Page 1 General-Purpose AC Servo Ethernet Interface MODEL MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (POSITIONING MODE)
Page 2 Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 4 3. To prevent injury, note the following CAUTION Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal. Otherwise, an electric shock, fire, injury, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
Page 5 CAUTION The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products.
Page 6 CAUTION Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other.
Page 7 (5) Corrective actions CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Page 9 «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4 1.1 Positioning mode specification list ....................1- 2 2. SIGNALS AND WIRING 2- 1 to 2-16 2.1 I/O signal connection example ......................2- 3 2.2 Connectors and pin assignment ....................... 2- 6 2.3 Signal (device) explanations ......................
Page 11 5.2.2 Related objects/registers......................5- 6 6. HOMING MODE 6- 1 to 6-36 6.1 Function description .......................... 6- 1 6.2 Related object/register ........................6- 3 6.3 Directions for use ..........................6-10 6.4 CiA 402-type Homing method ......................6-11 6.4.1 Home position return type in CiA 402 type ................6-11 6.4.2 Operation example of the CiA 402-type Homing method ............
Page 12 9.1.1 Function description ........................9- 1 9.1.2 Related object/register ....................... 9- 4 9.1.3 Usage ............................9- 7 9.2 Manual pulse generator operation ....................9-10 10. OPTIONS AND PERIPHERAL EQUIPMENT 10- 1 to 10- 4 10.1 MR-HDP01 manual pulse generator .................... 10- 2 11.
Page 13 12.6.2 Automatic operation mode ....................12-76 12.6.3 Manual operation mode ......................12-83 12.6.4 Backlash compensation and digital override ................ 12-88 12.6.5 Safety precautions ........................ 12-91 12.7 Touch probe function setting ....................... 12-91...
Page 14 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION POINT The positioning mode can be used on servo amplifiers with software version A4 or later and on MR Configurator2 with software version 1.72A or later. The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual".
Page 15: Positioning Mode Specification List
1. FUNCTIONS AND CONFIGURATION 1.1 Positioning mode specification list Only the specifications of the positioning mode are listed here. For the other specifications, refer to section 1.3 of "MR-JE-_C Servo Amplifier Instruction Manual". Item Description Servo amplifier model MR-JE-_C Positioning with specification of point table No. Operational specifications (When using objects/registers: 255 points, when assigning input signals: 15 points) (Note 2) (Note 3) Absolute...
Page 16 1. FUNCTIONS AND CONFIGURATION Item Description Dog type Count type Data set type Stopper type Home position ignorance (servo-on position as home position) Dog type rear end reference Count type front end reference Dog cradle type Dog type last Z-phase reference Dog type front end reference...
Page 17 1. FUNCTIONS AND CONFIGURATION Item Description Torque limit changing dog type Torque limit changing data set type For details of the home position return types, refer to section 6. Homing on current position (method 35) Homing on current position (method 37) Automatic positioning to home High-speed automatic positioning to a defined home position position function (Note 4)
Page 18: Signals And Wiring
2. SIGNALS AND WIRING 2. SIGNALS AND WIRING A person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 19 2. SIGNALS AND WIRING Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual".
Page 20: I/O Signal Connection Example
2. SIGNALS AND WIRING 2.1 I/O signal connection example (1) Point table method POINT Assign the following input devices to CN3-2, CN3-3, and CN3-4 pins with [Pr. PD06 Input device selection 1M], [Pr. PD09 Input device selection 2M], and [Pr. PD12 Input device selection 3M].
Page 21 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 22 2. SIGNALS AND WIRING (2) Indexer method POINT Assign the following input devices to CN3-2, CN3-3, and CN3-4 pins with [Pr. PD06 Input device selection 1M], [Pr. PD09 Input device selection 2M], and [Pr. PD12 Input device selection 3M]. CN3-2: SIG (External limit/Rotation direction decision/Automatic speed selection) CN3-3: LSP (Forward rotation stroke end) CN3-4: LSN (Reverse rotation stroke end)
Page 23: Connectors And Pin Assignment
2. SIGNALS AND WIRING Note 1. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 24 2. SIGNALS AND WIRING The device assignment of the CN3 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters. I/O signals in control modes (Note 2) Pin No.
Page 25: Signal (Device) Explanations
2. SIGNALS AND WIRING 2.3 Signal (device) explanations The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of “MR-JE-_C Servo Amplifier Instruction Manual”.
Page 26 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Forward rotation To start the operation, turn on LSP and LSN. Turn it off to bring the servo DI-1 stroke end motor to a sudden stop and make it servo-locked. Setting [Pr.
Page 27 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division External limit/ The function varies depending on the operation mode. DI-1 Rotation direction The polarity for SIG can be changed with [Pr. PT29]. decision/ 1. Homing mode (hm) Automatic speed SIG can be used as an input device of external limit.
Page 28 2. SIGNALS AND WIRING (b) Output device Control Connector mode Device Symbol Function and application pin No. division Malfunction CN3-15 When an alarm occurs, ALM turns off. DO-1 When no alarm has occurred, ALM turns on in 4 s to 5 s after power-on. When [Pr.
Page 29 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Home position When a home position return completes normally, ZP (Home position return DO-1 return completion) turns on. completion In the incremental system, this signal turns off with one of the following conditions: 1) SON (Servo-on) is off.
Page 30 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division During a When a deceleration begins for a stop, PUS is turned on by TSTP DO-1 temporary stop (Temporary stop/restart). When TSTP (Temporary stop/restart) is enabled again and operation is restarted, PUS turns off.
Page 31 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Touch probe 1 TPR1H When TPR1 (Touch probe 1) turns on, TPR1H turns on. DO-1 rising latch completed Touch probe 1 TPR1L After TPR1 (Touch probe 1) is turned on, turning off TPR1 (Touch probe 1) DO-1 falling latch turns on TPR1L.
Page 32: Power-On Sequence
2. SIGNALS AND WIRING (3) Output signal Control Connector mode Device Symbol Function and application pin No. division Encoder A-phase CN3-11 These devices output pulses of encoder output pulse set in [Pr. PA15] in DO-2 pulse the differential line driver type. CN3-24 (differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the...
Page 33 2. SIGNALS AND WIRING MEMO 2 - 16...
Page 34: Startup
3. STARTUP 3. STARTUP The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual". For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual". Item Detailed explanation Switching power on for the first time...
Page 35 3. STARTUP (b) Command interface selection Select an interface to be used with "command interface selection" of [Pr. PN08 Function selection N- [Pr. PN08] Command interface selection 0: General-purpose interface 1: Communication interface (c) Assigning recommended input/output devices Assign recommended input/output devices to the pins of CN3 in accordance with each chapter of point table/indexer method.
Page 36 3. STARTUP (6) Stop If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor. Turn off the servo-on command after the servo motor has stopped, and then switch the power off. Refer to section 3.10 in "MR-JE-_C Servo Amplifier Instruction Manual"...
Page 37 3. STARTUP MEMO 3 - 4...
Page 38: Parameters
4. PARAMETERS 4. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause CAUTION an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting Setting a value out of the range Changing the fixed values in the digits of a parameter...
Page 39: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PA10 In-position range [pulse] Section 4.2.1 PA11 Forward rotation torque limit 1000.0 PA12 Reverse rotation torque limit 1000.0 PA13 *PLSS Command pulse input form 0100h PA14 *POL Rotation direction selection PA15 *ENR Encoder output pulses 4000...
Page 40 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PB27 Gain switching condition [kpulse/s]/ MR-JE-_C [pulse]/ [r/min] PB28 Gain switching time constant [ms] PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier] PB30 PG2B Position loop gain after gain switching [rad/s] PB31 VG2B...
Page 41: Extension Setting Parameters ([Pr. Pc_ _ ])
4. PARAMETERS 4.1.3 Extension setting parameters ([Pr. PC_ _ ]) POINT In the positioning mode, the following parameter cannot be used. [Pr. PC04 Torque command time constant] [Pr. PC09 Internal speed command 5/Internal speed limit 5] [Pr. PC10 Internal speed command 6/Internal speed limit 6] [Pr.
Page 42 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PC30 STA2 Acceleration time constant 2 [ms] Section 4.2.2 PC31 STB2 Deceleration time constant 2 [ms] PC32 CMX2 Command input pulse multiplication numerator 2 MR-JE-_C PC33 CMX3 Command input pulse multiplication numerator 3 PC34 CMX4 Command input pulse multiplication numerator 4...
Page 43: I/O Setting Parameters ([Pr. Pd
4. PARAMETERS 4.1.4 I/O setting parameters ([Pr. PD_ _ ]) POINT In the positioning mode, the following parameter cannot be used. [Pr. PD05 Input device selection 1L] [Pr. PD07 Input device selection 1H] [Pr. PD08 Input device selection 2L] [Pr. PD10 Input device selection 2H] [Pr.
Page 44: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PD29 *DO1 Output device selection 1 0002h Section 4.2.3 PD30 *DO2 Output device selection 2 0003h PD31 *DO3 Output device selection 3 0000h PD32 *DO4 Output device selection 4 0004h PD33 For manufacturer setting 0000h PD34...
Page 45: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PE30 For manufacturer setting 0000h PE31 0000h PE32 0000h PE33 0000h PE34 PE35 PE36 PE37 0.00 PE38 0.00 PE39 PE40 0000h PE41 EOP3 Function selection E-3 0000h MR-JE-_C PE42 For manufacturer setting PE43 PE44 LMCP...
Page 46: Positioning Control Parameters ([Pr. Pt
4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PF16 For manufacturer setting 0000h PF17 PF18 0000h PF19 0000h PF20 0000h PF21 Drive recorder switching time setting MR-JE-_C PF22 For manufacturer setting PF23 OSCL1 Vibration tough drive - Oscillation detection level MR-JE-_C PF24 *OSCL2...
Page 47 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PT07 Home position shift distance [μm]/ Section 4.2.4 [inch]/ (STM-4) [pulse] PT08 *ZPS Home position return position data [μm]/ (STM-4) [inch]/ [pulse] PT09 Travel distance after proximity dog [μm]/ [inch]/ (STM-4) [pulse] PT10 Stopper type home position return - Stopper time...
Page 48 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PT52 VLMT Speed limit 500.00 [r/min] Profile PT53 For manufacturer setting 0000h PT54 0000h PT55 0000h PT56 0000h PT57 ZSTH Home position shift distance (extension parameter) [μm]/ Section 4.2.4 (STM-4) [inch]/ [pulse] PT58 *ZPSH...
Page 49: Network Setting Parameters ([Pr. Pn_ _ ])
4. PARAMETERS 4.1.8 Network setting parameters ([Pr. PN_ _ ]) Initial Detailed Symbol Name Unit value explanation PN01 For manufacturer setting PN02 CERT Communication error detection time 1000 [ms] Network PN03 For manufacturer setting 0000h PN04 0000h PN05 0000h PN06 0000h PN07 0000h...
Page 50: Detailed List Of Parameters
4. PARAMETERS 4.2 Detailed list of parameters POINT Set a value to each "x" in the "Setting digit" columns. The columns on the right side of the table indicate the respective status and control modes. General purpose: General-purpose interface ([Pr. PN08] is "_ _ _0") Communication: Communication interface ([Pr.
Page 51 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PA06 Set the number of gear teeth on machine side. To enable the parameter values in the positioning mode, cycle the power after setting. Number of gear teeth on Set the electronic gear within the following range.
Page 52 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PA10 Set an in-position range per command pulse. To change it to the servo motor encoder pulse unit, set [Pr. PC24]. Refer to Function In-position Depending on the positioning mode, the in-position range will be as column range follows:...
Page 53 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PA13 _ _ _ x Command input pulse train form selection *PLSS 0: Forward/reverse rotation pulse train Command 1: Signed pulse train pulse input 2: A-phase/B-phase pulse train (The servo amplifier imports input pulses form after multiplying by four.) When connecting the manual pulse generator MR-HDP01 in the...
Page 54 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] Table 4.1 Command input pulse train form selection Setting For forward rotation For reverse rotation Pulse train form value command command Forward rotation pulse train _ _ 1 0 Reverse rotation pulse train Signed pulse...
Page 55 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PA14 Select command input pulse rotation direction or travel direction selection. *POL Servo motor rotation direction Rotation Position mode Position mode direction Positioning address Positioning address selection Setting increase/ decrease/...
Page 56: Extension Setting Parameters ([Pr. Pc
4. PARAMETERS 4.2.2 Extension setting parameters ([Pr. PC_ _ ]) General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PC01 Set the acceleration time constant during JOG operation. [ms] Setting a value exceeding 20000 ms triggers [AL. F4]. For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) operation to increase speed from 0 r/min to 1000 r/min in 1 s.
Page 57 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PC03 This parameter is used to smooth start/stop of the servo motor. [ms] Set the time of the arc part for S-pattern acceleration/deceleration. S-pattern Setting "0" will make it linear acceleration/deceleration. acceleration/ The parameter is effective only after rebooting the power once the deceleration...
Page 58 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PC29 _ _ _ x For manufacturer setting *COP8 _ _ x _ Function _ x _ _ selection C-8 x _ _ _ Analog input signal selection Select CN3-9 pin of the analog input signal.
Page 59 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PC66 Set the upper limit value of the touch probe detection. 0000h LPSPL Upper and lower are a set. Refer to Function Touch probe When the roll feed display is enabled, set the value with the travel column detection distance from the starting position.
Page 60 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PC75 Set the output level of the following error output. 0000h FEWL Upper and lower are a set. Refer to Function Following As the droop pulses condition exceeds the value of [Pr. PC75, Pr. PC76], column error output when the time set in [Pr.
Page 61: I/O Setting Parameters ([Pr. Pd
4. PARAMETERS 4.2.3 I/O setting parameters ([Pr. PD_ _ ]) General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD03 Select input devices to turn on automatically. *DIA3 When setting the "Command interface selection" of [Pr. PN08] to "_ _ _ 1 (Communication interface)", the setting value of this parameter is invalid.
Page 62 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD03 Convert the setting value into hexadecimal as follows. *DIA3 Input signal automatic on Initial value selection 3 Input device BIN HEX MD0 (Operation mode selection 1) MD1 (Operation mode selection 2) Initial value Input device...
Page 63 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD04 Select input devices to turn on automatically. *DIA4 When setting the "Command interface selection" of [Pr. PN08] to "_ _ _ 1 (Communication interface)", the setting value of this parameter is invalid. Input signal automatic on _ _ _ x...
Page 64 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD04 Convert the setting value into hexadecimal as follows. *DIA4 Input signal automatic on Initial value selection 4 Input device BIN HEX RT (Second acceleration/deceleration selection) RTCDP (Second acceleration/deceleration gain selection) Initial value Input device BIN HEX...
Page 65 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD06 Any input device can be assigned to the CN3-2 pin. *DI1M _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 1M Refer to table 4.2 for setting value.
Page 66 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD15 Optional input device can be assigned to the CN3-8 pin. *DI4M _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 4M Refer to table 4.2 in [Pr.
Page 67 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD29 _ _ x x Device selection *DO1 Optional output device can be assigned to the CN3-14 pin. Output device When "CN3-14 (1 _ _ _)" is selected in "OP output selection" of [Pr. selection 1 PD38], this digit is disabled and OP (Encoder Z-phase pulse (open collector)) is assigned to the CN3-14 pin.
Page 68 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PD31 _ _ x x Device selection *DO3 Optional output device can be assigned to the CN3-16 pin. Output device In the initial setting, since the OP signal is assigned to CN3-16 pin in "OP selection 3 signal assignment selection"...
Page 69: Positioning Control Parameters ([Pr. Pt
4. PARAMETERS 4.2.4 Positioning control parameters ([Pr. PT_ _ ]) General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT01 _ _ _ x Positioning command method selection *CTY 0: Absolute value command method Command 1: Incremental value command method mode _ _ x _ For manufacturer setting selection...
Page 70 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT07 Set the shift distance from Z-phase pulse detection position in the encoder or from the position that has been set in [Pr. PT09]. Refer to A maximum of 2 can be set with [Pr.
Page 71 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT12 Set the range of the command remaining distance outputs for the rough match (S_CPO/CPO). Refer to The unit will be as follows depending on the positioning mode. Function Rough match column...
Page 72 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT17 Set an address decreasing side of the software stroke limit. 0000h LMNL Upper and lower are a set. Refer to Function Software limit Set an address in hexadecimal. column for unit.
Page 73 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT21 Set an address decreasing side of the position range output address. 0000h *LNPL Upper and lower are a set. Refer to Function Position Set a range in which POT (Position range) turns on with [Pr. PT19] to [Pr. column range output PT22].
Page 74 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT29 Set the DOG polarity. *TOP3 _ _ _ x _ _ _ x (BIN): Proximity dog input polarity Function (HEX) Select the proximity dog input polarity. selection T-3 0: Dog detection with off 1: Dog detection with on...
Page 75 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT34 Use this parameter when initializing point tables. 0000h *PDEF When the point table is initialized, all the point table values are "0". Point table default Initialize the point tables with the following procedures: 1) Set "5001h"...
Page 76 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT42 Set a minimum speed for when the digital override function is enabled. *OVM When you use the digital override function, multiplication can be set with [Pr. PT42] and [Pr. PT43]. Set this at the same time with [Pr. PT43]. Digital override Refer to the following table for how to calculate multiplication value.
Page 77 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT45 Set a home position return type. Refer to the following table for details. Home position In the point table method, "Status word bit 13 Homing error" is turned on return types when starting the home position return start by setting values other than the setting values shown in the table for this parameter.
Page 78 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT45 Setting Home position Home position return Setting Home position Home position return Home position value return direction method value return direction method return types Address increasing Method 3 Address decreasing Method 21...
Page 79 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT57 This parameter is the extension parameter of [Pr. PT07]. ZSTH When [Pr. PT57] is used, the home position shift distance is calculated Refer to as follows. Function Home position column...
Page 80 4. PARAMETERS General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PT61 Set the acceleration time constant for the home position return. Set an acceleration time taken from 0 r/min to the rated speed. [ms] When "Using [Pr. PT61] as deceleration time constant. (_ _ _ 0)" is Home position selected of "Home position return - Deceleration time constant selection"...
Page 81: Network Setting Parameters ([Pr. Pn
4. PARAMETERS 4.2.5 Network setting parameters ([Pr. PN_ _ ]) General Initial No./symbol/ Setting Communication purpose Function value name digit [unit] PN08 _ _ _ x Command interface selection *NOP8 Set the command interface of the positioning mode. Function 0: General-purpose interface selection N-8 1: Communication interface _ _ x _ For manufacturer setting...
Page 82: How To Set The Electronic Gear
4. PARAMETERS 4.4 How to set the electronic gear 4.4.1 Electronic gear settings in the point table method Adjust [Pr. PA06] and [Pr. PA07] to match the servo amplifier setting with the travel distance of the machine. Electronic gear ([Pr. PA06] [Pr. PA07]) Servo motor Travel distance Deviation counter...
Page 83: Electronic Gear Setting In The Indexer Method
4. PARAMETERS (2) Setting example of a conveyor r = 160 [mm] Machine specifications Pulley diameter: r = 160 [mm] Servo motor encoder resolution Reduction ratio: 1/n = Z = 1/3 131072 [pulse/rev] : Number of gear teeth on servo motor side 1/n = Z = 1/3 : Number of gear teeth on load side...
Page 84: Stop Method For Lsp (Forward Rotation Stroke End) Off Or Lsn (Reverse Rotation Stroke End) Off
4. PARAMETERS 4.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off Select a servo motor stop method for when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off with the first digit of [Pr. PD35]. [Pr.
Page 85: Stop Method At Software Limit Detection
4. PARAMETERS 4.6 Stop method at software limit detection Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with the setting of the third digit in [Pr. PD35]. The software limit limits a command position controlled in the servo amplifier.
Page 86: Effective Acceleration/Deceleration Time Constants For The Indexer Method
4. PARAMETERS 4.7 Effective acceleration/deceleration time constants for the indexer method The effective parameters and objects/registers for the acceleration/deceleration time constants in the indexer method, are the combination of parameters, objects/registers, and input signal that are determined on the following table: (1) Indexer mode Condition Effective parameter/object...
Page 87: Restrictions On Using Communication Interface
4. PARAMETERS (3) JOG Operation Mode Condition Effective parameter/object C_RT/ [Pr. PN08] RT/RTCDP Acceleration time constant Deceleration time constant C_RTCDP [Pr. PC01] (6083h) [Pr. PC02] (6084h) _ _ _ 0 [Pr. PC30] [Pr. PC31] [Pr. PC01] (6083h) [Pr. PC02] (6084h) _ _ _ 1 [Pr.
Page 88: Cia 402 Drive Profile
5. CiA 402 DRIVE PROFILE 5. CiA 402 DRIVE PROFILE POINT The following are shown in the "Access" in this instruction manual. "ro": Only reading is available. "wo": Only writing is available. "rw": Reading and writing are available. This chapter describes how to drive a servo motor in the communication. For MR-JE-_C servo amplifier, objects/registers are assigned according to Index of the CiA 402 drive profile.
Page 89 5. CiA 402 DRIVE PROFILE Table 5.1 State transition Transition Event Remark The power is turned on. Initialization The state automatically transitions when the power is turned on. Communication setting The state transitions with the Shutdown command from the master. The state transitions with the Switch on command from the master.
Page 90: Related Objects/Registers
5. CiA 402 DRIVE PROFILE 5.1.2 Related objects/registers Index Sub Index Access Name Data type Default 6040h Controlword 0000h 6041h Statusword (1) Controlword (6040h) This object/register issues a command from the master station (controller) to the slave stations (servo amplifiers). Index Sub Index Access...
Page 91 5. CiA 402 DRIVE PROFILE (2) Statusword (6041h) Index Sub Index Access Name Data type Default 6041h Statusword The current control status can be checked. The following table lists the bits of this object/register. The status can be checked with bit 0 to bit 7. Symbol Description RTSO...
Page 92: Directions For Use
5. CiA 402 DRIVE PROFILE Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-JE- _C_ servo amplifier). Refer to the following table for details. Statusword (bin) State machine x0xx xxx0 x0xx 0000 Not ready to switch on (Note) x0xx xxx0 x1xx 0000...
Page 93: Related Objects/Registers
5. CiA 402 DRIVE PROFILE 5.2.2 Related objects/registers Index Sub Index Access Name Data type Default 6060h Modes of operation 6061h Modes of operation Display 6502h Supported Drive Modes (Note) Note. For the Default value, refer to the "MR-JE-_C Servo Amplifier Instruction Manual (Network)". 5 - 6...
Page 94: Homing Mode
6. HOMING MODE 6. HOMING MODE This section describes how to perform a home position return operation in the communication. 6.1 Function description For specified home position return operation, set Homing method (6098h), Homing speed (6099h), and Homing acceleration (609Ah), and then start the operation with Controlword (6040h). The completion of the home position return operation can be checked with Statusword (6041h).
Page 95 6. HOMING MODE (2) Temporary stop/restart When Halt is switched on during home position return, the servo motor decelerates with being executed the home position return deceleration time constant ([Pr. PT61 Home position return acceleration time constant] or [Pr. PT62 Home position return deceleration time constant]), and then stops temporarily. Turning off Halt again resets the temporary stop without restarting the operation.
Page 96: Related Object/Register
6. HOMING MODE 6.2 Related object/register Index Sub Index Access Name Data Type Default Description The home position saved in EEP-ROM is stored at power- on. If a home position return is executed in the homing 607Ch Home offset mode (hm), the home position will be updated.
Page 97 6. HOMING MODE (1) Controlword (6040h) Index Sub Index Access Name Data Type Default 6040h Controlword 0000h The current control command status can be checked. In addition, control commands can be written. The following table lists the bits of this object/register that relate to the home position return operation. Description 0 to 3 Refer to section 5.1.2.
Page 98 6. HOMING MODE The setting values that can be selected are as follows. Setting value Home position return types Rotation direction Description Starting home position return causes "Homing error". Home No homing method assigned position return cannot be executed. Same as the dog type last Z-phase reference home position return.
Page 99 6. HOMING MODE Setting value Home position return types Rotation direction Description Homing without index pulse Reverse rotation Same as the dog type front end reference home position return. Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase.
Page 100 6. HOMING MODE Setting value Home position return types Rotation direction Description Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z- phase signal, or the position of the first Z-phase signal shifted Forward rotation by the specified home position shift distance is used as the Dog type...
Page 101 6. HOMING MODE (3) Homing speed (6099h) Index Sub Index Access Name Data Type Default Number of entries 6099h Homing speed Speed during search for switch 10000 Speed during search for zero 1000 The current home position return speed can be read. At this time, "02h" is returned to Number of entries. The current home position return speed is returned to Speed during search for switch in a unit of r/min.
Page 102 6. HOMING MODE The current control status can be checked. The following table lists the bits of this object/register that relate to the home position return operation. Description 0 to 9 Refer to section 5.1.2. Target reached Refer to (a) and the following table for the definition. Refer to section 5.1.2.
Page 103: Directions For Use
6. HOMING MODE 6.3 Directions for use POINT To execute a home position return securely, move the servo motor to the opposite stroke end with jog operation (jg) from the master station (controller) or by using other means before starting a home position return. (1) Home position return method [Precondition setting] Set an IP address that can communicate with the master...
Page 104: Cia 402-Type Homing Method
6. HOMING MODE 6.4 CiA 402-type Homing method 6.4.1 Home position return type in CiA 402 type The following shows the CiA 402-type home position return. (1) Method 3 and 4: Homing on positive home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z- phase right before and right after the dog as a home position.
Page 105 6. HOMING MODE (3) Method 7, 8, 11, 12: Homing on home switch and index pulse These types include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the operation of the dog type last Z-phase reference home position return.
Page 106 6. HOMING MODE (5) Method 33 and 34: Homing on index pulse These home position return types set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z-phase reference home position return except that the creep speed is applied at the start.
Page 107: Operation Example Of The Cia 402-Type Homing Method
6. HOMING MODE 6.4.2 Operation example of the CiA 402-type Homing method The following shows an operation example of the home position return in the CiA 402-type Homing method. (1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3.
Page 108 6. HOMING MODE (2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that of Homing method 4.
Page 109 6. HOMING MODE (3) Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12...
Page 110 6. HOMING MODE (4) Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The operation direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12...
Page 111 6. HOMING MODE (5) Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 112 6. HOMING MODE (6) Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The operation direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 113 6. HOMING MODE (7) Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 114 6. HOMING MODE (8) Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The operation direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 115 6. HOMING MODE (9) Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to that of Homing method 34. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 116: Operation Example Of Manufacturer-Specific Homing Method
6. HOMING MODE 6.4.3 Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific home position return. (1) Method -1 and -33 (a) Dog type home position return The following figure shows the operation of Homing method -1. The operation direction of Homing method -33 is opposite to that of Homing method -1.
Page 117 6. HOMING MODE 1) Length of the proximity dog To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the length of the proximity dog that satisfies equations (6.1) and (6.2). ≥ • ..........................
Page 118 6. HOMING MODE (b) Torque limit changing dog type home position return The following figure shows the operation of Homing method -1 in the indexer method. The operation direction of Homing method -33 is opposite to that of Homing method -1. Power supply Statusword bit 10 Target reached...
Page 119 6. HOMING MODE (2) Method -2 and -34 (Count type home position return) POINT For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog.
Page 120 6. HOMING MODE Home position return direction Proximity dog Stroke end (Note) Forward Home position return start position rotation Servo motor speed 0 r/min Reverse rotation The home position return starts from here. Note. This is not available with the software limit. When the servo motor returns at the stroke end (3) Method -3 (a) Data set type home position return...
Page 121 6. HOMING MODE (4) Method -4 and -36 (stopper type home position return) POINT Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough. The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to that of Homing method -4.
Page 122 6. HOMING MODE (5) Method -6 and -38 (dog type rear end reference home position return) POINT This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ±...
Page 123 6. HOMING MODE Home position return direction Proximity dog Stroke end (Note) Forward Home position return start position rotation Servo motor speed 0 r/min Reverse rotation The home position return starts from here. Note. This is not available with the software limit. When the servo motor returns at the stroke end 6 - 30...
Page 124 6. HOMING MODE (6) Method -7 and -39 (count type front end reference home position return) POINT This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ±...
Page 125 6. HOMING MODE (7) Method -8 and -40 (dog cradle type home position return) The following figure shows the operation of Homing method -8. The operation direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 126 6. HOMING MODE (8) Method -9 and -41 (dog type last Z-phase reference home position return) The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12...
Page 127 6. HOMING MODE (9) Method -10 and -42 (dog type front end reference home position return) The following figure shows the operation of Homing method -10. The operation direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12...
Page 128 6. HOMING MODE (10) Method -11 and -43 (dogless Z-phase reference home position return) The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to that of Homing method -11. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 129 6. HOMING MODE MEMO 6 - 36...
Page 130: How To Use The Point Table
7. HOW TO USE THE POINT TABLE 7. HOW TO USE THE POINT TABLE The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual". For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".
Page 131: Test Operation
7. HOW TO USE THE POINT TABLE 7.1.1 Test operation Before starting an actual operation, perform a test operation to make sure that the machine operates normally. Refer to section 3.1 for how to power on and off the servo amplifier. In this step, confirm that the servo amplifier and the servo motor operate Test operation of the servo motor alone in JOG operation of test...
Page 132: Point Table Setting
7. HOW TO USE THE POINT TABLE 7.1.2 Point table setting Set the data for the operation in the point table. The following shows the items to be set. Item Main description Position data Set the position data for movement. Servo motor Set the command speed of the servo motor for execution of positioning.
Page 133: Actual Operation
7. HOW TO USE THE POINT TABLE (2) Starting the servo motor Click "Operation Start" (b) to rotate the servo motor. (3) Pausing the servo motor Click "Pause" (c) to temporarily stop the servo motor. Click "Operation Start" (b) during a temporary stop to restart the rotation of the remaining travel distance. In addition, click "Stop"...
Page 134 7. HOW TO USE THE POINT TABLE Start-up sequence Fault Investigation Possible cause Reference Issue Enable Alarm occurs. (Note) Operation Servo motor shaft is not When on CC-Link IE Field When on CC-Link IE Field Network command servo-locked. Network Basic, check the status Basic, RX (n + 3) F is not turned of RX (n + 3) F (Cyclic (Servo motor shaft is...
Page 135: Function Explanation
7. HOW TO USE THE POINT TABLE 7.2 Function explanation 7.2.1 Point table mode (pt) Select the point table that has been set in advance on "Target point table" to start operation with "Controlword bit 4 (New set-point)". [Pr. PT01] and the auxiliary function of the point tables enable selection of the absolute value command method or incremental value command method.
Page 136: Automatic Operation Using The Point Table
7. HOW TO USE THE POINT TABLE 7.2.2 Automatic operation using the point table (1) Absolute value command method This function is enabled by selecting either absolute position command method or incremental value command method with the auxiliary function of the point table. (a) Point table Set the point table values using MR Configurator2 or "Point table 001 to 255".
Page 137 7. HOW TO USE THE POINT TABLE (b) Parameter setting Set the following parameters to perform automatic operation. 1) Command method selection ([Pr. PT01]) Select the absolute value command method as shown below. [Pr. PT01] Absolute value command method 2) Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when "Controlword bit 4 (New set-point)"...
Page 138 7. HOW TO USE THE POINT TABLE (c) Operation Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set- point)" start positioning to the position data at the set speed and the acceleration/deceleration time constant.
Page 139 7. HOW TO USE THE POINT TABLE (b) Parameter setting Set the following parameters to perform automatic operation. 1) Command method selection ([Pr. PT01]) Select the incremental value command method as shown below. [Pr. PT01] Incremental value command method 2) Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when "Controlword bit 4 (New set-point)"...
Page 140: Related Object/Register
7. HOW TO USE THE POINT TABLE (c) Operation Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set- point)" start positioning to the position data at the set speed and the acceleration/deceleration time constant.
Page 141 7. HOW TO USE THE POINT TABLE (1) List of the related object/register Data Index Name Access Default Description Type 605Ah Quick stop option code Operation setting for Quick stop Position actual 6063h Current position (Enc inc) internal value 6064h Position actual value Current position (Pos units) When the time set in Following error time out...
Page 142 7. HOW TO USE THE POINT TABLE Data Index Name Access Default Description Type Number of entries Point table 001 to 255 Point table Position data Point data Unit: pos units Speed Speed Unit: 0.01 r/min 2801h Acceleration time constant Acceleration Unit: ms 28FFh...
Page 143 7. HOW TO USE THE POINT TABLE (3) Details of the OMS Bit of Statusword (pt mode) Symbol Description 0: Halt (Bit8) = 0: Target position not reached. 0: Halt (Bit8) = 1: Axis decelerates. 1: Halt (Bit8) = 0: Target position reached. 1: Halt (Bit8) = 1: Velocity of axis is 0.
Page 144: Usage
7. HOW TO USE THE POINT TABLE 7.4 Usage (1) pt mode operation sequence (a) Automatic individual positioning operation 1) Absolute value command method ([Pr. PT01] = _ _ _ 0) While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New set- point)"...
Page 145 7. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) While the servo motor is stopped under servo-on state, selecting a rotation direction with "Controlword bit 5 (Direction)" and switching on "Controlword bit 4 (New set-point)" starts the automatic positioning operation.
Page 146 7. HOW TO USE THE POINT TABLE (b) Automatic continuous positioning operation By merely selecting a point table and switching on "Controlword bit 4 (New set-point)", the operation can be performed in accordance with the point tables having consecutive numbers. 1) Absolute value command method ([Pr.
Page 147 7. HOW TO USE THE POINT TABLE b) Positioning in the reverse direction midway The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and No. 3 are set to the absolute value command method, and point table No.
Page 148 7. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) The position data of the incremental value command method is the sum of the position data of consecutive point tables. The following shows how to set. Point table setting Dwell Auxiliary function...
Page 149 7. HOW TO USE THE POINT TABLE (c) Varying-speed operation By setting the auxiliary function of the point table, the servo motor speed during positioning can be changed. Point tables are used by the number of the set speed. 1) Absolute value command method ([Pr. PT01] = _ _ _ 0) Set "1"...
Page 150 7. HOW TO USE THE POINT TABLE a) Positioning in a single direction The following shows an operation example with the set values listed in the table below. In this example, the point tables No. 1 and No. 3 are set for the absolute value command method, and the point tables No.
Page 151 7. HOW TO USE THE POINT TABLE b) Positioning in the reverse direction midway The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and No. 3 are set to the absolute value command method, and point table No.
Page 152 7. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "1" to the auxiliary function executes positioning at the speed set in the subsequent point table. At this time, the position data selected at start is enabled, and the acceleration/deceleration time constant set in the next and subsequent point tables is disabled.
Page 153 7. HOW TO USE THE POINT TABLE (d) Automatic repeat positioning operation By setting the auxiliary function of the point table, the operation pattern of the set point table No. can be returned to, and the positioning operation can be performed repeatedly. 1) Absolute value command method ([Pr.
Page 154 7. HOW TO USE THE POINT TABLE Example 2. Operations when "9" is set in the auxiliary function of point table No. 3 Acceleration Deceleration Position data Servo motor Auxiliary Point table No. time constant time constant Dwell [ms] M code μm] speed [r/min] function...
Page 155 7. HOW TO USE THE POINT TABLE b) Automatic repeat positioning operation by incremental value command method Example 1. Operations when "10" is set in the auxiliary function of point table No. 4 Acceleration Deceleration Position data Servo motor Auxiliary Point table No.
Page 156 7. HOW TO USE THE POINT TABLE Example 2. Operations when "11" is set in the auxiliary function of point table No. 3 Acceleration Deceleration Position data Servo motor Auxiliary Point table No. time constant time constant Dwell [ms] M code μm] speed [r/min] function...
Page 157 7. HOW TO USE THE POINT TABLE c) Varying-speed operation by absolute value command method Example. Operations when "8" is set to the auxiliary function of point table No. 3 Acceleration Deceleration Position data Servo motor Auxiliary Point table No. time constant time constant Dwell [ms]...
Page 158 7. HOW TO USE THE POINT TABLE d) Varying-speed operation by incremental value command method Example. Operations when "10" is set in the auxiliary function of point table No. 3 Acceleration Deceleration Position data Servo motor Auxiliary Point table No. time constant time constant Dwell [ms]...
Page 159 7. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "8" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of the set point table.
Page 160 7. HOW TO USE THE POINT TABLE Example 2. Operations when "9" is set in the auxiliary function of point table No. 2 Acceleration Deceleration Position data Servo motor Auxiliary Point table No. time constant time constant Dwell [ms] M code μm] speed [r/min] function...
Page 161 7. HOW TO USE THE POINT TABLE b) Varying-speed operation by incremental value command method Example. Operations when "8" is set in the auxiliary function of point table No. 2 Acceleration Deceleration Position data Servo motor Auxiliary Point table No. time constant time constant Dwell [ms]...
Page 162 7. HOW TO USE THE POINT TABLE (e) Temporary stop/restart When "Controlword bit 8 (HALT)" is switched on during automatic operation, the servo motor decelerates with the deceleration time constant of the point table being executed, and then stops temporarily. When "Controlword bit 8 (HALT)" is switched off during a temporary stop, the servo motor starts to travel the remaining travel distance.
Page 163 7. HOW TO USE THE POINT TABLE 2) During dwell Point table No. n Point table No. n + 1 Dwell = ta + tb Forward rotation Servo motor speed 0 r/min Reverse rotation Target point table No. n Controlword bit 4 (New set-point) Controlword bit 8 (Halt) Status DO 5 bit 5...
Page 164: Roll Feed Mode Using The Roll Feed Display Function
7. HOW TO USE THE POINT TABLE 7.5 Roll feed mode using the roll feed display function The roll feed display function is a function to change the display method of the current position and the command position in the status monitor. The roll feed display function enables the servo amplifier to be used in the roll feed mode.
Page 165: Analog Override
7. HOW TO USE THE POINT TABLE 7.6 Analog override POINT When using the analog override in the point table method, enable bit 7 (C_OVR) of Control DI7 (2D07h). The following shows the functions in which the analog override cannot be used. Manual pulse generator operation in the Jog mode Homing mode (hm) Test operation mode using MR Configurator2 (positioning operation/JOG...
Page 166: Point Table Setting Method
7. HOW TO USE THE POINT TABLE 7.7 Point table setting method The following shows the setting method of point tables using MR Configurator2. 7.7.1 Setting procedure Click "Positioning-data" in the menu bar, and click "Point Table" in the menu. The following window will be displayed.
Page 167 7. HOW TO USE THE POINT TABLE (4) Initial setting of point table data (d) Click "Set to default" to initialize all the data of point table No. 1 to 255. This function also initializes data currently being edited. (5) Verifying point table data (e) Click "Verify"...
Page 168: Detailed Setting Window
7. HOW TO USE THE POINT TABLE 7.7.2 Detailed setting window The position data range and unit can be changed with the detailed setting in the point table window. For the position data range and unit in [Pr. PT01] setting, refer to section 7.2.2. To reflect the setting for the corresponding parameter, click "Update Project"...
Page 169 7. HOW TO USE THE POINT TABLE MEMO 7 - 40...
Page 170: How To Use Indexer
8. HOW TO USE INDEXER 8. HOW TO USE INDEXER The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual". For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".
Page 171: Startup
8. HOW TO USE INDEXER 8.1 Startup 8.1.1 Test operation Before starting an actual operation, perform a test operation to make sure that the machine operates normally. Refer to section 3.1 for how to power on and off the servo amplifier. In this step, confirm that the servo amplifier and the servo motor operate Test operation of the servo motor alone in JOG operation of test...
Page 172: Actual Operation
8. HOW TO USE INDEXER 8.1.2 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 8.1.3 Troubleshooting at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable.
Page 173: Function Explanation
8. HOW TO USE INDEXER Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault MR-JE-_C fluctuations) are large following procedure. Chapter 6 at low speed. 1. Increase the auto tuning response level.
Page 174: Rotation Direction Specifying Indexer
8. HOW TO USE INDEXER (2) Rotation direction There are two operation methods: Rotation direction specifying indexer, which always rotates in a fixed direction and executes positioning to a station; Shortest rotating indexer, which automatically changes a rotation direction to the shortest distance and executes positioning to a station. Rotation direction specifying indexer Shortest rotating indexer 8.2.2 Rotation direction specifying indexer...
Page 175 8. HOW TO USE INDEXER (2) Other parameter settings (a) Setting assignment direction of station No. Select an assignment direction of station No. with [Pr. PA14]. [Pr. PA14] setting Assignment direction of station No. Next station No. will be assigned in CW direction in order of 1, 2, 3…...
Page 176 8. HOW TO USE INDEXER 8.2.3 Shortest rotating indexer This operation mode automatically changes a rotation direction to the shortest distance to execute positioning to a station. Select a station No. with "Target point table" to execute positioning. The values set in the object/register are used for the servo motor speed, acceleration time constant, and deceleration time constant during operation.
Page 177: Related Object/Register
8. HOW TO USE INDEXER 8.3 Related object/register The following shows the functions and related objects/registers of the indexer mode (idx). Torque limit value2 (2D6Bh) Torque limit Torque limit value (60E0h, 60E1h) × function Control Profile acceleration (6083h) effort (60FAh) Torque Position Velocity...
Page 178 8. HOW TO USE INDEXER Data Index Name Access Default Description Type Maximum speed 607Fh Max profile velocity 2000000 Unit: Vel unit (0.01 r/min) Servo motor maximum speed 6080h Max motor speed Unit: r/min Speed after acceleration completed 6081h Profile velocity 10000 Unit: Vel unit (0.01 r/min) Acceleration at start of movement to target...
Page 179 8. HOW TO USE INDEXER Data Index Name Access Default Description Type Target speed No. Specify the point table number where the command speed, acceleration time constant, and deceleration time constant of the next 2DD1h Target speed No. station are executed. When Profile velocity (6081h), Profile acceleration (6083h), and Profile deceleration (6084h) are all set to something other than 0,...
Page 180: Usage
8. HOW TO USE INDEXER 8.4 Usage (1) idx mode operation sequence (a) Rotation direction specifying indexer POINT Be sure to perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and "Controlword bit 4 (New set-point)"...
Page 181 8. HOW TO USE INDEXER Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does not operate. 2. "Controlword bit 4 (New set-point)" is not received when the remaining command travel distance is other than "0". 3.
Page 182 8. HOW TO USE INDEXER 2) When using Target speed No. (2DD1h) For the servo motor speed, acceleration time constant and deceleration time constant during operation, the values set in the point table are used. Set the point table No. to be used in Target speed No.
Page 183 8. HOW TO USE INDEXER Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does not operate. 2. "Controlword bit 4 (New set-point)" is not received when the remaining command travel distance is other than "0". 3.
Page 184 8. HOW TO USE INDEXER (b) Shortest rotating indexer POINT Be sure to perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and "Controlword bit 4 (New set-point)" will be disabled. When travel distances to a target station position from CCW and from CW are the same, the shaft will rotate to the increasing direction of the station No.
Page 185 8. HOW TO USE INDEXER Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does not operate. 2. "Controlword bit 4 (New set-point)" is not received when the remaining command travel distance is other than "0". 3.
Page 186 8. HOW TO USE INDEXER 2) When using Target speed No. (2DD1h) For the servo motor speed, acceleration time constant and deceleration time constant during operation, the values set in the point table are used. Set the point table No. to be used in Target speed No.
Page 187 8. HOW TO USE INDEXER Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does not operate. 2. "Controlword bit 4 (New set-point)" is not received when the remaining command travel distance is other than "0". 3.
Page 188: Backlash Compensation And Digital Override
8. HOW TO USE INDEXER 8.5 Backlash compensation and digital override 8.5.1 Backlash compensation When executing a positioning reversely to the direction to the home position return, set [Pr. PT14 Backlash compensation] to stop the shaft at the compensated position for the setting value. When the travel distance between stations is set to 1000 and the backlash compensation is set to 10 in the absolute position detection system, the timing chart is as follows.
Page 189: Digital Override
8. HOW TO USE INDEXER 8.5.2 Digital override Setting [Pr. PT38] to "_ _ 1 _" enables the digital override function. The actual servo motor speed is obtained by multiplying the command speed by the digital override value selected by bits 3 to 6 (C_OV0 to C_OV3) of Control DI8 (2D08h). This is enabled with all the operation modes.
Page 190: Jog Mode (Jg)
8. HOW TO USE INDEXER POINT Speed changes with the digital override function are enabled with the following conditions. Indexer mode (idx) Jog mode (jg) During home position return (2) When [Pr. PT42] is set to 50 and [Pr. PT43] is set to 5 in the station JOG operation, the chart is as follows.
Page 191: Safety Precautions
8. HOW TO USE INDEXER 8.6 Safety precautions (1) I/O signal (a) When a home position return is not executed in the absolute position detection system and incremental system Point actual value (2D69h) is "0". (b) When one or more home position returns is completed 1) At power-on and forced stop, the corresponding station number can be read with Point actual value (2D69h) if it is within the in-position range of each next station position.
Page 192 9. HOW TO USE JOG MODE 9. HOW TO USE JOG MODE 9.1 Jog mode (jg) 9.1.1 Function description For the machine adjustment, home position adjustment, and others, positioning to any point is possible with the Jog mode (jg). JOG operation is available in the point table method, and station JOG operation and JOG operation are available in the indexer method.
Page 193 9. HOW TO USE JOG MODE (2) Station JOG operation in the indexer method (a) Setting Set objects/registers and parameters as shown below according to the purpose of use. In this case, "Target point table" is disabled. Item Object/register/parameter to be used Setting Selecting Jog mode (jg) Modes of operation...
Page 194 9. HOW TO USE JOG MODE (c) Operation Turning on "Controlword bit 4 (Rotation start)" starts rotation to a direction specified with "Controlword bit 5 (Direction)", and turning off "Controlword bit 4 (Rotation start)" executes a positioning to the closest station position which is possible to decelerate to a stop. Note that the speed may not reach the specified speed because the shaft stops with the set time constant, depending on the setting value of deceleration time constant.
Page 195: Related Object/Register
9. HOW TO USE JOG MODE 9.1.2 Related object/register The following shows the function and related objects/registers of the Jog mode (jg). Torque limit value2 (2D6Bh) Torque limit Torque limit value (60E0h, 60E1h) × function Software position limit (607Dh) × Control Profile acceleration (6083h) effort...
Page 196 9. HOW TO USE JOG MODE Data Index Name Access Default Description Type Polarity selection Bit 7: Position POL 607Eh Polarity Bit 6: Velocity POL Bit 5: Torque POL Maximum velocity 607Fh Max profile velocity 2000000 Unit: Vel unit (0.01 r/min) Servo motor maximum speed 6080h Max motor speed...
Page 197 9. HOW TO USE JOG MODE (2) Details of the OMS bit of Controlword (jg mode) Symbol Description 0: Stop the servo motor Rotation start 1: Start the servo motor 0: Forward rotation (address increase) Direction 1: Reverse rotation (address decrease) (reserved) The value at reading is undefined.
Page 198: Usage
9. HOW TO USE JOG MODE 9.1.3 Usage (1) jg mode operation sequence in the point table method (a) When operating at a constant speed Decelerates with Profile acceleration Forward rotation Servo motor speed 0 r/min Reverse rotation Accelerates with Profile acceleration Controlword bit 4 (Rotation start) Controlword bit 5...
Page 199 9. HOW TO USE JOG MODE (2) jg mode operation sequence in the indexer method (a) Station JOG operation The following timing chart shows that a station JOG operation is performed at a stop of the station No. 0 when servo-on. (Note 1) Controlword bit 4 (Rotation start)
Page 200 9. HOW TO USE JOG MODE (b) JOG operation The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when servo-on. Controlword bit 4 (Rotation start) Controlword bit 5 (Direction) Profile velocity 100.00 r/min 150.00 r/min Forward...
Page 201: Manual Pulse Generator Operation
9. HOW TO USE JOG MODE 9.2 Manual pulse generator operation (1) Setting POINT To enhance noise tolerance, set [Pr. PA13] to "_ 2 _ _" when the command pulse frequency is 500 kpulses/s or less, or set [Pr. PA13] to "_3_ _" when the command pulse frequency is 200 kpulses/s or less.
Page 202 9. HOW TO USE JOG MODE (3) Manual pulse generator multiplication (a) Setting with object/register Set bit 4 (C_TP0) of Control DI7 (2D07h) and bit 5 (C_TP1) of Control DI7. C_TP1 (Manual pulse C_TP0 (Manual pulse Travel distance Servo motor rotation multiplication generator generator to manual pulse generator rotation...
Page 203 9. HOW TO USE JOG MODE MEMO 9 - 12...
Page 204 10. OPTIONS AND PERIPHERAL EQUIPMENT 10. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric WARNING shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 205: Mr-Hdp01 Manual Pulse Generator
10. OPTIONS AND PERIPHERAL EQUIPMENT 10.1 MR-HDP01 manual pulse generator POINT When using an MR-HDP01, set [Pr. PA13 Command pulse input form] to "_ 2 _ 2" or "_ 3 _ 2". Configure MR-HDP01 with sink interface. You can operate servo motors by using MR-HDP01 manual pulse generator. A multiplication to pulse signals which MR-HDP01 generates with external input signals can be changed with combinations of TP0 (Manual pulse generator multiplication 1) and TP1 (Manual pulse generator multiplication 2), or bit 4 (C_TP0) of Control DI7 (2D07h) and bit 5 (C_TP1) of Control DI7.
Page 206 10. OPTIONS AND PERIPHERAL EQUIPMENT (b) When using with a general-purpose interface Servo amplifier (Note 2) Manual pulse generator multiplication 1 Manual pulse generator multiplication 2 (Note 2) DICOM 24 V DC 24 V DC 5 V DC +5 to DOCOM MR-HDP01 (Note 1)
Page 207 10. OPTIONS AND PERIPHERAL EQUIPMENT (5) Dimensions [Unit: mm] Packing t2.0 3-M4 stud L10 P.C.D72 Equal intervals Invalid to use except M3 × 6 0.27 ± 0.5 8.89 10 - 4...
Page 208: Touch Probe Function
11. APPLICATION OF FUNCTIONS 11. APPLICATION OF FUNCTIONS This chapter explains about application of using positioning function of servo amplifier. 11.1 Touch probe function 11.1.1 Current position latch function POINT The current position latch function can be used with the point table method. However, the current position latch function is disabled in the following condition: Home position return Manual operation (excluding home position return)
Page 209 11. APPLICATION OF FUNCTIONS 2) Return The latch data in the command unit is returned. Data 32-bit length (2) Parameter Set the parameters as follows. Item Parameter to be used Setting Set the touch probe detection function selection as follows. Touch probe detection function [Pr.
Page 210 11. APPLICATION OF FUNCTIONS 1) When the roll feed display is disabled ([Pr. PT26]: _ _ 0 _) Set the valid range with the distance from the home position. When the starting position is at 100000, [Pr. PC66] and [Pr. PC67] are set to 500000, and [Pr. PC68] and [Pr.
Page 211: Interrupt Positioning Function
11. APPLICATION OF FUNCTIONS When TPR1 (Touch probe 1) is turned on again with the previous falling out of the valid range, TPR1H (Touch probe 1 rising latch completed) does not change, but the position data is updated. Refer to the following timing chart.
Page 212 11. APPLICATION OF FUNCTIONS (1) Parameters Set the parameters as follows. Item Parameter to be used Setting Select a control mode. Control mode selection [Pr. PA01] _ _ _ 6: Positioning mode (point table method) Set the touch probe 1 function selection as follows. 1 _ _ _: Interrupt positioning function Touch probe 1 function selection [Pr.
Page 213 11. APPLICATION OF FUNCTIONS (4) Timing chart Deceleration time constant (Note) Interrupt positioning travel distance Servo motor Forward rotation speed 0 r/min Reverse rotation 0.888 ms TPR1 (Touch probe 1) Controlword bit 4 (New set-point) Note. This is the deceleration time constant of point table at the time of start. The movement examples other than above are as follows.
Page 214 11. APPLICATION OF FUNCTIONS (c) If the interrupt travel distance is long during deceleration, the servo motor stops with the deceleration time constant after rotating with the command speed at which TPR1 (Touch probe 1) turned on. Speed when TPR1 is on Deceleration time constant (Note) Servo motor...
Page 215 11. APPLICATION OF FUNCTIONS MEMO 11 - 8...
Page 216: Restrictions
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE This chapter shows the items which are required when the positioning mode is used with a general-purpose interface. For the items which are not described in this chapter, refer to chapter 1 to 11. 12.1 Restrictions Depending on the input devices to be assigned, available point tables are restricted in numbers.
Page 217 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (1) Point table method POINT Assign the following input devices to CN3-6 and CN3-19 pins with [Pr. PD24 Input device selection 7M] and [Pr. PD27 Input device selection 8M]. CN3-6: DI1 (Point table No. selection 2) CN3-19: DOG (Proximity dog) Assign the following output devices to CN3-16 and CN3-22 pins with [Pr.
Page 218 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Note 1. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 219 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Indexer method POINT Assign the following input devices to CN3-6 and CN3-19 pins with [Pr. PD24 Input device selection 7M] and [Pr. PD27 Input device selection 8M]. CN3-6: DI1 (Next station No. selection 2) CN3-19: SIG (External limit/Rotation direction decision/Automatic speed selection) Assign the following output devices to CN3-16 and CN3-22 pins with [Pr.
Page 220 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Note 1. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 221: Connectors And Pin Assignment
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.2.2 Connectors and pin assignment The device assignment of the CN3 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters.
Page 222 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Note 1. I: input signal, O: output signal 2. CP: Positioning mode (point table method) PS: Positioning mode (indexer method) 3. CN3-6 pin can be used as an input device of sink interface. Input devices are not assigned by default.
Page 223: Signal (Device) Explanations
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.2.3 Signal (device) explanations The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of "MR-JE-_C Servo Amplifier Instruction Manual".
Page 224 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Control Connector mode Device Symbol Function and application pin No. division Forward rotation To start the operation, turn on LSP and LSN. Turn it off to bring the servo DI-1 stroke end motor to a sudden stop and make it servo-locked. Setting [Pr.
Page 225 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Control Connector mode Device Symbol Function and application pin No. division Operation mode CN3-21 Point table method DI-1 selection 1 When the MD0 is turn on, the automatic operation mode is set. When the CN3-4 MD0 is turn off, the manual operation mode is set.
Page 226 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Control Connector mode Device Symbol Function and application pin No. division Reverse rotation CN3-4 Point table method DI-1 start Use this device with the incremental value command method. When ST2 is turned on during automatic operation, positioning is executed once in the reverse rotation in accordance with the position data set in the point tables.
Page 227 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Control Connector mode Device Symbol Function and application pin No. division Manual pulse Select a multiplication of the manual pulse generator. DI-1 generator When a multiplication is not selected, the value set in [Pr. PT03] is enabled. multiplication 1 Manual pulse Device (Note)
Page 228 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Control Connector mode Device Symbol Function and application pin No. division Next station No. CN3-8 Indexer method DI-1 selection 1 Select next station Nos. with DI0 to DI7. A setting value at ST1 on will be enabled. Next station No.
Page 229 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Control Connector mode Device Symbol Function and application pin No. division Digital override To enable the digital override function, set [Pr. PT38] to "_ _ 1 _". DI-1 selection 1 This signal is for multiplying a command speed by the digital override (multiplying factor).
Page 230: Power-On Sequence
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (b) Output device Refer to section 2.3 (1) (b). (2) Input signal Refer to section 2.3 (2). (3) Output signal Refer to section 2.3 (3). 12.2.4 Power-on sequence POINT The output signal, etc. may be unstable at power-on. (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 of "MR-JE-_C Servo Amplifier Instruction Manual"...
Page 231: Startup
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.3 Startup Confirm that the servo motor operates properly alone before connecting the servo motor with a machine. For details of the startup in each control mode, refer to section 12.5.1 and 12.6.1. (1) Power on When the power is switched on, "C01"...
Page 232 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (c) Assigning recommended I/O devices Assign recommended I/O devices to the pins of CN3 in accordance with each section of point table method and indexer method. (d) Other parameter settings Set the parameters according to the structure and specifications of the machine. Refer to chapter 4 for details.
Page 233 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4 Homing mode 12.4.1 Outline of homing A homing is performed to match the command coordinates with the machine coordinates. Under the incremental method, each power-on of the input power supply requires the home position return. Contrastingly, in the absolute position detection system, once you have performed the home position return at machine installation, the current position will be retained even if the power supply is shut off.
Page 234 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Setting value Home position return types Rotation direction Description A position, which is specified by the first Z-phase signal after the Forward rotation front end of the proximity dog is detected, is set as the home Dog cradle type position.
Page 235 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Setting value Home position return types Rotation direction Description Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel Homing without index pulse Reverse rotation distance after proximity dog and the home position shift...
Page 236 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Setting Home position return direction Home position return method value Method 3 Address increasing direction Method 4 Method 5 Address decreasing direction Method 6 Method 7 Address increasing direction Method 8 Method 11 Address decreasing direction Method 12 Method 19...
Page 237 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (3) Temporary stop/restart POINT TSTP (Temporary stop/restart) can be used only in the point table method. When TSTP (Temporary stop/restart) is switched on during homing, the servo motor decelerates with the homing deceleration time constant being executed ([Pr. PT61 Home position return acceleration time constant] or [Pr.
Page 238: Dog Type Homing
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.2 Dog type homing This is a homing type using a proximity dog. Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.
Page 239 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (3) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration time constant Home position Home position return speed shift distance Home position Creep speed Servo motor Forward rotation...
Page 240: Torque Limit Changing Dog Type Homing
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.3 Torque limit changing dog type homing POINT Torque limit changing dog type homing can be used only in the indexer method. This is a home position return method using an external limit. Deceleration starts at the external limit detection.
Page 241 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart Power supply ALM (Malfunction) MEND (Travel completion) Home position return completion flag PS0 (Station output 1) to In-position out of range Station output 0 PS7 (Station output 8) Station output 0 (Note 3) Home position return speed Creep speed...
Page 242: Count Type Homing
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.4 Count type homing For the count type homing, after the front end of the proximity dog is detected, the position is shifted by the distance set in [Pr. PT09 Travel distance after proximity dog] and [Pr. PT59 Travel distance after proximity dog (extended parameter)].
Page 243 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Home position Acceleration time constant Home position return speed shift distance Home position Creep speed Servo motor Forward rotation...
Page 244: Data Set Type Homing
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.5 Data set type homing (1) Device/parameter Set input devices and parameters as follows: Item Device/parameter to be used Setting Homing mode selection MD0 (Operation mode selection 1) Switch on MD0. DI0 (Point table No. selection 1) to DI7 (Point Switch off DI0 to DI7.
Page 245: Torque Limit Changing Data Set Type
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.6 Torque limit changing data set type POINT Torque limit changing data set type home position return can be used only in the indexer method. When the data set type homing is selected, [AL. 52 Error excessive] is not detected.
Page 246 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart Power supply ALM (Malfunction) MEND (Travel completion) Home position return completion flag PS0 (Station output 1) to Station output 0 PS7 (Station output 8) (Note 2) 5 ms or longer ST1 (Forward rotation start) SIG (External limit/Rotation direction decision/Automatic speed selection)
Page 247: Stopper Type Homing
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.7 Stopper type homing For the stopper type home position return, the home position is set where the workpiece is pressed against the stopper of the machine by using the JOG operation, the manual pulse generator operation, or others. (1) Device/parameter Set input devices and parameters as follows: Item...
Page 248 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Acceleration time Home position return speed Home position return constant Servo motor Forward rotation position data speed 0 r/min 3 ms or shorter...
Page 249: Home Position Ignorance (Servo-On Position As Home Position)
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.8 Home position ignorance (servo-on position as home position) POINT When performing this homing, switching to the homing mode can be omitted. The current position at servo-on is set as a home position. (1) Device/parameter Set input devices and parameters as follows: Item...
Page 250: Dog Type Rear End Reference Home Position Return
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.9 Dog type rear end reference home position return POINT This homing type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of a proximity dog. Therefore, when a homing is performed at a creep speed of 100 r/min, an error of 200 pulses (for HG series servo motor) is generated in the home position.
Page 251 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Travel distance after proximity dog Deceleration time constant Acceleration time constant Home position return speed Home position shift distance Creep speed Servo motor...
Page 252: Count Type Front End Reference Home Position Return
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.10 Count type front end reference home position return POINT This homing type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when a homing is performed at a creep speed of 100 r/min, an error of 200 pulses (for HG series servo motor) is generated in the home position.
Page 253 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Travel distance after proximity dog Deceleration time constant Acceleration time constant Home position return speed Home position shift distance Creep speed Servo motor...
Page 254: Dog Cradle Type Homing
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.11 Dog cradle type homing A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position. (1) Device/parameter Set input devices and parameters as follows: Item Device/parameter to be used...
Page 255 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration time constant Home position Home position return speed shift distance Creep speed Servo motor Forward rotation speed...
Page 256: Dog Type Last Z-Phase Reference Home Position Return
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.12 Dog type last Z-phase reference home position return After the front end of the proximity dog is detected, the position is shifted away from the proximity dog at the creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Z- phase signal is set as the home position.
Page 257 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Acceleration time Home position return speed constant Deceleration time constant Home position return position data Servo motor Forward rotation speed 0 r/min...
Page 258: Dog Type Front End Reference Home Position Return Type
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.13 Dog type front end reference home position return type POINT This homing type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when a homing is performed at a creep speed of 100 r/min, an error of 200 pulses (for HG series servo motor) is generated in the home position.
Page 259 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration Home position return speed time constant Travel distance after proximity dog Home position shift distance Home position return position data Servo motor Forward rotation...
Page 260: Dogless Z-Phase Reference Home Position Return Type
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.14 Dogless Z-phase reference home position return type A position, which is shifted to by the home position shift distance from a position specified by the Z-phase pulse immediately after the start of the homing, is set as the home position. (1) Device/parameter Set input devices and parameters as follows: Item...
Page 261: Automatic Retract Function Used For The Home Position Return
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.15 Automatic retract function used for the home position return For a homing with a proximity dog, when the homing has to start from or beyond the proximity dog, this function moves the homing position to at which the homing is possible. (1) When the current position is on the proximity dog When the current position is on the proximity dog, the position is shifted back automatically to execute the homing.
Page 262: Automatic Positioning To Home Position Function
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.4.17 Automatic positioning to home position function POINT The automatic positioning to the home position cannot be performed from outside the setting range of position data. In this case, perform the homing again using the homing.
Page 263 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.5 How to use the point table The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual". For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".
Page 264 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (1) Test operation Before starting an actual operation, perform a test operation to make sure that the machine operates normally. Refer to section 12.3 for how to power on and off the servo amplifier. In this step, confirm that the servo amplifier and the servo motor operate Test operation of the servo motor alone in JOG operation...
Page 265 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Parameter setting When using this servo in the point table method, set [Pr. PA01 Operation mode] to "_ _ _ 6" (Positioning mode (point table method)). In the point table method, the servo can be used by changing mainly the basic setting parameters ([Pr.
Page 266 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (5) Troubleshooting at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable. POINT Using MR Configurator2, you can refer to the reason for rotation failure, etc. The following faults may occur at start-up.
Page 267: Automatic Operation Mode
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault MR-JE- fluctuations) are large following procedure. at low speed. Chapter 6 1. Increase the auto tuning response level.
Page 268 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (b) Point table 1) Point table setting Point tables 1 to 255 can be set. To use point tables No. 4 to 255, enable DI2 (Point table No. selection 3) to DI7 (Point table No. selection 8) with "Device Setting" on MR Configurator2. Set point tables using MR Configurator2 or the operation section of the servo amplifier.
Page 269 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Automatic operation using the point table (a) Absolute value command method This function is enabled by selecting either absolute position command method or incremental value command method with the auxiliary function of the point table. 1) Point table Set the point table values using MR Configurator2 or "Point table 001 to 255".
Page 270 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 2) Parameter setting Set the following parameters to perform automatic operation. a) Command method selection ([Pr. PT01]) Select the absolute value command method as shown below. [Pr. PT01] Absolute value command method b) Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when ST1 (Forward rotation start) is switched on.
Page 271 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 3) Operation Selecting DI0 to DI7 for the point table and switching on ST1 starts positioning to the position data at the set speed, acceleration time constant and deceleration time constant. At this time, ST2 (Reverse rotation start) is disabled.
Page 272 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (b) Incremental value command method POINT The incremental value command method ([Pr. PT01] = _ _ _ 1) cannot be used in the absolute position detection system. When using the absolute position detection system, select the absolute value command method ([Pr. PT01] = _ _ _ 0).
Page 273 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 2) Parameter setting Set the following parameters to perform automatic operation. a) Command method selection ([Pr. PT01]) Select the incremental value command method as shown below. [Pr. PT01] Incremental value command method b) Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on.
Page 274 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 3) Operation Selecting DI0 to DI7 for the point table and switching on ST1 starts a forward rotation of the motor over the travel distance of the position data at the set speed, acceleration time constant and deceleration time constant.
Page 275 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (c) Automatic operation timing chart 1) Automatic individual positioning operation a) Absolute value command method ([Pr. PT01] = _ _ _ 0) While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start) starts the automatic positioning operation.
Page 276 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE b) Incremental value command method ([Pr. PT01] = _ _ _ 1) While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start) or ST2 (Reverse rotation start) starts the automatic positioning operation. The following shows the timing chart.
Page 277 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE b) Incremental value command method ([Pr. PT01] = _ _ _ 1) The position data of the incremental value command method is the sum of the position data of consecutive point tables. The following shows how to set. Point table setting Dwell Auxiliary function...
Page 278 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 3) Varying-speed operation By setting the auxiliary function of the point table, the servo motor speed during positioning can be changed. Point tables are prepared as many as the number of the set speeds. Refer to section 7.4 (1) (c) for details.
Page 279 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 5) Temporary stop/restart When TSTP (Temporary stop/restart) is switched on during automatic operation, the servo motor decelerates with the deceleration time constant of the point table being executed, and then stops temporarily. Switching on TSTP (Temporary stop/restart) again starts the servo motor rotation for the remaining travel distance.
Page 280 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE b) During dwell Point table No. n Point table No. n + 1 Dwell = ta + tb Forward rotation Servo motor speed 0 r/min Reverse rotation No. n Point table ST1 (Forward rotation start) or ST2 (Reverse rotation start) TSTP (Temporary stop/restart) PUS (Temporary stop)
Page 281: Manual Operation Mode
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.5.3 Manual operation mode (1) JOG operation POINT The acceleration/deceleration time constants can be set in [Pr. PC01 JOG operation acceleration time constant] and [Pr. PC02 JOG operation deceleration time constant]. (a) Setting Set input devices and parameters as shown below depending on the intended application.
Page 282 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (d) Temporary stop/restart When TSTP (Temporary stop/restart) is switched on during JOG operation, the servo motor decelerates with the deceleration time constant being executed ([Pr. PC02 JOG operation deceleration time constant]), and then stops temporarily. Turning on TSTP (Temporary stop/restart) again restarts the servo motor.
Page 283 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Manual pulse generator operation (a) Setting POINT To enhance noise tolerance, set "_ 2 _ _" in [Pr. PA13] when the command pulse frequency is 500 kpulses/s or less, or set "_3_ _" in [Pr. PA13] when the command pulse frequency is 200 kpulses/s or less.
Page 284 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (c) Manual pulse generator multiplication 1) Using the input signals (devices) for setting In "Device setting" of MR Configurator2, set TP0 (Manual pulse generator multiplication 1) and TP1 (Manual pulse generator multiplication 2) for input signals. TP1 (Manual pulse TP0 (Manual pulse Travel distance...
Page 285: Roll Feed Mode Using The Roll Feed Display Function
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.5.4 Roll feed mode using the roll feed display function The roll feed display function is a function to change the display method of the current position and the command position in the status monitor. The roll feed display function enables the servo amplifier to be used in the roll feed mode.
Page 286: Analog Override
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.5.5 Analog override POINT When using the analog override in the point table method, enable OVR (Analog override selection). The following shows the functions in which the analog override can be used and in which the analog override cannot be used.
Page 287: Point Table Setting Method
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) OVR (Analog override selection) Enable or disable VC (Analog override). Servo amplifier Position Analog Speed Servo control override control motor OVR (Analog override selection) VC (Analog override) -10 V to +10 V Select a changed value by using OVR (Analog override selection) as follows.
Page 288: Startup
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.6.1 Startup (1) Test operation Before starting an actual operation, perform a test operation to make sure that the machine operates normally. Refer to section 12.3 for how to power on and off the servo amplifier. In this step, confirm that the servo amplifier and the servo motor operate Test operation of the servo motor alone in JOG operation of...
Page 289 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Parameter setting POINT The following encoder cables are of four-wire type. When using these encoder cables, set [Pr. PC22 Function selection C-1] to "1 _ _ _" to select the four-wire type. Incorrect setting results in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 290 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (4) Troubleshooting at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable. POINT Using MR Configurator2, you can refer to the reason for rotation failure, etc. The following faults may occur at start-up.
Page 291: Automatic Operation Mode
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault MR-JE-_C fluctuations) are large following procedure. Chapter 6 at low speed. 1. Increase the auto tuning response level.
Page 292 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (b) Rotation direction There are two operation methods: Rotation direction specifying indexer, which always rotates in a fixed direction and executes positioning to a station; Shortest rotating indexer, which automatically changes a rotation direction to the shortest distance and executes positioning to a station. Rotation direction specifying indexer Shortest rotating indexer (2) Automatic operation mode 1 (rotation direction specifying indexer)
Page 293 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (b) Other parameter settings 1) Setting an assignment direction of station No. Select an assignment direction of station No. with [Pr. PA14]. Servo motor rotation direction [Pr. PA14] setting ST1 (Forward rotation start) is on. Next station No.
Page 294 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (c) Operation Select a target station No. using 8-bit devices of the DI0 (Next station No. selection 1) to DI7 (Next station No. selection 8) for positioning. Device (Note 1) Selection contents Next station No. 0 Next station No.
Page 295 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE The following timing chart shows that an operation is performed at a stop of the station No. 0 when servo-on. Number of stations: 8 Power supply ALM (Malfunction) MEND (Travel completion) Station output 1 Station output 3 PS0 (Station output 1) to PS7 (Station output 8)
Page 296 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (3) Automatic operation mode 2 (shortest rotating indexer) This operation mode automatically changes a rotation direction to the shortest distance to execute positioning to a station. The positioning is executed by selecting a station No. using 8-bit devices of the DI0 (Next station No. selection 1) to DI7 (Next station No.
Page 297 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (d) Timing chart POINT Be sure to perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and ST1 (Forward rotation start) will be disabled. When travel distances are the same to a target station position from CCW and from CW, the shaft will rotate to the station No.
Page 298: Manual Operation Mode
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE Note 1. When the rest of command travel distance is other than "0", ST1 (Forward rotation start) is not received. Refer to section 12.6.5 (1). 2. RT (Second acceleration/deceleration selection) will not be accepted during operation. Selection of the servo motor speed and acceleration/deceleration time constants will be enabled by on-edge of ST1 (Forward rotation start).
Page 299 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (b) Setting an assignment direction of station No. Select an assignment direction of station No. with [Pr. PA14]. Servo motor rotation direction [Pr. PA14] setting ST1 (Forward rotation start) is on. Next station No. will be assigned in CW direction in order of 1, 2, 3…...
Page 300 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (d) Timing chart The following timing chart shows that a station JOG operation is performed at a stop of the station No. 0 when servo-on. Number of stations: 8 Power supply ALM (Malfunction) MEND (Travel completion) PS0 (Station output 1) to All off (Note 4)
Page 301 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) JOG operation (a) Setting Set devices and parameters as shown below depending on the intended application. With this operation, DI0 (Next station No. selection 1) to DI7 (Next station No. selection 8) are disabled. Item Device/parameter to be used Setting...
Page 302 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (c) Timing chart The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when servo-on. Number of stations: 8 Power supply ALM (Malfunction) MEND (Travel completion) Note PS0 (Station output 1) to All off (Note 3)
Page 303: Backlash Compensation And Digital Override
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.6.4 Backlash compensation and digital override (1) Backlash compensation When executing a positioning reversely to the direction to the home position return, set [Pr. PT14 Backlash compensation] to stop the shaft at the compensated position for the setting value. When the travel distance between stations is set to 1000 and the backlash compensation is set to 10 in the absolute position detection system, the timing chart is as follows.
Page 304 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE (2) Digital override Setting [Pr. PT38] to "_ _ 1 _" enables the digital override function. Actual servo motor speed is the value multiplying the command speed by the digital override selected with OV0 (Digital override selection 1) to OV3 (Digital override selection 4). This is enabled with all the operation modes.
Page 305 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE POINT Speed changes with the digital override function are enabled with the following conditions. Automatic operation mode Manual operation mode During home position return (b) When [Pr. PT42] is set to 50 and [Pr. PT43] to 5 in the station JOG operation, the chart will be as follows.
Page 306: Safety Precautions
12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE 12.6.5 Safety precautions (1) I/O signal (a) When a home position return is not executed in the absolute position detection system and incremental system... The station output signals will not be outputted (all off). (b) When one or more home position returns is completed...
Page 307 12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE MEMO 12 - 92...
Page 308 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 309 MEMO...
Page 310 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies.
Page 311 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 312 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030277ENG-A(1810)MEE Printed in Japan Specifications are subject to change without notice.

Mitsubishi Electric MR-JE-*C Instruction Manual

2 Signals and Wiring

3 Startup

4 Parameters

5 Cia 402 DRIVE PROFILE

6 Homing Mode

7 How to Use the Point Table

8 How to Use Indexer

9 How to Use Jog Mode

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MR-JE-*C

Table of Contents