Page 1 General-Purpose AC Servo CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (CC-Link IE Field Network Basic) -MR-J4-_GF_ -MR-J4-_GF_-RJ...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (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 4 [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. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Page 5 [To prevent injury, note the following] CAUTION ● Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. ● Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. ●...
Page 6 [Transportation and installation] CAUTION ● Transport the products correctly according to their mass. ● Stacking in excess of the specified number of product packages is not allowed. ● Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.
Page 7 [Wiring] CAUTION ● Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. ● Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. ●...
Page 8 [Test run and adjustment] CAUTION ● When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. ● Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
Page 9 [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 10: Disposal Of Waste
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 11: About The Manual
ABOUT THE MANUAL You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual No. MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) SH(NA)030218ENG MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG...
Page 12: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 DISPOSAL OF WASTE .
Page 13 Switch setting and display of the servo amplifier ..........42 Switches .
Page 14 CHAPTER 7 PARAMETERS Parameter list................167 Basic setting parameters ([Pr.
Page 15 Device/parameter ............... 250 Internal torque limit selection details .
Page 16: Chapter 1 Functions And Configuration
FUNCTIONS AND CONFIGURATION The items shown in the following table are the same as those for the motion mode. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". Item Detailed explanation Function block diagram...
Page 17: Specifications For Using Cc-Link Ie Field Network Basic
Specifications for using CC-Link IE Field Network Basic The following table lists the specifications only when CC-Link IE Field Network Basic is used. For other specifications, refer to section 1.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". Point table method Item Description Servo amplifier model...
Page 18 Item Description Control mode Homing mode (hm) Homing on negative home switch and For details of the home position return types, refer to the following. Page 62 Homing mode (hm) index pulse (Method 6) Homing on home switch and index pulse (Method 7) Homing on home switch and index pulse (Method 8)
Page 19: Indexer Method
Indexer method Item Description Control mode Indexer mode (idx) Operational specifications Positioning by specifying the station position The maximum number of divisions: 255 Speed command input Set the servo motor speed and acceleration/deceleration time constants in the point table. Set the servo motor speed and acceleration/deceleration time constants via network.
Page 20: Outline Of Cc-Link Ie Field Network Basic
Jog mode (jg) This is a control mode where the servo motor speed is set to drive the servo motor manually in the commutation with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric original). (jg)
Page 21 Function Description Detailed explanation Machine analyzer Analyzes the frequency characteristic of the mechanical system by simply connecting an MR  function Configurator2 installed personal computer and the servo amplifier. MR Configurator2 is necessary for this function. Robust filter Improves a disturbance response when a response performance cannot be increased because of a [Pr.
Page 22 Function Description Detailed explanation Power monitoring This function calculates the power running energy and the regenerative power from the data in the  function servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2. Page 208 Machine Machine diagnosis From the data in the servo amplifier, this function estimates the friction and vibrational component of the...
Page 23: Communication Specifications
Communication specifications Communication specifications of CC-Link IE Field Network Basic Function Description Communication protocol Port No. No. 61450 (cyclic data) No. 61451 (NodeSearch and IPAddressSet dedicated for CC-Link IE Field Network Basic only) Cyclic data 32 points (64 bytes) IP address IPv4 range: 0.0.0.1 to 223.255.255.254 Use the same network address for both the master and slave stations.
Page 24: Configuration Including Peripheral Equipment
Configuration including peripheral equipment CAUTION • Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. • Equipment other than the servo amplifier and servo motor are optional or recommended products. •...
Page 25 *1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. *2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to section 1.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
Page 26: Chapter 2 Cc-Link Ie Field Network Basic Protocol
CC-Link IE FIELD NETWORK BASIC PROTOCOL Description In CC-Link IE Field Network Basic, a command that a master station (controller) sends to slave stations (servo amplifiers) is called a request message, and a command that the slave stations (servo amplifiers) send back to the master station (controller) is called a response message.
Page 27: Link Device
Link device • The setting value of RWrn can be changed with Transmit PDO Mapping (1A00h). Refer to chapter 10 for details. • In cyclic communication, if an out-of-range value is set for requests from the master station to the servo amplifier (RYn and RWwn), the setting is not reflected.
Page 28: Rwrn Mapping (Pt/Idx/Jg/Hm)
Master station  Servo amplifier (RWwn) Device No. Index Device   RWwn16   RWwn17 RWwn18   RWwn19 2DB0 Override RWwn1A 2D07 Control DI7 RWwn1B 2D08 Control DI8   RWwn1C   RWwn1D   RWwn1E RWwn1F ...
Page 29: Mapping Data Details Of Link Device
Mapping data details of link device Page 252 OBJECT DICTIONARY 2 CC-Link IE FIELD NETWORK BASIC PROTOCOL 2.4 Mapping data details of link device...
Page 30: Chapter 3 Slmp
SLMP Description • SLMP (TCP) is not supported. • When multiple master stations send commands to a single servo amplifier, some commands may not be received if the interval of sending commands is too short. When the servo amplifier does not respond to commands, lengthen the interval of sending them.
Page 31: Message Format
Message format The following shows the request message format to be used when the master station (external device) sends a message, and the response message formats to be used when the slave stations (servo amplifiers) return a message. Request message format SLMP Ethernet Request...
Page 32 Item Size Endian Description   Header This header is for UDP/IP. The header is added on the external device side before being sent. TCP/IP is not supported. Subheader 2 bytes At a request: 5000h (QnA compatible 3E frame) At a response: D000h Subheader 6 bytes At a request: 5400h + Serial number + 0000h...
Page 33: Command
Command The following table lists applicable commands. Name Command Sub command Description Detailed explanation Page 32 SDO Upload CiA 402 object read/write 4020h 0001h Reads data specified by using the CiA 402 object from the servo amplifier to the external device. (CiA 402 object read) 0002h Writes data specified by using the CiA 402 object...
Page 34: Sdo Upload (Cia 402 Object Read)
SDO Upload (CiA 402 object read) When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station (external device), they return a value of the object corresponding to the specified Index or Sub Index. Request message (command and the following) End code Sub command...
Page 35: Sdo Download (Cia 402 Object Write)
SDO Download (CiA 402 object write) When the slave stations (servo amplifiers) receive the CiA 402 object write request from the master station (external device), they write a specified value to the object corresponding to the specified Index or Sub Index. Request message (command and the following) Command Sub command...
Page 36: Sdo Object Subid Block Upload (Cia 402 Object Sub Id Continuous Read)
SDO Object SubID Block Upload (CiA 402 object sub ID continuous read) When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous read request from the master station (external device), they return a value of the object corresponding to the specified Index or consecutive Sub Index. Request message (command and the following) Command Sub command...
Page 37: Sdo Object Subid Block Download (Cia 402 Object Sub Id Continuous Write)
SDO Object SubID Block Download (CiA 402 object sub ID continuous write) When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from the master station (external device), they write a specified value to the object corresponding to the specified Index or consecutive Sub Index. Request message (command and the following) Command Sub command...
Page 38: Error Code
Error code The following table lists error codes that are stored in the end code at abnormal completion in SLMP. Error code Cause C059h • The sub command is specified incorrectly. • A command that is not prescribed is received. C05Ch The request message is incorrect.
Page 39: Chapter 4 Startup
STARTUP WARNING • When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. • Do not operate the switches with wet hands. Otherwise, it may cause an electric shock. CAUTION •...
Page 40: Switching Power On For The First Time
Switching power on for the first time When switching power on for the first time, follow this section to make a startup. Startup procedure Step Description Reference Wiring check Check whether the servo amplifier and servo motor Refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo are wired correctly by performing a visual check, Amplifier Instruction Manual (Motion Mode)".
Page 41: Startup
Startup Confirm that the servo motor operates properly alone before connecting the servo motor with a machine. Slide switch setting To switch to CC-Link IE Field Network Basic communication, turn the slide switch 1 (SW1-1) "OFF (down)" and turn the slide switch 2 (SW1-2) "ON (up)".
Page 42 Set the IP address by using the SLMP command with the rotary switches (SW2/SW3) on the display of the servo amplifier, MR Configurator2, or a master station (controller). For IP address parameters, refer to chapter 7, and for details of the rotary switches, refer to the following.
Page 43 Home position return Always perform home position return before starting positioning operation. Page 62 Homing mode (hm) Stop Turn off the servo-on command after the servo motor has stopped, and then switch the power off. If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor. Refer to section 3.9 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)"...
Page 44: Switch Setting And Display Of The Servo Amplifier
Switch setting and display of the servo amplifier Switching to CC-Link IE Field Network Basic communication or test operation mode, and setting identification number are enabled with switches on the servo amplifier. On the servo amplifier display (three-digit, seven-segment LED), check the identification number, and diagnose a malfunction at occurrence of an alarm.
Page 45 Slide switches (SW1-1/SW1-2) The combination of SW1-1 and SW1-2 enables you to switch communication method and set the test operation mode (enabled/disabled). The following table lists the combinations of the switches. In the test operation mode, the functions such as JOG operation, positioning operation, and machine analyzer are available with MR Configurator2.
Page 46: Scrolling Display
Scrolling display Axis number will be displayed in hexadecimal. Normal display When there is no alarm, the identification number (2 digits) is displayed. Status Identification (1 digit) No. (2 digits) "b": Indicates ready-off and servo-off status. "C": Indicates ready-on and servo-off status. "d": Indicates ready-on and servo-on status.
Page 47: Status Display
Status display Display sequence Servo amplifier power on System check in progress When an alarm No. or warning No. is shown Example: When [AL. 50 Overload 1] occurs at Ready-off and servo-off identification No. 1 Blinking Ready-on After 0.8 s Blinking When an alarm or a After 0.8 s...
Page 48: Ethernet Status Display Led
Indication list Display Status Description Initializing System check in progress Ready-off The ready-off command was received. b # # Ready-on, servo-off The servo-off command was received. C # # Ready-on, servo-on The servo-on command was received. d # # Alarm occurring An alarm or warning has occurred in the servo amplifier.
Page 49: Test Operation
Test operation Before starting actual operation, perform a test operation to make sure that the machine operates normally. Refer to the following for the power on and off methods of the servo amplifier. Page 39 Startup • If necessary, verify the master station (controller) program by using motor-less operation. Refer to the following for the motor-less operation.
Page 50: Test Operation Mode In Mr Configurator2
Test operation mode in MR Configurator2 • When the test operation mode is selected with the slide switches (SW1-1 and SW1-2), the commands from the master station (controller) are not accepted. Test operation mode ■JOG operation Jog operation can be performed without the master station (controller). Use this operation with the forced stop reset. This operation may be used independently of whether servo-on or servo-off and whether a master station (controller) is connected or not.
Page 51 ■Positioning operation Positioning operation can be performed without a master station (controller). Use this operation with the forced stop reset. This operation may be used independently of whether servo-on or servo-off and whether a master station (controller) is connected or not. Perform on the positioning operation screen of MR Configurator2.
Page 52 ■Single-step feed The positioning operation can be performed in accordance with the point table No. set with MR Configurator2. Select the test operation/single-step feed from the menu of MR Configurator2. When the single-step feed window is displayed, input the following items and operate. •...
Page 53 Operation procedure ■Test operation mode via USB connection Turn off the power. Set SW1-1 to "ON (up)" and SW1-2 to "OFF (down)". Set SW1-1 to "ON (up)" and SW1-2 to "OFF (down)". The test operation mode is not enabled when switches SW1-1and SW1-2 are set during power-on. Turn on the servo amplifier.
Page 54 ■Test operation mode via Ethernet connection Turn off the power. Set SW1-1 to "OFF (down)" and SW1-2 to "ON (up)" to set CC-Link IE Field Network Basic communication. Set SW1-1 to "OFF (down)" and SW1-2 to "ON (up)". CC-Link IE Field Network Basic communication is not enabled when switches SW1-1 and SW1-2 are set during power-on. Turn on the servo amplifier.
Page 55: Motor-Less Operation In Controller
Motor-less operation in controller • Connect the master station (controller) to the servo amplifier before the motor-less operation. • The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor control mode. Motor-less operation Without a servo motor connected to the servo amplifier, signals are outputted and status is displayed as if the servo motor is actually running in response to the master station.
Page 56: Network Setting
MR-J4-GF system profile needs to be read into GX Works to set network configuration on GX Works. Obtain the latest system profile (CSP+) from the Mitsubishi Electric FA site (http://www.mitsubishielectric.co.jp/fa/), and register the profile from the Profile Management in the menu.
Page 57: Cyclic Communication Start
Cyclic communication start Start the cyclic communication in the following procedure.  Step Description IP address setting Network setting [IP address setting] The initial value is 192.168.3.0. To change the initial value, set it with any of the following. (Page 39 IP address setting) •...
Page 58: Chapter 5 Cia 402 Drive Profile
CiA 402 DRIVE PROFILE • Do not issue operation commands to the same servo amplifier from two or more masters. Otherwise, the servo motor may operate unexpectedly. This chapter describes how to drive a servo motor in the communication. For MR-J4-_GF_(-RJ) servo amplifier, objects are assigned according to Index of the CiA 402 drive profile.
Page 59 • State transitions Transition Event Remark The control circuit power supply is turned on. Initialization The state automatically transitions when the control circuit power Communication setting supply is turned on. The state transitions with the Shutdown command from the master. ...
Page 60: Related Object
Related object Index Sub Index Access Name Data Type Default  6040h Controlword 6041h Statusword  Controlword (6040h) This object issues a command from the master station (controller) to the slave stations (servo amplifiers). Index Sub Index Access Name Data Type Default ...
Page 61 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. The status can be checked with bit 0 to bit 7. Symbol Description RTSO...
Page 62: Usage
Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-J4-_GF_(-RJ) servo amplifier). Refer to the following table for details. Statusword (bin) State machine x0xx xxx0 x0xx 0000 Not ready to switch on x0xx xxx0 x1xx 0000 Switch on disabled x0xx xxx0 x01x 0001...
Page 63: Control Mode
Control mode This section describes the control modes of the MR-J4-_GF_(-RJ) servo amplifier. Function explanation A control mode of the MR-J4-_GF_(-RJ) servo amplifier can be selected with the control mode (Modes of operation: 6060h). Use [Pr. PA01] to switch the method between the point table method and the indexer method. The following is the chart of control modes switchable from the current mode.
Page 64: Chapter 6 Servo Motor Driving
SERVO MOTOR DRIVING Homing mode (hm) Before performing the home position return, make sure that the limit switch operates. Check the home position return direction. An incorrect setting will cause a reverse running. Check the input polarity of the proximity dog. Otherwise, it may cause an unexpected operation. For home position return when used in the linear servo motor control mode, refer to section 14.3 of "MR-J4- _GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
Page 65: Related Object
Related object Index Sub Index Access Name Data Type Default Description 607Ch Home offset  The home position saved in EEP-ROM is stored at poweron. If a home position return is executed in the homing mode (hm), the home position will be updated.
Page 66 Controlword (6040h) Index Sub Index Access Name Data Type Default  6040h Controlword The current control command status can be checked. In addition, control commands can be written. The following table lists the bits of this object that relate to the home position return operation. Description Page 58 Related object 0 to 3...
Page 67 The following table lists selectable home position return methods. Setting value Home position return types Home position return Description direction No homing method assigned  Starting home position return causes "Homing error". Home position return cannot be executed. Homing on positive home switch and index Forward rotation (CCW) or Same as the dog type last Z-phase reference home pulse...
Page 68 Setting value Home position return types Home position return Description direction Homing without index pulse Reverse rotation (CW) or Same as the dog type front end reference home position negative direction return. Homing without index pulse Reverse rotation (CW) or Although this type is the same as the dog cradle type home negative direction position return, the stop position is not on the Z-phase.
Page 69 Setting value Home position return types Home position return Description direction Dog cradle type Forward rotation (CCW) or A position, which is specified by the first Z-phase signal positive direction after the front end of the proximity dog is detected, is set as the home position.
Page 70 Statusword (6041h) • When the mode is switched to the hm mode after home position return completion, Statusword (6041h) is "Homing procedure is completed successfully" unless "0" is set in Bit 12. The following shows the conditions when "0" is set in Bit 12. •...
Page 71 The current control status can be checked. The following table lists the bits of this object that relate to the home position return operation. Description Page 58 Related object 0 to 9 Target reached Refer to the following and the table below for the description. Page 69 Bit 10 (Target reached) of Statusword (6041h) Page 58 Related object Homing attained...
Page 72: Usage
Usage • To execute home position return securely, move the servo motor to the opposite stroke end with the jog mode (jg) from the master station (controller) or by other means, then start homing. • If changing the mode after home position return completion, set Target position (607Ah) to "0", then change the control mode.
Page 73 Precautions on use of the proximity dog ■Length of the proximity dog Set the proximity dog to a length that satisfies the following equation so that the servo motor speed changes from the home position return speed to the creep speed during the detection of a proximity dog. •...
Page 74: Cia 402-Type Homing Method
CiA 402-type homing method Home position return type in CiA 402 type The following shows the CiA 402-type home position return. ■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 75 ■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 76 ■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. Index Pulse ■Method 35 and 37: Homing on current position These home position return types set the current position as a home position.
Page 77 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. ■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 78 ■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 79 ■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 Homing attained...
Page 80 ■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 Homing attained...
Page 81 ■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 Deceleration time constant Home position return speed...
Page 82 ■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 Home position shift distance Deceleration time...
Page 83 ■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 Deceleration time constant Home position return speed...
Page 84 ■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 Home position shift distance Deceleration time...
Page 85 ■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. When homing is performed from near the Z-phase, the home position return completion position varies. The recommended start position for homing can be found by rotating the servo motor about a half-turn away from the home position return direction.
Page 86: Operation Example Of Manufacturer-Specific Homing Method
Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific home position return. Method -1 and -33 ■Dog type homing The following figure shows the operation of Homing method -1. The home position return direction of Homing method -33 is opposite to that of Homing method -1.
Page 87 ■Torque limit changing dog type home position return (front end detection Z-phase reference) The following figure shows the operation of Homing method -1 when "Torque limit changing dog type home position return function selection" of [Pr. PT70] is set to "0" or "2" in the indexer method. The home position return direction of Homing method -33 is opposite to that of Homing method -1.
Page 88 When the home position return automatic retract function is disabled, set [Pr. PT70] to "_ _ _ 0". • When the stroke end is detected Home position return direction Stroke end Forward rotation Servo motor speed 0 r/min Home position return start position Stops due to the occurrence of [AL.
Page 89 ■Torque limit changing dog type home position return (rear end detection Z-phase reference) The following figure shows the operation of Homing method -1 when "Torque limit changing dog type home position return function selection" of [Pr. PT70] is set to "1" or "3" in the indexer method. The home position return direction of Homing method -33 is opposite to that of Homing method -1.
Page 90 When the home position return automatic retract function is disabled, set [Pr. PT70] to "_ _ _ 1". • When the stroke end is detected Home position return direction Stroke end Forward rotation Servo motor speed 0 r/min Home position return start position Stops due to the occurrence of [AL.
Page 91 Method -2 and -34 (Count type home position return) • 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. Then, the first Z-phase is set as the home position.
Page 92 Method -3 ■Data set type home position return The following figure shows the operation of Homing method -3. This type cannot be executed during servo-off. Statusword bit 12 Homing attained Home position return position data Forward rotation Servo motor speed 0 r/min Reverse rotation...
Page 93 Method -4 and -36 (stopper type home position return) • 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 94 Method -6 and -38 (dog type rear end reference home position return) • 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 95 Method -7 and -39 (count type front end reference home position return) • 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 96 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 Acceleration time...
Page 97 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 Homing attained...
Page 98 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 Homing attained...
Page 99 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. When homing is performed from near the Z-phase, the home position return completion position varies. The recommended start position for homing can be found by rotating the servo motor about a half-turn away from the home position return direction.
Page 100: Point Table Mode (Pt)
Point table mode (pt) About point table mode (pt) In this mode, you can arrange point tables in advance, select any point tables in "Target point table", and start the operation with "Controlword bit 4 (New set-point)". You can select either absolute value command method or incremental value command method with [Pr.
Page 101 • When used with rotation direction specifying ([Pr. PT03] = _ 0 _ _) If position data 270.000 degrees (target position) is specified, rotates in the CCW direction. Target position (270) Current position If position data -90.000 degrees (target position) is specified, rotates in the CW direction. Target position (-90) Current position...
Page 102 • When used with shortest rotation specification ([Pr. PT03] = _ 1 _ _) If position data 270.000 degrees (target position) is specified, rotates in the CCW direction. Target position (270) Current position If position data -90.000 degrees (target position) is specified, rotates in the CCW direction. Target position (-90) Current position...
Page 103 • When used with address increasing direction specification ([Pr. PT03] = _ 3 _ _) If position data 270.000 degrees (target position) is specified, rotates in the CCW direction. Target position (270) Current position If position data -270.000 degrees (target position) is specified, rotates in the CCW direction. Target position (270) Current position...
Page 104: Automatic Operation Using Point Table
Automatic operation using point table 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. ■Point table Set the point table values using MR Configurator2 or "Point table 001 to 255". Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell time, and auxiliary function to the point table.
Page 105 ■Parameter setting Set the following parameters to perform automatic operation. • Command method selection ([Pr. PT01]) Select the absolute value command method as shown below. [Pr. PT01] Absolute value command method • Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when "Controlword bit 4 (New set-point)" is switched on. [Pr.
Page 106 ■Operation Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set-point)" starts positioning to the position data at the set speed, acceleration time constant and deceleration time constant. Item Object to be used Setting Point table mode (pt) selection Modes of operation Set "-101".
Page 107 ■Parameter setting Set the following parameters to perform automatic operation. • Command method selection ([Pr. PT01]) Select the incremental value command method as shown below. [Pr. PT01] Incremental value command method • Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when "Controlword bit 4 (New set-point)" is switched on. [Pr.
Page 108: Function And Related Objects
■Operation Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set-point)" starts positioning to the position data at the set speed, acceleration time constant and deceleration time constant. Switching on "Controlword bit 5 (Direction)" starts a reverse rotation of the motor in accordance with the values set to the selected point table.
Page 109 Related object Index Name Data Type Access Default Description 607Dh Software position Number of entries limit Min position limit Minimum position address (Pos units) Max position limit Maximum position address (Pos units)  6085h Quick stop Deceleration time constant for Quick stop deceleration Unit: ms 605Ah...
Page 110 Index Name Data Type Access Default Description 2801h Point table 001 to Number of entries Point table 28FFh  Point data Position data Unit: pos units  Speed Speed Unit: 0.01 r/min or 0.01 mm/s  Acceleration Acceleration time constant Unit: ms ...
Page 111: Setting Method Of Point Tables Using Mr Configurator2
Details on the OMS bit of Statusword (pt mode) Symbol Description (reserved) The value at reading is undefined. Set-point acknowledge 0: Positioning completed (wait for next command) 1: Positioning being executed Following error 0: No following error 1: Following error Judgment condition for Following error When the time set with [Pr.
Page 112 ■Verifying point table data (e) Click "Verify" to verify all the data displayed and data of the servo amplifier. ■Detailed setting of point table data (f) Click "Detailed Setting" to change position data range and unit in the point table window. Refer to the following for details. Page 111 Detailed setting window ■Single-step feed (g) Click "Single-step Feed"...
Page 113 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 of [Pr. PT01] setting, refer to the following. Page 102 Automatic operation using point table To reflect the setting for the corresponding parameter, click the "Update Project"...
Page 114: Setting Method Of Point Tables Using Objects
Setting method of point tables using objects To change the point table of the servo amplifier on the master station (controller), write values to the following objects in the SDO communication. However, once the power supply is shut off, the changed setting is not held at the next startup. To hold the changed setting even after the power supply is shut-off, save the point table setting value to EEP-ROM using Store Parameters (1010h).
Page 115: Operation Sequence
Operation sequence Automatic individual positioning operation ■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)" starts the automatic positioning operation. The following shows the timing chart. Controlword bit 4 (New set-point) Target point table...
Page 116 ■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. The following shows the timing chart.
Page 117 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. ■Absolute value command method ([Pr. PT01] = _ _ _ 0) By specifying the absolute value command or the incremental value command in the auxiliary function of the point table, the automatic continuous operation can be performed.
Page 118 • 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. 2 to the incremental value command method.
Page 119 • When the position data is in degrees The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and point table No. 2 are under the absolute value command method, point table No. 3 is under the incremental value command method, and point table No.
Page 120 ■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 1 or more...
Page 121 • When the position data is in degrees The following shows an operation example with the set values listed in the table below. Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary [degree] speed [r/min] time constant time constant function [ms]...
Page 122 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. ■Absolute value command method ([Pr. PT01] = _ _ _ 0) Set "1"...
Page 123 • Positioning in a single direction 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. 2 and No. 4 to the incremental value command method.
Page 124 • 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. 2 to the incremental value command method.
Page 125 ■Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "1" to the auxiliary function executes positioning at the speed set in the 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 126 Automatic repeat positioning operation By setting the auxiliary function of the point table, the sequence of operation patterns arranged on the point table can be restarted, enabling repetitive positioning operation. ■Absolute value command method ([Pr. PT01] = _ _ _ 0) Setting "8"...
Page 127 Example 2. Operations when "9" is set to the auxiliary function of point table No. 3 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function [ms] [ms] 0.00 3000.00 5.00 2000.00 15.00...
Page 128 • Automatic repeat positioning operation by incremental value command method Example 1. Operations when "10" is set to the auxiliary function of point table No. 4 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function...
Page 129 Example 2. Operations when "11" is set to the auxiliary function of point table No. 3 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function [ms] [ms] 5.00 3000.00 10.00 2000.00 5.00...
Page 130 • Varying-speed operation by absolute value command method Example. Operations when "8" is set to the auxiliary function of point table No. 3 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function [ms]...
Page 131 • Varying-speed operation by incremental value command method Example. Operations when "10" is set to the auxiliary function of point table No. 3 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function [ms]...
Page 132 ■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. Setting "9"...
Page 133 Example 2. Operations when "9" is set to the auxiliary function of point table No. 2 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function [ms] [ms] 5.00 3000.00 6.00 2000.00 Operation sequence...
Page 134 • Varying-speed operation by incremental value command method Example. Operations when "8" is set to the auxiliary function of point table No. 2 Point table No. Position data Servo motor Acceleration Deceleration Dwell [ms] Auxiliary μm] speed [r/min] time constant time constant function [ms]...
Page 135 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 for the remaining travel distance.
Page 136 ■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 (S_CPO (Rough match)) INP/S_INP...
Page 137 ■Using the control unit "degree" • Current position/command position address The current position/command position address is of the ring-address type. 359.999 359.999 • Software limit activation and deactivation settings • After changing the "+" or "-" sign of an axis set with the software limit activated, perform a home position return.
Page 138 • Position range output enabling and disabling settings When the unit is set to "degree", the setting range of the position range output is 0 degrees to 359.999 degrees. When you set a value other than 0 degrees to 359.999 degrees in [Pr. PT19] to [Pr. PT22], the setting value is converted as follows.
Page 139: Infinite Feed Function (Setting Degree)
Infinite feed function (setting degree) This function can be used with the absolute position detection system. The infinite feed function (setting degree) is available with servo amplifiers with software version A6 or later. The infinite feed function (setting degree) can be used with the point table method. When, in the point table method, the unit for position data for automatic operation or manual operation is set to degree, the detection of [AL.
Page 140 Roll feed display function ■During normal use When the roll feed display function is used, the status display of the current position and command position at start is 0. When the point table is selected, the target position of the point table set at the command position is displayed. INP/S_INP (In-position) Forward...
Page 141 ■At clear input When Control DI3 bit 11 (C_CR) is input, the remaining distance is cleared and the target position of the point table is displayed again at the command position. At restart, the current position and command position start from 0. INP/S_INP (In-position) Quick stop by Clear...
Page 142: Backlash Compensation
Backlash compensation Set [Pr. PT14 Backlash compensation] to stop the servo motor at the compensated position for the setting value of backlash compensation when reversing the command direction of automatic operation. Backlash compensation is available with servo amplifiers with software version A8 or later. Before use, make sure that the meshing gap between the gears or feed screws on the machine side and the motor side occurs on one side only.
Page 143 Home position return method in which the servo motor does not operate during home position return The backlash compensation direction is determined as follows in "Backlash compensation direction selection at the time of data set type home position return" in [Pr. PT38]. ■When [Pr.
Page 144: Indexer Mode (Idx)
Indexer mode (idx) • In the absolute position detection system, rotating the shaft one revolution or more during power-off may erase a home position. Therefore, do not rotate the shaft one revolution or more during power-off. When the home position is erased, [AL. 90 Home position return incomplete warning] will occur. In that case, execute the home position return again.
Page 145: Rotation Direction Specifying Indexer
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 Rotation direction specifying indexer...
Page 146 Other parameter settings ■Setting an 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… Next station No.
Page 147: Shortest Rotating Indexer
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 are used for the servo motor speed, acceleration time constant, and deceleration time constant during operation.
Page 148: Function And Related Objects
Function and related objects The following shows the functions and related objects of the indexer mode (idx). [Pr. PC77] Torque limit Torque limit value (60E0h, 60E1h) × function Control Profile acceleration (6083h) effort (60FAh) Torque Position Velocity Motor Profile deceleration (6084h) control control control...
Page 149 Index Name Data Type Access Default Description   60F4h Following error Droop pulses (Pos units) actual value 60FAh  Control effort  Position control loop output (speed command) Unit: Vel unit (0.01 r/min)  60E0h Positive torque limit 10000 Torque limit value (forward) value Unit: 0.1% (rated torque of 100%)
Page 150 Details on the OMS bit of Controlword (idx mode) Symbol Description New set-point The operation starts toward the point table specified with the Target point table (2D60h) when the bit turns on. Direction 0: Station No. decreasing direction 1: Station No. increasing direction Operation mode 0: Rotation direction specifying indexer operation 1: Shortest rotating indexer operation...
Page 151: Operation Sequence
Operation sequence Rotation direction specifying indexer • Always 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. The servo motor rotates in a fixed direction to execute positioning to a station. The following timing chart shows that an operation is started from being stopped at the station No.
Page 152 *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 Switching "Profile velocity"...
Page 153 ■When using Target speed No. (2DD1h) Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation. Set the point table No. to be used in Target speed No. (2DD1h). Point table No. Servo motor speed [r/min] Acceleration time constant Deceleration time constant...
Page 154 Shortest rotating indexer • Always 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 the travel distances to a target station position are the same when rotated in CCW direction and CW direction, the shaft will rotate to the station No.
Page 155 *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 Switching "Profile velocity"...
Page 156 ■When using Target speed No. (2DD1h) Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation. Set the point table No. to be used in Target speed No. (2DD1h). Point table No. Servo motor speed [r/min] Acceleration time constant Deceleration time constant...
Page 157 *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 Switching "Profile velocity"...
Page 158: Backlash Compensation
Backlash compensation Set [Pr. PT14 Backlash compensation] to stop the servo motor at the compensated position for the setting value of backlash compensation when reversing the command direction of automatic operation. Backlash compensation is available with servo amplifiers with software version A8 or later. Before use, make sure that the meshing gap between the gears or feed screws on the machine side and the motor side occurs on one side only.
Page 159 Home position return method in which the servo motor does not operate during home position return The backlash compensation direction is determined as follows in "Backlash compensation direction selection at the time of data set type home position return" in [Pr. PT38]. ■When [Pr.
Page 160: Jog Mode (Jg)
Jog mode (jg) Function explanation 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 161 Station jog operation in the indexer method ■Setting Set objects and parameters as shown below according to the purpose of use. In this operation, "Target point table" is disabled. Item Object/parameter to be used Setting Jog mode (jg) selection Modes of operation Set "-100".
Page 162 ■Operation Switching on "Controlword bit 4 (Rotation start)" starts rotation to a direction specified with "Controlword bit 5 (Direction)", and switching off "Controlword bit 4 (Rotation start)" executes a positioning to the closest station position where the servo motor can 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 163: Function And Related Objects
Function and related objects The following shows the function and related objects of the jog mode (jg). [Pr. PC77] Torque limit Torque limit value (60E0h, 60E1h) × function Software position limit (607Dh) × Control Profile acceleration (6083h) effort (60FAh) Torque Position Velocity Motor...
Page 164 Index Name Data Type Access Default Description 6092h Feed constant Travel distance per revolution of an output shaft Page 252 OBJECT DICTIONARY  Feed Travel distance setting  Shaft revolutions Number of servo motor shaft revolutions   60F4h Following error Droop pulses (Pos units) actual value ...
Page 165 Details on the OMS bit of Controlword (jg mode) Symbol Description Rotation start 0: Stop the servo motor 1: Start the servo motor Direction 0: Forward rotation (address increase) 1: Reverse rotation (address decrease) (reserved) The value at reading is undefined. Set "0" when writing. HALT 0: Positioning is executed.
Page 166 jg mode operation sequence in the point table method ■When operating at a constant speed Decelerates with Profile deceleration Forward rotation Servo motor speed 0 r/min Reverse rotation Accelerates with Profile acceleration Controlword bit 4 (Rotation start) Controlword bit 5 (Direction) Status DO 5 bit 5 (S_CPO (Rough match))
Page 167 jg mode operation sequence in the indexer method ■Station JOG operation The following timing chart shows that a jog operation is started from being stopped at the station No. 0 at servo-on. Controlword bit 4 (Rotation start) Controlword bit 5 (Direction) Profile velocity 100.00 r/min...
Page 168 ■JOG operation The following timing chart shows that a jog operation is started from being stopped at the station No. 0 at servo-on. Controlword bit 4 (Rotation start) Controlword bit 5 (Direction) Profile velocity 100.00 r/min 150.00 r/min Forward rotation Servo motor speed 0 r/min Reverse...
Page 169: Chapter 7 Parameters
PARAMETERS CAUTION • 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 an unexpected condition, such as failing to start up the servo amplifier. ...
Page 170: Basic Setting Parameters ([Pr. Pa
Basic setting parameters ([Pr. PA_ _ ]) Symbol Name Initial Unit Detailed value explanation  Page 182 Basic PA01 **STY Operation mode 1000h setting parameters ([Pr. PA_ _ ])  PA02 **REG Regenerative option 0000h Motion mode  PA03 *ABS Absolute position detection system 0000h ...
Page 171: Gain/Filter Setting Parameters ([Pr. Pb
Gain/filter setting parameters ([Pr. PB_ _ ]) Symbol Name Initial Unit Detailed value explanation  PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h Motion mode PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h  suppression control II) ...
Page 172 Symbol Name Initial Unit Detailed value explanation PB45 CNHF Command notch filter 0000h  Motion mode PB46 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h  PB48 Machine resonance suppression filter 4 4500 [Hz] ...
Page 173: Extension Setting Parameters ([Pr. Pc
Extension setting parameters ([Pr. PC_ _ ]) Symbol Name Initial Unit Detailed value explanation PC01 Error excessive alarm level [rev]/[mm] Motion mode PC02 Electromagnetic brake sequence output [ms]  PC03 *ENRS Encoder output pulse selection 0000h PC04 **COP1 Function selection C-1 0000h ...
Page 174 Symbol Name Initial Unit Detailed value explanation PC39  For manufacturer setting 0000h   PC40 0000h PC41 0000h PC42 0000h PC43 0000h PC44 0000h PC45 0000h PC46 0000h PC47 0000h PC48 0000h PC49 0000h PC50 0000h PC51 0000h PC52 0000h PC53 0000h...
Page 175: I/O Setting Parameters ([Pr. Pd
I/O setting parameters ([Pr. PD_ _ ]) Symbol Name Initial Unit Detailed value explanation  PD01 *DIA1 Input signal automatic on selection 1 0000h Motion mode PD02  For manufacturer setting 0000h    PD03 *DI1 Input device selection 1 000Ah Motion mode PD04...
Page 176: Extension Setting 2 Parameters ([Pr. Pe
Extension setting 2 parameters ([Pr. PE_ _ ]) Symbol Name Initial Unit Detailed value explanation  PE01 **FCT1 Fully closed loop function selection 1 0000h Motion mode PE02  For manufacturer setting 0000h    PE03 *FCT2 Fully closed loop function selection 2 0003h Motion mode PE04...
Page 177: Extension Setting 3 Parameters ([Pr. Pf
Symbol Name Initial Unit Detailed value explanation PE44 LMCP Lost motion compensation positive-side compensation value selection [0.01 %] Motion mode PE45 LMCN Lost motion compensation negative-side compensation value selection [0.01 %] PE46 LMFLT Lost motion filter setting [0.1 ms] PE47 Torque offset [0.01 %] ...
Page 178 Symbol Name Initial Unit Detailed value explanation PF26  For manufacturer setting   PF27 PF28 PF29 0000h PF30 PF31 FRIC Machine diagnosis function - Friction judgement speed [r/min]/[mm/s] Motion mode    PF32 For manufacturer setting PF33 0000h ...
Page 179: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Symbol Name Initial Unit Detailed value explanation  PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h Motion mode PL02 **LIM Linear encoder resolution - Numerator 1000 [µm] PL03 **LID Linear encoder resolution - Denominator 1000...
Page 180: Positioning Control Parameters ([Pr. Pt
Positioning control parameters ([Pr. PT_ _ ]) Symbol Name Initial Unit Detailed value explanation  Page 187 PT01 **CTY Command mode selection 0300h Positioning control parameters ([Pr. PT_ _ ]) PT02  For manufacturer setting 0001h    Page 187 PT03 *FTY Feeding function selection...
Page 181 Symbol Name Initial Unit Detailed value explanation PT34 *PDEF Point table default 0000h  Page 187 Positioning control  PT35 *TOP5 Function selection T-5 0000h parameters ([Pr. PT_ _ ])    PT36 For manufacturer setting 0000h PT37  Page 187 PT38 **TOP7...
Page 182 Symbol Name Initial Unit Detailed value explanation PT72  For manufacturer setting 0000h   PT73 0000h PT74 0000h PT75 0000h PT76 0000h PT77 0000h PT78 0000h PT79 0000h PT80 0000h 7 PARAMETERS 7.1 Parameter list...
Page 183: Network Setting Parameters ([Pr. Pn
Network setting parameters ([Pr. PN_ _]) Symbol Name Initial Unit Detailed value explanation    PN01 For manufacturer setting PN02 CERT Communication error detection time [ms] Page 197 Network setting parameters ([Pr. PN_   PN03 **NWMD Communication mode setting for CC-Link IE communication 0000h PN04 **NWNO...
Page 184: Detailed List Of Parameters
Detailed list of parameters • For parameters which are not described in this section, refer to chapter 5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". • Set a value to each "x" in the "Setting digit" columns. • The symbol in the control mode column means as follows: CP: Point table method PS: Indexer method Basic setting parameters ([Pr.
Page 185 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PA10 Set an in-position range per command pulse. 1600 To change it to the servo motor encoder pulse unit, set [Pr. PC06]. Refer to In-position range In the I/O mode, the in-position range is the range where Index 2D15h Status DO5 bit5 (Travel Function completion) and Index 2D11h Status DO1 bit12 (In-position) are outputted.
Page 186: Extension Setting Parameters ([Pr. Pc
Extension setting parameters ([Pr. PC_ _ ]) No./symbol/ Setting Function Initial Control name digit value mode [unit]   PC29 _ _ _ x For manufacturer setting *COPB   _ _ x _ Function   _ x _ _ selection C-B x _ _ _ Torque POL reflection selection...
Page 187: I/O Setting Parameters ([Pr. Pd
I/O setting parameters ([Pr. PD_ _ ]) No./symbol/ Setting Function Initial Control name digit value mode [unit] PD03 Any input device can be assigned to the CN3-2 pin. *DI1 _ _ x x Device selection   Input device Refer to the following table for settings. selection 1 ...
Page 188 No./symbol/ Setting Function Initial Control name digit value mode [unit] PD11 Select a filter for the input signal. *DIF   _ _ _ x Input signal filter selection Input filter setting If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.888 [ms] 2: 1.777 [ms]...
Page 189: Positioning Control Parameters ([Pr. Pt
Positioning control parameters ([Pr. PT_ _ ]) No./symbol/ Setting Function Initial Control name digit value mode [unit]   PT01 _ _ _ x Positioning command method selection **CTY 0: Absolute value command method Command mode 1: Incremental value command method selection _ _ x _ For manufacturer setting...
Page 190 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PT12 Set a range of the command remaining distance which outputs rough match. The unit will be as follows depending on the positioning mode. Refer to Rough match •...
Page 191 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PT19 Set an address increasing side of the position range output address. The combination of the upper 0000h *LPPL and lower digits makes one address. Using [Pr. PT19] to [Pr. PT22], set a range in which Index Refer to Position range 2D17h Status DO7 bit2 (Position range) turns on.
Page 192 No./symbol/ Setting Function Initial Control name digit value mode [unit]   PT26 _ _ _ x Electric gear fraction clear selection *TOP2 0: Disabled Function 1: Enabled selection T-2 Selecting "Enabled" clears a fraction of the previous command by the electronic gear at start of automatic operation.
Page 193 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PT34 Use this parameter when initializing point tables and cam data. 0000h **PDEF When the point table tables and cam data are initialized, they will be as follows: Point table Point table: All "0"...
Page 194 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PT42 Set the minimum speed when the digital override function is enabled. 0 [%] *OVM When you use the digital override function, multiplication can be set with [Pr. PT42] and [Pr. PT43]. Digital override Set this and [Pr.
Page 195 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PT45 Set a home position return type. Refer to the following table for details. Home position Setting a value other than the setting values in the following tables (other than "-1", "-3", "-33", "35", return types and "37"...
Page 196 No./symbol/ Setting Function Initial Control name digit value mode [unit]   PT48 _ _ _ x Torque limit selection during stop TOP7A 0: Disabled Function 1: Enabled selection T-7A When the set value of this digit is "1" (Enabled), the torque limit value is as shown in the following table while the indexer method is stopped.
Page 197 No./symbol/ Setting Function Initial Control name digit value mode [unit]    PT51 This parameter is used to smooth start/stop of the servo motor or linear servo motor. 0 [ms] Set the time of the arc part for S-pattern acceleration/deceleration. S-pattern Setting "0"...
Page 198 No./symbol/ Setting Function Initial Control name digit value mode [unit]   PT70 _ _ _ x Torque limit changing dog type home position return function selection TOP10 For torque limit changing dog type home position return, refer to the following. Function Page 84 Operation example of Manufacturer-specific Homing method selection T-10...
Page 199: Network Setting Parameters ([Pr. Pn
Network setting parameters ([Pr. PN_ _]) No./symbol/ Setting Function Initial Control name digit value mode [unit]    PN02 Set the time until [AL. 86.1 Network communication error 1] is detected. 0 [ms] CERT When "0" is set, the detection time becomes 1000 [ms]. Communication Setting range: 0 to 1000 error detection...
Page 200 No./symbol/ Setting Function Initial Control name digit value mode [unit]   PN13 _ _ x x Subnet mask setting 2 **SNMKA Set the 2nd octet of the subnet mask in hexadecimal. Subnet mask Set the subnet mask assigned by the network administrator. setting A When both [Pr.
Page 201 No./symbol/ Setting Function Initial Control name digit value mode [unit]   PN22 _ _ x x Operation specification IP address 2 **IPOAA Set the 2nd octet of the IP address of the network device allowed to be connected in hexadecimal. Operation When both [Pr.
Page 202: How To Set The Electronic Gear
How to set the electronic gear 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 Encoder...
Page 203 ■Setting example of a conveyor Machine specifications r = 160 [mm] Servo motor encoder resolution 4194304 [pulse/rev] 1/n = Z = 1/3 Pulley diameter: r = 160 [mm] Reduction ratio: 1/n = Z = 1/3 : Number of gear teeth on servo motor side : Number of gear teeth on load gear Servo motor encoder resolution: P = 4194304 [pulse/rev]...
Page 204: Stop Method At Software Limit Detection
Stop method at software limit detection By setting the third digit in [Pr. PD12], select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected. With the software limit, a command position controlled in the servo amplifier is limited. Therefore, actual stop position will not reach the set position of the software limit.
Page 205: Chapter 8 Troubleshooting At Power On
TROUBLESHOOTING AT POWER ON To remove the cause of the troubles, refer to the troubleshooting at power on described in this chapter and in "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)". Display Description Cause Checkpoint Action b##. The system has been in the test The test operation mode is Check if SW1-1 is "ON (up)"...
Page 206 MEMO 8 TROUBLESHOOTING AT POWER ON...
Page 207: Chapter 9 Manufacturer Functions
MANUFACTURER FUNCTIONS Stroke end Select a servo motor stop method for when the stroke end is off with the first digit setting of [Pr. PD12]. [Pr. PD12] Stop method selection at stroke limit detection 1: Slow stop 2: Slow stop (deceleration to a stop by deceleration time constant) 3: Quick stop (stop by clearing remaining distance) In "Sensor input type selection"...
Page 208 [Pr. PD12] Operation status Remark setting During rotation at constant speed During deceleration to a stop _ _ _ 3 Travels for the droop No S-pattern acceleration/deceleration No S-pattern acceleration/deceleration pulse portion and stops Part of S-pattern With S-pattern acceleration/deceleration With S-pattern acceleration/deceleration acceleration/deceleration the servo motor.
Page 209: One-Touch Tuning
One-touch tuning Refer to "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for one-touch tuning. Using One-touch tuning mode (2D50h) allows one-touch tuning from the master station (controller). Related object Index Access Name Data Default Description Type 2D50h One-touch tuning mode Setting "1"...
Page 210: Machine Diagnosis Function
Machine diagnosis function From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment, and recognizes an error in the machine parts, including a ball screw and bearing. The information of the machine diagnosis function can be obtained with the following objects.
Page 211: Simple Cam Function
Simple cam function CAUTION • Note that the number of write times to the Flash-ROM where the cam data is stored is limited to approximately 10000. If the total number of write times exceeds 10000, the servo amplifier may malfunction when the Flash-ROM reaches the end of its useful life. •...
Page 212: Simple Cam Function Block
Simple cam function block The following shows the function block diagram of the simple cam. Use MR Configurator2 to set the cam data and the cam control data. Main shaft Clutch input axis control command selection command Synchronous Encoder pulse count Main input Main shaft clutch Synchronous...
Page 213: Simple Cam Specification List
Simple cam specification list Specification list Item MR-J4-_GF_-RJ Memory capacity Storage area for cam 8 Kbytes (Flash-ROM) data Working area for cam 8 Kbytes (RAM) data Number of registration Max. 8 Comment Max. 32 single-byte characters for each cam data and cam control data Cam data and cam Stroke ratio data type Cam resolution...
Page 214: Control Of Simple Cam Function
Control of simple cam function Setting the cam data and the cam control data with MR Configurator2 enables the following three cam controls. Cam control Description Actual motion method To-and-fro Reciprocates within control a specified cam Cam data and cam control data stroke.
Page 215: Operation In Combination With The Simple Cam
Operation in combination with the simple cam Encoder following function The servo amplifier receives A/B-phase output signal from a synchronous encoder and starts the servo motor with the signal. Up to 4 Mpulses/s can be inputted from the synchronous encoder to use with the servo amplifier. Servo amplifier MR-J4-GF-RJ A/B-phase output...
Page 216: Setting List
Setting list List of items set with MR Configurator2 Set the following on the cam setting window of MR Configurator2. Setting item Setting Cam control data Main shaft input axis Select a command input method for the cam axis. selection Select "synchronous encoder axis"...
Page 217: Data To Be Used With Simple Cam Function
Data to be used with simple cam function CAUTION • Note that the number of write times to the Flash-ROM where the cam control data and cam data are stored is limited to approximately 10000. If the total number of write times exceeds 10000, the servo amplifier may malfunction when the Flash-ROM reaches the end of its useful life. If data needs to be changed very frequently, use the temporal writing function and write the data to the RAM, not to the Flash-ROM.
Page 218 Cam data • If the cam data is set incorrectly, the position command and speed command may increase, causing machine interference or [AL. 31 Overspeed]. When you have created and changed cam data, make sure to perform test operations and make appropriate adjustments. The following two types are available for the cam data.
Page 219 ■Stroke ratio data type The following are set in the stroke ratio data type. Set these in the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100%. Setting item Setting Setting range...
Page 220 • Cam standard position The cam standard position is calculated as follows: Cam standard position = The preceding cam standard position + (Cam stroke amount × Stroke ratio at the last point) Cam axis one cycle current value Cam standard position Cam standard (Third cycle)
Page 221 ■Coordinate data type The following are set in the coordinate data type. Set these in the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100%. Setting item Setting Setting range...
Page 222 • Feed current value The feed current value of the cam axis is calculated as follows: Feed current value = Cam standard position + Output value to cam axis current value per cycle When the cam axis current value per cycle is in the middle of the specified stroke ratio data, the intermediate value is calculated from the cam data before and after the value.
Page 223 List of cam control data The following table lists the cam control data added for the simple cam function. Set the cam control data on the cam data editing window of MR Configurator2. • Once the servo amplifier is powered off, the temporarily written data will be deleted. To store the temporarily written data, be sure to write it to the Flash-ROM before powering off the servo amplifier.
Page 224 Symbol Name Initial Unit Operation mode Control value mode Standard Full. Lin.         For manufacturer setting        CLTMD Main shaft clutch control setting 0000h  For manufacturer setting ...
Page 225 Detailed list of cam control data No./symbol/ Setting Function Initial Control name digit value mode [unit]    Select a setting method for the main shaft current value per cycle. *MCYSM 0: Previous value Main shaft current 1: Main shaft current value per cycle initial setting value value per cycle 2: Calculated from input axis setting method...
Page 226 No./symbol/ Setting Function Initial Control name digit value mode [unit]   _ _ _ x Control unit *ETYP 0: mm Synchronous 1: inch encoder axis unit 2: degree 3: pulse   _ _ x _ Feed length multiplication (STM) 0: ×...
Page 227 No./symbol/ Setting Function Initial Control name digit value mode [unit]    This is enabled when [Cam control data 42] is set to "1". Set the smoothing time constant. *CLTSMT Setting range: 0 to 5000 [ms] Main shaft clutch smoothing time constant ...
Page 228 ■Relation among the main shaft input axis, position data unit, and feed length multiplication setting The parameters used to set the position data unit and feed length multiplication differ depending on the setting of [Cam control data No. 30 Main shaft input axis selection]. Item Main shaft input axis selection ([Cam control data No.
Page 229: Function Block Diagram For Displaying State Of Simple Cam Control
Function block diagram for displaying state of simple cam control Load-side encoder Under cam control Main axis current value information Main axis one cycle current value Clutch Main shaft control input axis command command selection Synchronous Main shaft Main shaft clutch Encoder pulse count Synchronous encoder axis...
Page 230: Operation
Operation • Execute operation so that the machine speed of the input axis is equal to or less than "[Cam control data No. 48 - Cam axis length per cycle] × 1/2 × 1000 [command unit/s]". Failure to do so may cause the input axis and output axis to become out of synchronization.
Page 231 Setting example When the sheet length is 200.0 mm, the circumferential length of the rotary knife axis (synchronous axis length) is 600.0 mm, and the sheet synchronous width is 10.0 mm, set the following items as follows. Home position Cycle length of 0°...
Page 232 Operation The following shows an example of the procedure before operation. Step Setting and operation 1. Data setting Set this referring to (2) in this section. 2. Initial position adjustment Adjust the synchronous positions of the conveyor axis and rotary knife axis. •...
Page 233 Compensation by touch probe This system detects registration marks that have been equally printed on the sheet, and compensates the difference between the actual cam axis one cycle current value and the ideal cam axis one cycle current value (set value of the cam position compensation target position) by shifting the synchronous phase of the rotary knife axis and the conveyor axis.
Page 234 Details of cam position compensation This function compensates the difference between the target and actual sensor detection positions by shifting the cam axis current value per cycle. The cam axis length per cycle (sheet length) after compensation (ccyl') is calculated as follows: CCYL: Cam axis length per cycle ([Cam control data No.
Page 235: Cam No. Setting Method
Cam No. setting method • When the cam No. is set to a value other than "0" to "8", [AL. F6.5 Cam No. external error] will occur. If the cam data of a specified cam No. does not exist, [AL. F6.3 Cam unregistered error] occurs. At this time, the cam control is not executed and the servo motor does not start.
Page 236 Instantaneous stop The operation stops without deceleration. The servo amplifier immediately stops the command. Cam axis one cycle current value Feed current value Feed speed Instantaneous stop Deceleration stop The output axis decelerates to stop according to [Pr. PC51 Forced stop deceleration time constant]. After a deceleration stop starts, the cam axis current value per cycle and feed current value are not updated.
Page 237: Restart Operation Of Cam Control
Restart operation of cam control When the cam control is stopped during operation, a gap may be generated in the synchronous position relationship between the main shaft and the driven shaft. To solve the gap, return the main shaft and the driven shaft to the synchronization starting point and then start the synchronous operation.
Page 238: Cam Axis Position At Cam Control Switching
Cam axis position at cam control switching The cam axis position is determined by the positional relationship of three values of "Cam axis current value per cycle", "Cam axis standard position", and "Cam axis feed current value". When the control has been switched to the cam control (bit 5 of Control DI2 (2D02h) is on), defining the positions of two of these values restores the position of the remaining one value.
Page 239 Cam axis one cycle current value restoration • For the cam pattern of to-and-fro control, if no corresponding cam axis one cycle current value is found, [AL. F6.1 Cam axis one cycle current value restoration failed] will occur and cam control cannot be executed. •...
Page 240 ■Cam pattern of to-and-fro control • Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0) Cam axis one cycle current value Search from "Cam axis one cycle current value = 0". Cam axis feed current value The cam axis one cycle current value is restored with the first feed (Feed current value) current value that matched.
Page 241 • Searching fails Cam axis one cycle current value Cam axis feed current value (Feed current value) When no feed current value that matched is found within one cycle, the restoration fails. Cam standard position 9 MANUFACTURER FUNCTIONS 9.5 Simple cam function...
Page 242 ■Cam pattern of feed control • Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0) Cam axis one cycle current value Search from "Cam axis one cycle current value = 0". Cam axis feed current value The cam axis one cycle current value is restored with the first feed (Feed current value) current value that matched.
Page 243 • The first searching has failed and the second searching starts • If the first searching has failed, the second searching may not be processed in the next cycle for a cam pattern with a feed stroke ratio of less than 100%. To find an intended cam axis current value per cycle in the first searching, set a cam standard position or execute positioning in advance.
Page 244 Cam standard position restoration If the cam axis position restoration target is set to "Cam standard position restoration" and bit 5 of Control DI2 (2D02h) turns on, the "cam standard position" will be restored based on "Cam axis one cycle current value" and "Cam axis feed current value"...
Page 245 Cam axis feed current value restoration • When the restored cam axis feed current value differs from the feed current value at cam control switching, the cam axis feed current value moves to the value restored just after cam control switching. •...
Page 246: Clutch
Clutch Use the clutch when starting or stopping the servo motor by transmitting or shutting commands from the main shaft to the output axis module side with the clutch on/off. Set whether or not to use the clutch control with [Cam control data No. 36 - Main shaft clutch control setting]. Although the clutch ON/OFF can be changed during cam control, the setting of [Cam control data No.
Page 247: Cam Position Compensation Target Position
Cam position compensation target position Perform compensation to match the cam axis current value per cycle with the cam position compensation target position ([Cam control parameter No. 60]) by inputting a cam position compensation request. Control DI 2 bit 13 Cam position compensation target position...
Page 248: Override
Override Analog override Analog override can be used with the point table method and indexer method. To use the analog override function, set "Override selection" in [Pr. PT38] to "2". When using analog override in the point table method or indexer method, enable bit 7 (C_OVR) of Control DI7 (2D07h).
Page 249: Digital Override
Digital override Digital override can be used with the point table method and indexer method. To use the digital override function, set "Override selection" in [Pr. PT38] to "1". When using digital override in the point table method or indexer method, enable bit 3 to bit 6 (C_OV0 to C_OV3) of Control DI8 (2D08h).
Page 250 • When [Pr. PT42] is set to 50 and [Pr. PT43] is set to 5 in the rotation direction specifying indexer Power supply ALM (Malfunction) Status DO5 bit 6 (S_MEND) Point actual value All turned off All turned off All turned off All turned off Target point table Digital override 115 %...
Page 251 • When [Pr. PT42] is set to 50 and [Pr. PT43] is set to 5 in the station jog operation Power supply ALM (Malfunction) Status DO5 bit 6 (S_MEND) Point actual value All turned off All turned off Digital override 100 % Digital override 85 % Digital override 50 % Forward...
Page 252: Internal Torque Limit Selection
Internal torque limit selection Device/parameter The input devices and parameters are shown below. • Input devices used in internal torque limit selection Device name Description Internal torque limit selection of input device C_CTL Control DI bit 8 (Internal torque limit selection) •...
Page 253 Positioning mode (indexer method) Enabled torque limits are as follows. [Pr. PT48 (_ _ _ x) CTL and C_CTL Operation status Limit value status Enabled torque limit value Torque limit (Internal torque limit CCW power CW power selection during selection) running/CW running/CCW stop]...
Page 254: Chapter 10 Object Dictionary
OBJECT DICTIONARY Each data such as control parameters, command values, and feedback values is handled as an object composed of an address, object name, data type, access rule, and other elements. The object data can be exchanged between the master station (controller) and the slave stations (servo amplifiers).
Page 255 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 1010 Store parameters Impossible    The number of entries is returned.     Save all parameters Impossible 00000001h [Writing] Writing "save" (= 65766173h) saves all the objects which can be stored in the EEP-ROM.
Page 256 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2401 PL01 to PL48 Impossible     PL01 to The values of the linear servo PL48 2430 motor/DD motor setting parameters ([Pr. PL_ _ ]) can be obtained and set.
Page 257 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2A00 Alarm history newest Impossible 03h (fixed)    The number of entries in the 2A0F latest alarm of the alarm history is returned. ...
Page 258 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2A44 Parameter error number Impossible  0000h to    When [AL. 37 Parameter error] 01F4h (500) has occurred, the number of the parameters which cause the error is returned.
Page 259 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2B08 Regenerative load ratio Possible  0000h to   The regenerative load ratio is FFFFh returned.    2B09 Effective load ratio Possible 0000h to The effective load ratio is FFFFh...
Page 260 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2B2D Unit power consumption Possible  8000h to   The unit power consumption is 7FFFh returned.    2B2E Unit total power consumption Possible 80000000h to The unit total power consumption...
Page 261 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2B8E Alarm Monitor 14 Load to motor Possible  0000h to 0.01   inertia ratio FFFFh multiplier The load to motor inertia ratio at alarm occurrence is returned.
Page 262 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2BA8 Alarm Monitor 40 Number of Possible  0000h to times   tough drive operations FFFFh The number of tough drive operations at alarm occurrence is returned.
Page 263 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2C20 Machine diagnostic status Impossible 0000h to    [Bit 0 to Bit 3: Friction estimation FFFFh status at forward rotation] 0: Normal (During estimation) 1: Normal (Estimation is completed) 2: Warning (the servo motor may...
Page 264 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2C22 Dynamic friction torque at Impossible 8000h to 0.1 %   forward rotation (at rated speed) 7FFFh The friction torque at forward rotation torque at rated speed is returned in increments of 0.1%.
Page 265 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2C29 Fault prediction status Impossible 00000000h to    Bits 0 to 3: Friction failure FFFFFFFFh prediction status 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
Page 266 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2C2E Vibration based fault prediction Impossible  8000h to   prepare status 7FFFh The threshold creation progress used for vibration failure prediction is displayed in %. The creation of a threshold for vibration failure prediction will be completed at 100%.
Page 267 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2D35 Encoder status Impossible 01h (fixed)    The number of entries is returned.     Encoder status1 Impossible 00000000h to The encoder status is returned. 00000001h Bit 0: Whether the servo amplifier is used in an absolute position...
Page 268 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2D50 One-touch tuning mode Impossible 00h to 03h    Setting "1" to "3" starts one-touch tuning. After one-touch tuning is completed, the setting value automatically changes to "0".
Page 269 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 2D80 Target CAM No. Possible  00h to 08h    Set a cam No. When [Cam control data No. 49 - Cam No.] is "0", the cam number set with Target CAM No.
Page 270 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 6060 Modes of operation Possible 80h to 7Fh    Set the control mode. 0: No mode assigned 6: Homing mode (hm) -100: Jog mode (jg) -101: Point table mode (pt) -103: Indexer mode (idx) ...
Page 271 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 607D Software position limit Impossible 02h (fixed)    The number of entries is returned.  Min position limit Possible 80000000h to pos units PT17, PT18 Set an address decreasing side 7FFFFFFFh...
Page 272 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 6083 Profile acceleration Possible 00000000h to  PT49 The current acceleration time FFFFFFFFh constant can be read. The values of the acceleration time constant in the Jog mode (jg) and indexer mode (idx) can be set.
Page 273 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 6092 Feed constant Impossible 02h (fixed)    The number of entries is returned. Electronic gear expression: Travel distance/Number of revolutions of the drive axis ...
Page 274 Index Name and function Data Access Variable Default Range Units EEP- Parameter Index Type mapping 60BA Touch probe pos1 pos value Possible 80000000h to pos units   The position latched at the rising 7FFFFFFFh edge of touch probe 1 is returned.
Page 275: Object Dictionary Details (Objects In The 1000S)
10.2 Object dictionary details (objects in the 1000s) • This section describes the objects in the 1000s. Refer to section 10.1 for details of the objects not listed here. Store Parameters (1010h) • Before shutting off the power supply after executing Store parameters, always check that parameters are not being saved (bit 0 is on).
Page 276: Restore Default Parameters (1011H)
Usage This object can read the availability of each Sub Index. The following table shows the returned values of each item. Sub Index Item Saved parameter Returned value  Number of entries Save all parameters Index: 2001h to 27FFh 00000001h (available) For manufacturer setting Select the items to be saved in EEP-ROM using this object.
Page 277: Transmit Pdo Mapping (1A00H)
Transmit PDO Mapping (1A00h) • This object is available only for CC-Link IE Field Network Basic. • This object is available with servo amplifiers with software version A7 or later. • When used with a servo amplifier with software version A6 or earlier, RXn is overwritten with object data, so reading may not be performed properly.
Page 278 Precautions on setting • Response message mapping can be set when CC-Link IE Field Network Basic communication is stopped (RX (n + 3) F = 00h). • Perform mapping in the order of Sub Index 1 to 32, regardless of object size. The required number of RWr is secured automatically.
Page 279: Object Dictionary Details (Objects In The 2000S)
10.3 Object dictionary details (objects in the 2000s) • This section describes the objects in the 2000s. Refer to section 10.1 for details of the objects not listed here. Point table (2801h to 28FFh) Index Sub Index Name Data Type Access 2801h to Point Table No.
Page 280: Point Table Error (2A43H)
Point table error (2A43h) Index Sub Index Name Data Type Access 2A43h Point table error Number of entries Point Table Error No Point Table Error Factor When a point table error [AL. 37] has occurred, the detail of the point table where the point table error has occurred can be read.
Page 281 • Bit definition of control DI2 Symbol Description  The value at reading is undefined. Set "0" when writing.     C_CAMC Cam control command Turn CAMC on to switch the control from the normal positioning control to the cam control. ...
Page 282 • Bit definition of control DI4 Symbol Description  The value at reading is undefined. Set "0" when writing.                • Bit definition of control DI5 Symbol Description ...
Page 283 • Bit definition of control DI6 Symbol Description  The value at reading is undefined. Set "0" when writing.                • Bit definition of control DI7 Symbol Description ...
Page 284 • Bit definition of control DI8 Symbol Description  The value at reading is undefined. Set "0" when writing.   C_OV0 Digital override selection 1 C_OV1 Digital override selection 2 C_OV2 Digital override selection 3 C_OV3 Digital override selection 4 ...
Page 285: Status Do (2D11H To 2D1Ah)
• Bit definition of control DI10 Symbol Description  The value at reading is undefined. Set "0" when writing.                Status DO (2D11h to 2D1Ah) Index Sub Index Name Data Type...
Page 286 • Bit definition of status DO2 Symbol Description S_ZPASS Z-phase already passed 0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up  The value at reading is undefined.  S_ZSP Zero speed detection S_ZSP turns on when the servo motor speed is zero speed or less. Zero speed can be changed with [Pr. PC07]. S_VLC Limiting speed When the speed reaches the speed limit value in the torque mode, S_VLC turns on.
Page 287 • Bit definition of status DO3 Symbol Description  The value at reading is undefined.     S_STO During STO S_STO turns on during STO.  The value at reading is undefined.     S_MTTR During tough drive ...
Page 288 • Bit definition of status DO5 Symbol Description  The value at reading is undefined.     S_CPO Rough match When a command remaining distance is lower than the rough match output range set with [Pr. PT12], S_CPO turns on. S_MEND Travel completion When the droop pulses are within the in-position output range set with [Pr.
Page 289 • Bit definition of status DO7 Symbol Description  The value at reading is undefined.  S_POT Position range When the current position is within the range set with [Pr. PT19] to [Pr. PT22], S_POT turns on. This will be off when a home position return is not completed or base circuit shut-off is in progress.
Page 290 • Bit definition of status DO9 Symbol Description  The value at reading is undefined.                • Bit definition of status DO10 Symbol Description  The value at reading is undefined. ...
Page 291: Target Point Table (2D60H)
Target Point Table (2D60h) Index Sub Index Name Data Type Access 2D60h Target Point Table Point table specification No. can be read and written. In the point table mode (pt), specify the point table No. to execute. In the indexer mode (idx), set the next station No. to execute.
Page 292: Manufacturer Device Name 2 (2D30H)
Manufacturer Device Name 2 (2D30h) Object list Index Sub Index Name Data Type Access 2D30 Manufacturer Device Name 2 Number of characters of device name VISIBLE STRING 1 to 32 Device The model name of the servo amplifier can be read. This is available with servo amplifiers with software version A7 or later.
Page 293: Serial Number 2 (2D33H)
Serial Number 2 (2D33h) Object list Index Sub Index Name Data Type Access 2D33 Serial Number 2 Number of characters of servo VISIBLE amplifier serial No. STRING 1 to 16 Servo amplifier serial No. The serial No. of the servo amplifier can be read. Usage Use this object to read the serial No.
Page 294: Object Dictionary Details (Objects In The 6000S)
10.4 Object dictionary details (objects in the 6000s) • This section describes the objects in the 6000s. Refer to section 10.1 for details of the objects not listed here. Quick stop option code (605Ah) Index Sub Index Name Data Type Access 605Ah Quick stop option code...
Page 295: Software Position Limit (607Dh)
Software Position Limit (607Dh) Index Sub Index Name Data Type Access 607Dh Software Position Limit Number of entries Min Position Limit Max Position Limit The current software limit setting can be read. At this time, "02h" is returned to Number of entries. For Min Position Limit, the software stroke limit value for the reverse rotation direction is returned in command units.
Page 296: Feed Constant (6092H)
Feed constant (6092h) Index Sub Index Name Data Type Access 6092h Feed constant Feed constant Feed Shaft revolutions In the point table method, Feed (6092h: 1) is set automatically by [Pr. PT01], so writing is not possible. Writing a value results in error code CCD4h.
Page 297: Touch Probe (60B8H To 60Bbh)
Touch probe (60B8h to 60BBh) • The touch probe cannot be used in the indexer method. The current position latch data at the time of TPR1 (Touch probe 1) and TPR2 (Touch probe 2) input can be read. Object list Index Sub Index Name...
Page 298 Usage The following explains for latching the current position at the rising edge of TPR1 (Touch probe 1). Set "0013h" to the touch probe function (60B8h) to store data at the rising edge of TPR1 (Touch probe 1). (a) At this time, Touch probe status (60B9h) is "0001h", and the latched data has not been stored yet. (b) Use an external signal to turn on TPR1 (Touch probe 1).
Page 299: Touch Probe Function (60B8H)
Touch probe function (60B8h) Index Sub Index Name Data Type Access 60B8h Touch probe function The current setting of the touch probe function can be checked. Each setting of the touch probe function can also be set. The settings of this object are as follows. Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled...
Page 300: Touch Probe Status (60B9H)
Touch probe status (60B9h) Index Sub Index Name Data Type Access 60B9h Touch probe status The current status of the touch probe function can be checked. The descriptions of this object is as follows. Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: The rising edge position of touch probe 1 has not been stored.
Page 301: Touch Probe Pos1 Pos Value (60Bah)
Touch probe pos1 pos value (60BAh) Index Sub Index Name Data Type Access 60BAh Touch probe pos1 pos value The current rising edge position of touch probe can be checked. Touch probe pos1 neg value (60BBh) Index Sub Index Name Data Type Access 60BBh...
Page 302: Positioning Option Code (60F2H)
Positioning option code (60F2h) Object list Index Sub Index Name Data Type Access No. of Points/ Continuous read/ No. of Registers continuous write 60F2h Positioning option code 2Byte Impossible "degree (_ 2 _ _)" can be set for "Unit for position data" in [Pr. PT01 Command mode selection]. When "degree"...
Page 303 Sequence The following shows the operation patterns corresponding to the settings of Positioning option code (60F2h). ■When POL is disabled ([Pr. PA14 Rotation direction selection] = 0) 360 = 0 360 = 0 360 = 0 360 = 0 Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1...
Page 304: Revisions
Japanese manual number: SH-030272-B 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 305: Warranty
WARRANTY 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 306: Trademarks
TRADEMARKS MELSERVO and CC-Link IE are trademarks or registered trademarks 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 308 SH(NA)030273ENG-B(2012)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

Chapter 1 Functions and Configuration

CHAPTER 2 CC-Link IE FIELD NETWORK BASIC PROTOCOL

Chapter 3 Slmp

Chapter 4 Startup

CHAPTER 5 Cia 402 DRIVE PROFILE

Chapter 6 Servo Motor Driving

Chapter 7 Parameters

Chapter 8 Troubleshooting at Power on

Chapter 9 Manufacturer Functions

Chapter 10 Object Dictionary

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