational function home position return cannot be used. Therefore, for an absolute position detection system, use the following method to perform a home position return. For an incremental system, ho...

10 - 9 10. TABLE MAP (3) Command bit For each bit, 0 stands for invalid and 1 stands for valid. Address Bit Symbol Signal name Address Bit Symbol Signal name 03E0 0 ITE Interrupt processing complete 03E1 0 SMPS Sampling start 1 ITS Interrupt output valid 1 Reserved 2 Reserved 2 3 3 4 HMA During user...

10 - 17 10. TABLE MAP 10.4 Factor of interrupt (1) Information of outputting with factor of interrupt When an interrupt occurs, the bit corresponding to the axis No. or system which is the factor of the interrupt turns on. Address Content Remarks 04C0 Outputting with factor of axis interrupt 1 Axis ...

10 - 21 10. TABLE MAP (c) Factor of other axes start interrupt When the outputting with factor of other axes start interrupt (iOASF) is on, the bit corresponding to other axes start data No. (1 to 32) turns on. Address Bit Symbol Signal name 0594 0 iOAS1 Other axes start data 1 (interrupt) to 1 iOAS...

10 - 25 10. TABLE MAP 10.5 System configuration information table (1) System configuration information table Address Content Remarks 06D0 Reserved (16 bytes) 06E0 Controlling axis information (lower) (4 bytes) The bit corresponding to the axis which is currently controllable (SSCNET communicating ax...

11 - 2 11. PARAMETERS 11.1 System parameters POINT The settings for the parameters with a * mark at the front of the abbreviation are validated when the system is restarted. Parameter No. Symbol Name Initial Value Units Setting range Function 0001 *SYSOP1 System option 1 0000h 0000h to 0002h 0 0 Set...

11 - 33 11. PARAMETERS Parameter No. Symbol Name Initial Value Units Setting range Function When tandem drive is being used 026C TZOFL Tandem drive home position signal offset (lower) 0000h Command Units 0000h to FFFFh Set the amount of offset for the home position signal position while in tandem dr...

13 - 2 13. ALARM NUMBER 13.2 Servo alarm (1) MR-J4(W )- B The servo alarms of MR-J4(W )- B are shown in the following table. For details, refer to the Servo Amplifier Instruction Manual for MR-J4(W )- B. Alarm Alarm No. Name Alarm No. Name 10 Undervoltage 52 Error excessive 11 Switch setting error 5...

13 - 3 13. ALARM NUMBER Warning Alarm No. Name 91 Servo amplifier overheat warning 92 Open battery cable warning 95 STO warning 96 Home position setting error 9F Battery warning E0 Excessive regeneration warning E1 Overload warning 1 E2 Servo motor overheat warning E3 Absolute position counter warni...

14 - 1 14 14. EMC AND LOW VOLTAGE DIRECTIVES 14. EMC AND LOW VOLTAGE DIRECTIVES Compliance to the EMC Directive, which is one of the EU Directives, has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997. Manufacturers who re...

14 - 2 14. EMC AND LOW VOLTAGE DIRECTIVES 14.1.1 Standards relevant to the EMC directive For all test items, the test has been done with a position board installed in a computer that is compatible to CE mark. The test does not cover USB because only the test tool "MRZJW3-MC2-UTL" (sold separ...

14 - 3 14. EMC AND LOW VOLTAGE DIRECTIVES 14.1.2 Installation instructions for EMC directive (1) Installation Installing inside a control panel not only ensures safety but also ensures effective shielding of position board-generated electromagnetic noise. (a) Control panel 1) Use a conductive contro...

14 - 4 14. EMC AND LOW VOLTAGE DIRECTIVES (4) Cables The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables extracted to ...

14 - 5 14. EMC AND LOW VOLTAGE DIRECTIVES 14.1.3 Parts of measure against noise (1) Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band. It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite cores if shield cables pulled out of t...

App. - 2 APPENDIX App. 1.4 Operations and functions of the linear servo system (1) Startup procedure Linear servo system startup procedures are as follows. Incremental linear encoder Execution of installation and wiring Settings of the linear encoder direction and the linear servo motor direction Se...

App. - 3 APPENDIX (2) Magnetic pole detection For magnetic pole detection methods, refer to the Servo Amplifier Instruction Manual for your servo amplifier. When an incremental scale is used, magnetic pole detection is performed at every power on. The magnetic pole detection is started when the firs...

App. - 6 APPENDIX 2) Control parameters Parameter No. (Note 1) Abbreviation Name Initialvalue Unit Setting range Function 0200 *OPC1 Control option 1 0001h 0000h to 2111h Speed unit (Note 3) Set the speed command unit. 0: Position command unit / min 1: Position command unit / s 0 0 0 020A *CMXL Elec...

App. - 8 APPENDIX <Servo parameter (MR-J4(W )- B)> Parameter No. MR-J4-B Parameter No. (Note) Abbreviation Name Initialvalue Unit Setting range Function 1300 PL01 **LIT1 Linear servo motor/direct drive motor function selection 1 0301h 0000h to 0605h 012345 Stop interval setting for home positi...

App. - 9 APPENDIX (c) Home position return process for tandem drive axes The following shows an example of the home position return for the tandem drive axes. In this example, the scale home position signal detection method is used as a home position method. The scale home position signal detection ...

App. - 11 APPENDIX (d) Monitor The following monitor numbers are added. 1) Servo information (2) Monitor No. Description Unit Description 0246 Load side encoder information data 1 (lower) For incremental type linear encoder, displays the counter from power on. For absolute position type linear encod...

App. - 14 APPENDIX App. 2.4 Operations and functions of the fully closed loop control (1) Startup procedure The fully closed loop system startup procedures are as follows. Positioning operation check using the position board (Refer to App. 2.4 (2)) Positioning operation check with MR Configurator2 G...

App. - 20 APPENDIX 3) Servo information (2) Monitor No. Description Unit Description (upper: data, lower: unit) (Note 1) Semi closed loop system (Note 2) Fully closed loop system (Note 2) Semi closed loop control (Note 2) Fully closed loop control (Note 2) 0200 Position feedback (lower) pulse Motor ...

App. - 22 APPENDIX App. 3.4 Operations and functions of the direct drive servo system (1) Startup procedure The direct drive servo system startup procedures are as follows. Yes No Execution of installation and wiring Execution of the magnetic pole detection (Refer to App. 3.4 (2)) Incremental system...

App. - 25 APPENDIX (c) Position command unit As "degree" cannot be used as a position command unit, note the following when using the axis as a degree axis. POINT For positioning the automatic operation, etc., set "Relative position command" to the auxiliary command of the point tabl...

App. - 31 APPENDIX App. 5.4 System setting When the SSCNET communication method is SSCNET , servo amplifiers of up to 32 axes can be controlled per SSCNET control channel (CH). Item Content Remarks MR-MC210 MR-MC211 MR-MC240 MR-MC241 Number of control axes Max 16 Max 32 Max 16 Max 32 Up to 16 axes c...

App. - 32 APPENDIX App. 5.6 Axis No. setting Axis No. is set by the axis selection rotary switch (Note). The axis No. and rotary switch No. are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it will not duplicate in the same SSCNET line. If it is duplicated, ...

App. - 40 APPENDIX (4) When selecting dual port memory When 4 (dual port memory input) is selected as the sensor destination, side limit switch input signal (LSPC), side limit switch input signal (LSNC) and proximity dog input signal (DOGC) are imported as substitutes for sensors. Axis command bits ...

App. - 48 APPENDIX (5) Servo amplifier general input/output For the specification of the servo amplifier general input/output, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.27. However, for the compatible servo amplifiers, refer to the following table. (a) Compati...

App. - 65 APPENDIX Monitor No. Content Units Remarks 0124 Reserved 0125 0126 0127 0128 0129 012A 012B 012C 012D 012E 012F

App. - 75 APPENDIX POINT If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. Do not add impossible power to the connector of the SSCNET ...

App. - 76 APPENDIX 2) Exterior dimensions • MR-J3BUS015M [Unit: mm(inch)] 2. 3( 0. 09) 1. 7(0. 07 ) 37.65 (1.48) 150 +50 - 0 (5.91) 8 +0 (0. 31) 20. 9( 0. 82) 13.4 (0.53) 6.7(0.26) 15 (0.59) Protective tube • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Uni...

App. - 78 APPENDIX App. 6.3 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET ...

App. - 79 APPENDIX App. 7 Exterior dimensions App. 7.1 PCI bus compatible position board (1) MR-MC210 The MR-MC210 is a PCI short card size. [Unit mm(inch)] 167.6(6.60) 98.4(3. 87) 106. 7(4. 20) SW1 (2) MR-MC211 The MR-MC211 is a PCI short card size. [Unit mm(inch)] 167.6(6.60) 98.4(3. 87) 106. 7(4....

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen du...

6. Precautions for Choosing the Products (1) For the use of our Position Board, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Position Board, and a backup or fail-safe function should operate on an external system to Position Bo...