Mitsubishi Electric MELSERVO-J2S-S061, MR-J2S-**A-S061 Specifications

BCN-B11127-479*

Section Mgr.

Section Mgr.Section Mgr.

Section Mgr. Design Eng.

Design Eng.Design Eng.

Design Eng.

APPROVALS:

APPROVALS:APPROVALS:

APPROVALS:

H.Ogi

H.OgiH.Ogi

H.Ogi

MITSUBISHI

General Purpose AC Servo

MELSERVO-J2S-S061

Built-In Positioning Function
Specifications and Instruction Manual

For Engineering Sample

MITSUBISHI

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BCN-B11127-479*

Table of Contents

1. FUNCTION AND CONFIGURATION 2

1.1 Overview 2

1.2 Features 3

1.3 System configuration 3

2. WIRING DIAGRAM 5

3. TERMINALS 7

3.1Terminal blocks 7

3.2 Connection example 8

3.3 Power-on sequence 8

3.4 Signal explanations 12

3.5 Additional function devices 14

4. INTERFACES 16

5. AUTOMATIC OPERATION MODE 18

5.1 Positioning via point table with digital input 18

5.2 Positioning operation in accordance with point tables 22

5.3 Positioning operation vi a com munication 23

5.4 Manual operation mode 24

5.5 Zeroing 26

6. DISPLAY AND OPERATION 27

6.1 Display flowchart 27

7. PARAMETERS 28

8. COMMUNICATIONS 47

8.1Configuration 47

8.2 Communication specifications 49

8.3 Protocol 50

8.4 Character codes 52

8.5 Error codes 53

8.6 Checksum 53

8.7 Time-out operation 54

8.8 Retry operation 54

8.9 Initialization 55

8.10 Communication procedure example 55

8.11 Command and data No. list 56

8.12 Detailed explanation of commands 66

REVISIONS 85

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1. FUNCTIONS AND CONFIGURATION

1.1 Overview

The MR-J2S-

A-S061 AC se rvo amplifier w ith built-i n positioning functions i s the MR-J2 S-A general­purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform
positioning operation by merely setting the position data (target positions), motor speeds, acceleration
and deceleratio n time co n stan ts, et c. to poin t ta ble s as if se tting the m in p aram ete rs. Th e serv o amp lifie r
is the most appropriate to configure a program-free, simple positioning system or to simplify a system, for
example.
There are up to 31 points. You can choose a configuration suitable for your purpose, e.g. simple
positioning system using external I/O signals (DI/O), operation using DI/O and RS-422 serial
communication, or multi drop operation using RS-422 serial communication.
All servo motors are equipped with an absolute position encoder as standard. An absolute position
detection syste m can be configured by merely adding a battery to the se rvo amplifier. Once the home
position has been set, z eroing i s not requi red a t power on, al arm occurrence, etc.

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1.2 Features
(1) Up to 31 point tables

(2) Stopper type zeroing operation
(3) Point table output function

1.3 System configuration

1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.

Servo amplifier (axis 1)

External I/O
signals

Power supply
3-phase 200VAC
or single-phase
230VAC

Servo motor

RS–422

Set-up
Software

Personal
computer

CN1A CN1B

CN2 CN3

Servo amplifier (axis 2)

External I/O
signals

Servo motor

CN1A CN1B

CN2 CN3

RS–232C

RS–232C/RS-422 converter

(to be prepared by the customer)

To the next axis

RS–422

Power supply
3-phase 200VAC
or single-phase
230VAC

Communication data

PC to Servo amplifier Servo amplifier to PC

- Positioning data to point table

- Control signals

- Parameter data

- Status monitor

- Parameter data

- Alarm information and so on

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2) The follow ing configuration uses e xternal I/O signals. The external input signal s are used to
control all signals (devices) that response delay is less than 15msec.

3) Function list

Contents Description

Operation specification - Positioning up to 31 point via point block #

Position command input

- Setting at point block

- Setting range for positioning: +/- 1 [um] to +/- 999.999 [um]

Speed command input

- Setting at point block

- Set at the point block for acc. / dec. time

- Parameter # 14 is for S-Curve acc. / dec. time constant

Point block # input

System - Absolute value command with sign or incremental value command
Operation specification - Positioning via RS-422(232C) communication

Position command input

- Setting via RS-422(232C) communication

- Setting range for positioning : +/- 1 [um] to +/- 999.999 [um]

Speed command input

- Setting via RS-422(232C) communication

- Set the acc. / dec. time via RS-422(232C) communication

- Parameter # 14 is for S-Curve acc. / dec. time constant

Command type

Position data input

System - Absolute value command with sign or incremental value command

Automatic mode

- Select the required ones from among 31 preset point blocks and
perform operation in accordance with the set value

(Position block # input, Position data input)

Manual mode JOG

- Jogging operation among preset jog speed via RS-422(232C)
communication or external input

Operation mode

Manual zeroing Stopper type zeroing

- Stopper type zeroing

Capable set the zero address at parameter setting

Function on positioning control

- Absolute position detection system

- Backlash compensation

- External stroke limit function

- Software stroke limit function

- Teaching function

- Roll feeding function (equivalent)

Servo amplifie

r

External I/O
signals

Power supply
3-phase 200VAC
or single-phase
230VAC

Servo moto

r

CN1A CN1B

CN2 CN3

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2. Wiring Diagram

Emergency stop

Proximity dog

Zeroing completion

Monitor output 1

RA2

RA3

RA4

RA5

Rough match
In position
Trouble
Ready

External torque limit

16

15

17

7
5

14

8
9

10

SON

LSN

LSP

MD0

DI0
DI1

ST1

ST2
SG

20

SG

2

11

1

12

P15R

LG

TLA

VC

Plate

SD

CN1B

10

8

DOG

SG

CN1

A

18

ZP

4

13

6

18

19

CPO

INP

ALM

RD

COM

3

VDD

13

3

Plate

LG
SD

CN3

LG

4

MO1

14

MO2

A

A

C

D

P

B1

W (Black)

V (White)

U (Red)

(Green)

Electromagnetic
brake

Encoder

Encoder cable

(Available as option or to be fabricated)

NFB

MC

Regenerative
brake option

L12

L11

L 3

L 2

L1

10 k

2m(78.74inch) max.

Upper limit setting

W

V

U

Servo amplifier
MR-J2S-A-S061

9

RA 1

20

SG

Communication cable

(Available as option or to be fabricated)

CN3

TE1

TE2

When connecting the external regenerative
brake option, always disconnec

t

the jumper from across P-D.

SM

COM

CN 2

Servo motor

Servo on
Forward rotation stroke end

Reverse rotation stroke end
Automatic/manual selection
Point table No. selection 1
Point table No. selection 2
Forward rotation start
Reverse rotation star

t

3-phase 200VAC

10m(39.37inch) max.

10m (39.37inch) max.

Upper limit setting

To be shut off when servo on signal
switches off

or alarm occurs.

Monitor output 2

B2

10 k

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Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo

amplifier to the protective eart h (P E) of th e control box.

2. Connect the diode in the correct d irection. If it is con nected reversely, the servo amplif ier wil l be
faulty and will not output signals, disabling the emergency stop and other protective circuits.

3. CN1A, CN1B, CN2 an d CN3 hav e the s ame shape . Wrong connec tion of t he co nnectors w ill lead
to a fault.

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external.

5. When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP)
with SG. (Normally closed contacts)

6. Trouble (ALM) is connected with COM in normal alarm-free condition.

7. The pins with the same si gnal name a re connect ed in t he s ervo ampl ifi er.

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3. Terminals

3.1 Terminal blocks

Symbol Signal Description

Main circuit power input terminals

1) 200V Class

Supply L

1

, L2 and L3 with the following power.
For a single-phase 230VAC power supply, connect the power supply to L1 and
L2 and keep L3 open:

Servo amplifier

Power supply

MR-J2-10A to 70A MR-J2-100A to 700A

3-phase 200 to 230VAC,
50/60Hz

L

1•L2•L3

Single-phase 230VAC,
50/60Hz

L

1•L2

L1, L2, L3 Main circuit power supply

Cannot be used for combination with the ser vo motor HC-SFS52•53.

2) 100V Class

Supply L1, L2 with the single-phase 100 to 120V 50/60Hz power.

U, V, W Servo motor output

Servo motor power output terminalss
Connect to the servo motor power supply terminals (U, V, W).

L11, L21 Control circuit power supply

Control circuit power input terminals

1) 200V Class

Supply L11 and L21 with single-phase 200-230VAC, 50/60H z power.

2) 100V Class

Supply L11 and L21 with single-phase 100-120VAC, 50/60H z power.

P, C, D Regenerative brake option

Regenerative brake option connection terminals
C and D are factory-connected.
When using the regenerative brake option, always remove wiring from across
P-D and connect the regenerative brake option across P-C.

N Do not connect.

Protective earth (PE)

Ground terminal
Connect this terminal to the protective earth (PE) te rm inals o f the servo
motor and control box for grounding.

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3.2 Connection example

Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the
input cables of the power supply.
Design the circuit so that the servo on signal also tur ns off as soon as the power is shut off on detection of
alarm occurrence.

MC

SK

MC

ON

OFF

Emergency

stop

RA

EMG
SON

SG

VDD

COM

(Note 1) Three-phase
200 to 230VAC
or
Single-Phase
230VAC

RA

Servo amplifier

L21

L11

L3

L2

L1

Trouble

MC

NFB

Note : For a single-phase 230VAC power supply, connect the power supply to L1
and L2 and keep L3 open.

ALM

External
emergency stop
Servo on

3.3 Power-on sequence
(1) Power-on procedure

1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L

1

, L2, L3, single-phase 230V: L1, L2). Configure

up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L

11

, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit
power supply is switched on. Therefore, when SON is switched on simultaneously with the three­phase powe r supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will
switch on in further about 20ms, making the servo amplifier ready to operate.

4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.

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(2) Timing chart

20ms

20ms

20ms

10ms

10ms

10ms10ms

10ms

60ms

60ms

SON accepted

(1s)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Power sypply

Base circuit

Servo on
(SON)

Reset
(RES)

Ready
(RD)

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3.4 Signal explanations

1) CN1A

Signal Name Symbol Pin No. Description I/O Division

Digital I/F power supply
input

COM 9 Used to input 24VDC±10% for input interface .

Driver power input terminal for digital interface .
COM of each connector is connected in the servo amplifier.
When using an external power supply, connect a power supply of

24VDC, 200mA or more to this te r minal.
Open collector power
input

OPC 11 When using a manual pulse generator, supply 24VDC to this

terminal.
Digital I/F common SG 10, 20 Common te r minal for VDD and COM and isolated from LG.
DC15V power supply P15R 4 Used to output 15VDC. Po we r supply terminal for VC and TLA.
Control common LG 1 Common terminal for VC, T L A, MO1, MO2 and P15R.

When terminals DOG-SG are shorted, the proximity dog signal is

detected. The polarity of dog detection input can be changed with the

parameter.

Parameter No.8 Polarity of P roxim ity Dog Detection Input

0 DOG-SG are opened.
1 (initial value) DOG-SG are shorted.

Proximity dog DOG 8

DI-1

Zeroing completion ZP 18 ZP-SG are connected on completion of z eroi ng .

In the absolute p osi t i on sy s t em, ZP-SG are connected when the servo

amplifier is read y to operate but are disconnected if:

1) SON-SG are op en ed;

2) EMG-SG a re opened;

3) RES-SG are shorted;

4) Alarm occurs;

5) Limit switch open s ;

6) Zeroing has not been ma d e a fter the purchase of the product;

7) Zeroing has not been ma d e a fter the occurrence of absolute position
erasure (A. 25) or ab s ol u te position counter warning
(A. E3);

8) Zeroing has not been ma d e a fter the changing of the electronic gear
value;

9) Zeroing has not b een made after the absolute position syst em w a s
made valid; or

10) The ST1 coordinate system (000

in parameter No.1) has been

changed.

DO-1

19 Empty

DI-1

DO-1

Shield SD Plate Connect one end of the shielded cable.

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2) CN1B

Signal Name Symbol Pin No. Description I/O Division

I/F Internal power
supply

VDD 3 Used to output 24V 10% to across VDD-COM.

When using this power supply for digital interface, conne ct it with
COM.

Permissible current: 80mA
Digital I/F power supply
input

COM 13 Used to input 24VDC 10% for input interface.

Driver power input terminal for digital interface .

COM of each connector is connected in the servo amplifier.

When using an external power supply, connect a power supply of

24VDC, 200mA or more to this te r minal.
DC15V power supply P15R 11 Used to output 15VDC to across P15R-LG. Used for VC/TLA power

supply.
Digital I/F Common SG 10, 20 24VDC common terminal for VDD, COM, etc. and isolated from LG.
Control common LG 1 Common terminal for VC, T L A, MO1, MO2 and P15R.
Servo on SON 15 When SON-SG are shorted, the base circuit is switched on and the

servo amplifier is ready to operate.

When they are opened, the base circuit is shut off and the servo

motor coasts.

DI-1

Forward rotation stroke
end

LSP 16 To start operation, short LSP-SG or LSN-SG. When they are opened,

the servo m otor is stopped s u ddenly and servo-l ocked.

DI-1

Operation Across

LSP-SG

Across

LSN-SG

CCW direction CW direction

1 1
0 1
1 0
0 0

Reverse rotation stroke
end

LSN 17

Note. 0:Open,1:Short

DI-1

This signal serves as a forward rotation start signal for the

incremental value command system.

In automatic operation mode, the servo motor rotates in the forward

rotation direction as soon as ST1-SG are shorted.

In zeroing mode, zeroing star ts as soon as ST1-SG are shorted.

In jog operation mode, the servo motor rotates in the forward

rotation direction while ST1-SG are shorted.

Forward rotation denotes the direction in which the address is

incremented.

Forward rotation start ST1 8

This signal serves as a start signal for the absolute value command

system. In automatic operation mode, operation starts as soon as

ST1-SG are shorted.

In zeroing mode, zeroing star ts as soon as ST1-SG are shorted.

In jog operation mode, the servo motor rotates in the forward

rotation direction while ST1-SG are shorted.

Forward rotation denotes the direction in which the address is

incremented.

DI-1

Reverse rotation start ST2 9 In automatic operation mode, the servo motor rotates in the reverse

rotation direction as soon as ST2-SG are shorted. (Incremental value

command only)

In jog operation mode, the servo motor rotates in the reverse

rotation direction while ST2-SG are shorted.

Reverse rotation denotes the direction in which the address is

decremented.

DI-1

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Signal Name Symbol Pin No. Description I/O Division

Automatic/manual
selection

MDO 7 Short MDO-SG to choose the automatic operation mode, or open

them to choose the manual operation mode.

DI-1

The following table lists the point table numbers which may be

chosen by the combinations of DI0 and DI1:

DI1 DI0 Selected Point Table No.

0 0 Manual zeroing
0 1 Point table No.1
1 0 Point table No.2
1 1 Point table No.3

Point table No. selection DI0

DI1 5 14

Note: 0: DI1/DI0-SG open

1: DI1/DI0-SG shorted

DI-1

Rough match CPO 4 CPO-SG are connected when the remainin g command distance falls

within the parameter-set rough match output range.

This signal is not output while the base circuit is off.

DO-1

In position INP 6 INP-SG are connected when the droop pulses fall within the

parameter-set in-position range.

This signal is not output while the base circuit is off.

DO-1

Trouble ALM 18 ALM-SG are disconnected when the protective circuit is activated to

shut off the base circuit at power off.

They are connected in normal condition at po wer off.

DO-1

Ready RD 19 RS-SG are connected when the servo amplifier is ready to operate

without failure after servo-on.

DO-1

Override VC 2 10 to 10V is applied to across VC-LG to limit the ser vo motor

speed. Apply

10[V] for 0[%] override , 0[V] for 100[%], or 10[V] for

200[%].

Analog

input

External torque limit TLA 12 0 to 10V is applied to across TLA-LG to lim it the servo motor-

generated torque.

Apply 0[V] for 0 torque or 10[V] for max. torque.

Analog

input

Shield SD Plate Connect one end of the shielded cable.

3) CN3

Signal Name Symbol Pin No. Description I/O Division

Analog monitor 1 MO1 4 Use d to output the data set in parameter No.17 to across MO1-LG in

terms of voltage. Resolution 8 bits

Analog
output

Analog monitor 2 MO2 14 Used to output the data set in parameter No.17 to across MO2-LG in

terms of voltage. Resolution 8 bits

Analog

output
SDP 9
SDN 19
RDP 5

RDN 15

RS-422 I/F

TRE 10

RS-422 communication terminal
RS-422 and RS-232C functions cannot be used together.
Short "15" and "10" at the last axis.

RXD 2 RS-232C I/F
TXD 12

RS-232C communication terminal
Use parameter No.16 for selection.

Monitor common LG 1, 3,

11, 13

Monitoring common for control common

Ground SD Plate Connect one end of the shielded cable.

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3.5 Additional function devices

By parameter setting, you can assign the signals given in this section to the pins of connectors CN1A and
CN1B, in addition to the signals in Section 3.2.

(1) Pins which accept different signals

Pin Type Connector Pin No. Device in Initial Status Device Symbol

CN1B-5 Po int table No. selection 1 DI0

CN1B-14 Point table No. selection 2 DI1

CN1A-8 Proximity dog DOG
CN1B-15 Servo on SON
CN1B-16 Forward rotation stroke end LSP
CN1B-17 Reverse rotation stroke end LSN

CN1B-7 Automatic/manual selection MDO

CN1B-8 Fo rward rotation start ST1

Input-only pins

CN1B-9 Reve rse rotation start ST2

I/O pin CN1A-19 Empty

CN1B-4 Rough match CPO

CN1B-6 In position INP
CN1B-18 Trouble ALM
CN1B-19 Ready RD

Output-only pins

CN1A-18 Zeroing completion ZP

(2) Assignable devices

1) Input devices

Device Name Symbol Description I/O Division

No assigned function No function is assigned.
Emergency stop EMG When EMG-SG are opened, the servo amplifier is placed in the emergency

stop status, the servo sw i t ch es of f, and the dynamic brake is operated t o b ri n g
the servo motor to a sudden stop.
Short EMG-SG in the emergency stop status to cancel the emergency stop
status.

DI-1

Alarm reset RES Short RES-SG to deactivate the alarm.

If RES-SG are shorted in no alarm status, the base circuit is not shut off.
Set

0 in parameter No. 55 to shut off the base circuit.
Some alarms cannot be deactivated by the reset signal.
Since this device is not designed for stopping, do not switch it on during
operation.

DI-1

Point table No. selection DI2

DI3
DI4

Valid in the automatic mode.
The following table lists the point table numbers that may be chosen by the
combinations of DI0, DI1, DI2, DI3 and DI4:

DI4 DI3 DI2 DI1 DI0 Selected point table No.

0 0 0 0 0 Zeroing operation
0 0 0 0 1 Point table No.1
0 0 0 1 0 Point table No.2
0 0 0 1 1 Point table No.3

: : : : : :
1 1 1 0 1 Point table No.28
1 1 1 0 1 Point table No.29
1 1 1 1 0 Point table No.30
1 1 1 1 1 Point table No.31

Note:0: DI3/DI2/DI1/DI0-SG ope n

1: DI3/DI2/DI1/DI0-SG shorted

DI-1

External torque limit
selection

TL0 Short TL 0-SG to m ak e external analog torque limit valid. DI-1

Internal torque limit
selection

TL1 Open TL1-SG to m ake the torque limit value set in parameter No. 28 (T L 1)

valid, or short them to make the value se t in parameter No.29 (TL2) valid.

DI-1

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Device Name Symbol Description I/O Division

Proportion control PC Short PC-SG to switch the speed amplifier from proportional integral type to

proportional type.

DI-1

Temporary stop/Restart STP Short STP-SG during automatic operation to make a temporary stop.

Short STP-SG again to make a restart.
Shorting the forward/reverse rotation start signal during a temporary sto p is
ignored.
Switching from automatic mode to manual mode during a temporary stop
clears the remaining moving distance.
During zeroing and jog opera t i on, t h e temporary stop/restart input is ignored.

DI-1

Gain changing CDP Gain changing device

Short CDP-SG to switch the gain that changing condition depends on the
setting in parameter No. 68

DI-1

2) Output devices

Device Name Symbol Description I/O Division

No assigned function No function is assigned.
Electromagnetic brake
interlock

MBR Used to output the interlock signal for electromagnetic brake.

MBR-SG are disconnected at servo-off or alarm occurrence.

DO-1

Dynamic brake
interlock

DBR Dynamic brake inte r lock output device. DO-1

Position range POT POT-SG are connected when the actual current position is within the

parameter-set range.
The output is open when zeroing is incomplete or the base circuit is off.

DO-1

Warning WNG WNG-SG are connected when warning occurs.

Open in normal condition.

DO-1

Battery warning BWNG BWNG-SG are connected when the open battery cable warning (A. 92) or

battery warning (A. 9F) occurs.
Open in normal condition.

DO-1

Limiting torque TLC TLC-SG are connected when the internally or externally set torque limit

value is reached.

DO-1

Temporary stop PUS PUS-SG are connected when deceleration to a stop is started by the

temporary stop signal. PUS-SG is disconnected when operation is resumed by
making the temporary stop signal valid again.

DO-1

Moving completion MEN D

MEND-SG are connect ed w hen t he i n - position and rough match signal tu rn ed
on

DO-1

Point table No. output

PT0
PT1
PT2
PT3
PT4

The following table lists the point block numbers that may be chosen by the
combinations of PT0, PT1, PT2,TP3 and PT4 after positioning complete:

PT4 PT3 PT2 PT1 PT0 Point block No.

0 0 0 0 0
0 0 0 0 1 Point block No.1
0 0 0 1 0 Point block No.2
0 0 0 1 1 Point block No.3

1 1 1 0 0 Point block No.28
1 1 1 0 1 Point block No.29
1 1 1 1 0 Point block No.30
1 1 1 1 1 Point block No.31

These signals will be turned off while Powered off, Servo off, In zeroing
operation and after zeroing com ple te.
It will be hold previous status if changed operation mode, in m anual
operation and in fast zeroing

DO-1

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(4) Device setting of control mode

Automatic operation Operation mode

Signal

Absolute command

Incremental

command

Manual

drive

Manual
zeroing

Automatic/Manual

MD0

ON ON OFF ON

Point block No.

DI0

to

DI4

1 to 31 1 to 31 0

Forward rotation start

ST1

ON

(FWD. JOG)

Reverse rotation start

ST2

ON

(REV. JOG)

Note: The start signal will respond within 3 ms.

Servo motor will be stopped and cleared moving remain distance when Automatic/Manual signal

changed in positioning.

5ms 5ms

5ms

5ms

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4. Interfaces

This section gives the details of the I/O signal interfaces.

(1) Digital input interface DI-1

Give a signal with a rela y or open coll ector t ra nsi s tor.
Source input is also possible. Refer to (5) in this section.

For use of internal power supply For use of external power supply

24VDC

SON, etc.

SG

Switch

Servo amplifier

COM

VDD

R: Approx. 4.7k

Approx. 5mA

TR

V

CES

1.0V

I

CEO 100 A

(Note)
For a tran sistor

24VDC
200mA or more

SON, etc.

SG

Switch

Servo amplifier

COM

R: Approx. 4.7k

VDD

Do not connect
VDD-COM.

Note: This also applies to the use of the external power supply.

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a la mp load. (Permissible current: 40 mA or less, inrush current:
100mA or less)

1) Inductive load

For use of internal power supply For use of external power supply

ALM, etc.

24VDC

VDD

COM

SG

Load

If the diode is not
connected as show n,
the servo amplifier
will be damaged.

Servo amplifier

ALM, etc.

27VDC or
less

COM

SG

Load

Servo amplifier

VDD

If the diode is not
connected as shown,
the servo amplifier
will be damaged.

Do not connect
VDD-COM.

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BCN-B11127-479*

For use of internal power supply For use of external power supply

Servo amplifier

ALM, etc.

24VDC VDD

COM

R

VDD

Servo amplifier

ALM, etc.

COM

SG

27VDC or
less

R

Do not connect
VDD-COM.

(3) Analog output

MO1

(MO2)

LG

SD

A

Servo amplifier

Output 10V
Max. 1mA

Reading in one or
both directions
1mA meter

10k

(5) Source input interface

When using the input interface of source type, all DI-1 input signals are of source type.
Source output cannot be provided.

For use of internal power supply For use of external power supply

24VDC

SON,
etc.

SG

Switch

Servo amplifier

COM

VDD

R: Approx. 4.7k

Approx. 5mA

TR

(Note)
For a tran sistor

V

CES

1.0V

I

CEO

100 A

24VDC
200mA or more

SON, etc.

SG

Switch

Servo amplifier

COM

R: Approx. 4.7k

Note: This also applies to the use of the external power supply.

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BCN-B11127-479*

5. Automatic Operation Mode

5.1 Positioning via point table with digital input
(1) Parameter setting

Set the following parameters to perform automatic operation:

(a) Command mode selection (parameter No.0)

Select the absolute val ue command s ys tem or i ncrementa l va lue comma nd sys t em.

Parameter No. 0 Setting Positioning System

0 Absolute value command
1 Incremental value command

(b) Operation system selecti on (para met er No.1)

Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal
or reverse rotation start (ST 2) s i gnal i s swi tched on.

Parameter No. 1 Setting

Servo Motor Rotation Direction

When Forward Rotation Start (S T1) I s Switched On

0

CCW rotation with

position data

CW rotation with

position data

1

CW rotation with

position data

CCW rotation with

position data

CCW

CW

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BCN-B11127-479*

(c) Feed length multiplication selection (parameter No.1)

Set the unit multiplication factor (STM) of position data. The actual moving distance is the result
of multiplying the entered position data by the unit multiplication factor.

Parameter No.1 Setting Feed Length Multiplication STM [Times]

0 Position data 1
1 Position data 10
2 Position data 100
3 Position data 1000

(2) Point table

(a) Point table setting

Up to 31 point tables may be set. The following table lists what to set:

Name Setting Range Unit Description

Position data 999999 to 999999 [ 10SMm]

In the absolute value command sys tem, moti on is ma d e to the s et ad d ress.
In the incremental value command system, motion is made over the set
distance.
Use the parameter to select the incremental value command or absolute
value command.
A negative value cannot be set to the incremental value command.

Motor speed 0 to permissible speed r/min

Set the command speed of the servo motor for execution of positioning.
The setting should be equal to or less than the instantaneous permissible

speed of the servo motor.
Acceleration
time constant

0 to 20000 ms

Set the acceleration time constant.

Set the time until the rated speed of the servo motor is re ache d.
Deceleration
time constant

0 to 20000 ms

Set the deceleration time constant.

Set the time until the servo motor running at rated speed comes to a stop.

Dwell time 0 to 20000 ms

Set the dwell time.

Set "0" in the auxiliary function to make the dwell time invalid.

Set "1" in the auxiliary function and 0 in the dwell time to perfor m

continuous operation.

When the dwell time is set, the position command of the selected point

table is completed, and after the set dwell time has elapsed, the position

command of the next point table is started.

Auxiliary
function

0 • 1

Set the auxiliary function.

Set "1" to execute point tables consecutively without a stop.

0: Automatic operation is performed in accordance with a single point

table chosen.

1: Operation is performed in accordance with consecutive point tables

without a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.15 results in an error.

For full information, refer to Section 4.2.5.

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BCN-B11127-479*

(b) Descriptions of auxiliary function
a) Auxiliary function setting “0”

b) Auxiliary function setting “1” and dwell time is “0”

c) Auxiliary function setting “1” and dwell time is not “0”

Point block No. 1

Point block No. 2

Point block No.3

Servo motor
speed

(ST1 or ST2)

Start signal

Servo motor
speed

Position block

No. 1

Position block

No.3

0

In position (INP)

ON
O FF

Rough match
(CPO)

ON
O FF

Start signal
(ST1 or ST2)

ON
O FF

Point bloc

k

No.1

Position block

No.2

Dwell

time

Point block No.1

Dwell

time

Point table No. 2

Point table No. 3

Servo motor
speed

Point block
selection

No.1

Start signal

(ST1 or ST2)

In position

(INP)

Rough match

(CPO)

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BCN-B11127-479*

(3) Timing chart

Servo on (SON)

Ready (RD)

Trouble (ALM)

A

utomatic/manual

selection (MDO)
In position (INP)

Rough match (CPO)

Motor speed

Forward rotation star

t

(ST1)
Reverse rotation star

t

(ST2)

Point table No. No.1

No.2

Point table No. 1

Point table No. 2

4ms or
more

1.5ms or less

Note: Reverse rotation start (ST2) is invalid for absolute value command system.

ON
OFF
ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

Forward
rotation

Reverse
rotation

0r/min

(Note)

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BCN-B11127-479*

5.2 Positioning operation in accordance with point tables

By selecting the point table No. and switching on the start signal (ST1, ST2) using the communication
function, positioning operation in accordance with point tables can be started.

(1) Selection of point tables

Using the device forced output from the controller (command [9][2], data No. [6][0]), choose point
tables from among No.1 to 31

(2) Timing chart

Transmission
data

Servo motor
speed

1)

Point table No . 2

5ms

Point table No. 1 Point table No. 3

4) 5)

2)

4) 5)

3)

4)

5)

No. Transmissi on Data Command Data No.

1) Point table No.2 selec tion [9] [2] [6] [0]

2) Point table No.1 selec tion [9] [2] [6] [0]

3) Point table No.3 selec tion [9] [2] [6] [0]

4) Forward rotation start (ST1) ON [9] [2] [6] [0]

5) Forward rotation start (ST1) OFF [9] [2] [6] [0]

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BCN-B11127-479*

5.3 Positioning operation via communication

Positioning operation can be performed by changing the point table settings and making a start. For
example, positioning operation can be performed by writing the data of point table No.1, then specifying
point table No.1, and making a start.

Transmission data

Servo motor speed

1)

2)

3)

4) 5)

6)

7)

Values set with transmission data 1) to 5) are used for operation.

5ms

8)

No. Transmissi on Data Command Data No.

1) Point table No.1 position data wr ite [C] [0] [0] [1]

2) Point table No.1 spee d [C] [6] [0] [1]

3) Point table No.1 acceleration tim e constant [C] [7] [0] [1]

4) Point table No.1 deceleration time constant [C] [8] [0] [1]

5) Point table No.1 auxiliary function [C] [B] [0] [1]

6) Point table No.1 selec tion [9] [2] [6] [0]

7) Forward rotation start (ST1) ON [9] [2] [6] [0]

8) Forward rotation start (ST1) OFF [9] [2] [6] [0]

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BCN-B11127-479*

5.4 Manual operation mode

For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be
used to make a motion to any position.

5.4.1 Jog operation
(1) Setting

Set the input signal and parameters as follows according to the purpose of use. In this case, the point
table No. selection 1 to 5 signals (DI0 to DI4) are invalid:

Item Setting Method Description

Manual operation mode selection Automatic/manual selection signal (MDO) Open MDO-SG (OFF).
Servo motor rotation direction Parameter No.1 Refer to (2) in this section.
Jog speed Parameter No.13 Set the speed of the servo motor.

Acceleration/deceleration time constant Point table No.1

Use the acceleration/deceleration
time constants in point table No.1.

(2) Servo motor rotati on di rect i on

Servo Motor Rotation Direction

Parameter No. 1 Setting

Forward Rotation Start (ST1) ON Reverse Rotation Start (ST2) ON

0 CCW rotation CW rotation
1 CW rotation CCW rotation

ST1:ON
CCW

CW
ST2:ON

ST2:ON
CCW

CW
ST1:ON

Parameter No. 1

0 Parameter No. 1 1

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BCN-B11127-479*

(3) Operation

By shorting ST1-SG, operat ion i s performed under t he condi ti ons of t he jog s peed set in t he pa ramet er
and the acceleration and deceleration time constants in set point table No.1. For the rotation direction,
refer to (2) in this section. By shorting ST2-SG, the servo mot or rotat es in the revers e direction t o ST1.

(4) Timing chart

Servo on (SON)

Ready (RD)

Trouble (ALM)

A

utomatic/manual mode

selection (MDO)
In position (INP)

Rough match (CPO)

100ms

Motor speed

Forward rotation start (ST1)

Reverse rotation start (ST2)

Forward rotation jog

Reverse rotation jog

ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF

Forward
rotation

Reverse
rotation

ON
OFF
ON
OFF

0r/min