Mitsubishi Electric MELSERVO-JE, MR-JE-C Instruction Manual

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

SERVO AMPLIFIER INSTRUCTION MANUAL (PROFILE MODE)

C

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire. When you use a regenerative option with an MR-JE-40C to MR-JE-100C, remove the built-in regenerative resistor and wiring from the servo amplifier. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

A - 2

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal. Otherwise, an electric shock, fire, injury, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) 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 lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the product. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury, malfunction, etc. may occur. Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Storage -20 °C to 65 °C (non-freezing)

Ambient humidity

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)

Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

Operation 0 °C to 55 °C (non-freezing)

Operation

5 %RH to 90 %RH (non-condensing)

A - 3

r

CAUTION

The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products. To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

(2) Wiring

CAUTION

Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector. 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. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated otherwise. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifie

DOCOM

Control output signal

For source output interface

24 V DC

RA

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

A - 4

CAUTION

Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

(3) 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 the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never adjust or change the parameter values extremely as it will make operation unstable. Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor. Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

A - 5

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard. When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

B

Electromagnetic brake

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

RA

U

24 V DC

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment. When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 6

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.

Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes

Compliance with global standards

For the compliance with global standards, refer to app. 3 of "MR-JE-_C Servo Amplifier Instruction 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-JE-_C Servo Amplifier Instruction Manual SH(NA)030257ENG

MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030277ENG

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Network) SH(NA)030256ENG

MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual SH(NA)030135ENG

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

This Instruction Manual does not describe the following items. Refer to the section of the detailed explanation field for details. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".

INSTALLATION MR-JE-_C chapter 2

NORMAL GAIN ADJUSTMENT MR-JE-_C chapter 6

SPECIAL ADJUSTMENT FUNCTIONS MR-JE-_C chapter 7

TROUBLESHOOTING MR-JE-_C chapter 8

DIMENSIONS MR-JE-_C chapter 9

CHARACTERISTICS MR-JE-_C chapter 10

OPTIONS AND PERIPHERAL EQUIPMENT MR-JE-_C chapter 11

ABSOLUTE POSITION DETECTION SYSTEM (Note) MR-JE-_C chapter 12

Note. For the communication-based absolute position transfer system, refer to "MR-JE-_C

Servo Amplifier Instruction Manual (Network)".

Item Detailed explanation

A - 7

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

A - 8

1. FUNCTIONS AND CONFIGURATION

This instruction manual describes the items required for using the MR-JE-_C servo amplifier in the profile mode. For details of the objects/registers and communication, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual”. For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".

Combinations of servo amplifiers and servo motors MR-JE-_C section 1.4

Function list MR-JE-_C section 1.5

Model designation MR-JE-_C section 1.6

Structure (parts identification) MR-JE-_C section 1.7

Configuration including peripheral equipment MR-JE-_C section 1.8

Item Detailed explanation

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.1 Profile mode specification list

Only the specifications of the profile mode are listed here. For other specifications, refer to section 1.3 of "MR-JE-_C Servo Amplifier Instruction Manual".

Profile mode

Profile position mode

Profile velocity mode

Profile torque mode

Data set type The current position is set as the home position.

Stopper type

Home position

Homing mode

Homing on positive

Homing on negative

Item Description

Servo amplifier model MR-JE-_C

Command position range

Command multiplication Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/27649 < A/B < 8484

In-position range setting 0 pulse to ±65535 pulses (command pulse unit)

Error excessive ±3 revolutions

Torque limit Set with parameters or objects/registers.

Command speed range -21474836.48 r/min to 21474836.47 r/min (Clamped at the permissible speed)

Torque limit Set with parameters or objects/registers (Clamped at the maximum torque).

Command torque range -3276.8% to 3276.7% (Clamped at the maximum torque)

Speed limit Set with parameters or objects/registers (Clamped at the permissible speed).

Manufacturer-specific

Dog type (Rear end detection,

Z-phase reference)

Count type (Front end detection,

Z-phase reference)

(Stopper position reference)

ignorance (servo-on position as

home position)

Dog type (Rear end detection,

rear end reference)

Count type (Front end detection,

front end reference)

Dog cradle type

Dog type last Z-phase reference

Dog type front end reference

Dogless Z-phase reference

CiA 402 type

Homing on positive home switch and index pulse (method 3)

home switch and index pulse (method 4)

home switch and index pulse (method 5)

Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

At the front end of the proximity dog, deceleration starts. After the front end is passed, the position specified by the first Z-phase signal after the set distance or the position of the Z-phase signal shifted by the set home position shift distance is set as a home position. If the stroke end is detected during home position return, the direction of movement is reversed.

A workpiece is pressed against a mechanical stopper, and the position where it is stopped is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

The current position at servo-on is set as a home position. A home position can be set without switching to the home position return mode (Homing Mode).

Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

Deceleration starts from the front end of the proximity dog. The position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction. Then, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

The position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog cradle type home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Setting range of feed length: -999999 to 999999 [pulse],

Setting range of rotation angle: -360.000 to 360.000 [degree]

Set with objects/registers.

1 - 2

1. FUNCTIONS AND CONFIGURATION

Profile mode

Homing on home

Homing without index

Homing mode

Homing without index

Homing on index pulse

Homing on current

Item Description

CiA 402 type

Homing on negative home switch and index pulse (method 6)

Homing on home switch and index pulse (method 7)

Homing on home switch and index pulse (method 8)

Homing on home switch and index pulse (method 11)

switch and index pulse (method 12)

pulse (method 19)

Homing without index pulse (method 20)

pulse (method 21)

Homing without index pulse (method 22)

pulse (method 23)

Homing without index pulse (method 24)

pulse (method 27)

Homing without index pulse (method 28)

(method 33)

(method 34)

position (method 35)

position (method 37)

Same as the dog cradle type home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return.

Same as the dog cradle type home position return.

Same as the dog type last Z-phase reference home position return. The direction of rotation is opposite to that of the method 7.

Same as the dog cradle type home position return. The direction of rotation is opposite to that of the method 8.

Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type front end reference home position return.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

Same as the dog type front end reference home position return.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

Although this type is the same as the dogless Z-phase reference home position return, the creep speed is applied as the movement start speed.

The current position is set as the home position. This type can be executed not in the Operational enabled state.

1 - 3

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 4

2. SIGNALS AND WIRING

r

2. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp of the servo amplifier is off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.

WARNING

CAUTION

Ground the servo amplifier and servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

Before removing the CNP1 connector from MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifie

Control output signal

For source output interface

DOCOM

24 V DC

RA

Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) with the power line of the servo motor. When using the regenerative resistor, shut the power off with an alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment.

2 - 1

2. SIGNALS AND WIRING

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

M

W

CAUTION

Servo amplifier

U

V

W

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual”. For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".

Item Detailed explanation

Connection example of power circuit MR-JE-_C section 3.1

Explanation of power supply system MR-JE-_C section 3.3

Signal (device) explanations MR-JE-_C section 3.5

2 - 2

2. SIGNALS AND WIRING

A

2.1 I/O signal connection example

Servo amplifier

Forced stop2 (Note 3) Forward rotation

(Note 5)

CC-Link IE Field Network Basic, SLMP or Modbus/ TCP (Note 10, 12, 13)

(Note 7) MR Configurator2

stroke end Reverse rotation stroke end Proximity dog

Touch probe 1

Personal computer

+

(Note 8)

Power supply

(Note 4, 11)

Switching

hub

10 m or less

24 V DC

Ethernet cable

USB cable

(option)

EM2

LSP

LSN

DOG

TPR1

DICOM

OPC

CN3

17

15 ALM

CN3

1 3 4 2

6

(Note 15)

5

18

(Note 15)

CN1 CN6

CN5

22 INP

13 LZ 26 11 LA 24 LAR 12 LB 25 LBR 23 LG

Plate

DOCOM

LZR

SD

(Note 1)

24 V DC (Note 4, 11)

(Note 2)

RA1

RA2

RA3

10 m or less

(Note 14)

Malfunction (Note 6)

Encoder Z-phase pulse (open collector)

In-position

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Modbus RTU (Note 10, 12, 13)

(Note 9)16 OP

Note 1. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower. 300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) of "MR-JE-_C Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) (normally closed contact).

6.

LM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at

occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

7. Use SW1DNC-MRC2-_. MR-JE-_C Servo Amplifier Instruction Manual section 11.4

8. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.

9. You can change devices of these pins with [Pr. PD30], [Pr. PD31], [Pr. PD32], and [Pr. PD38].

10. For communication function, refer to the "MR-JE-_C Servo Amplifier Instruction Manual (Network)”.

11. This diagram shows sink I/O interface.

12. Modbus/TCP can be used on servo amplifiers with software version A3 or later. Modbus RTU can be used on servo amplifiers with software version A4 or later.

13. Ethernet communication (CC-Link IE field network Basic, SLMP and Modbus/TCP) and RS-485 communication (Modbus RTU) are exclusively independent functions. Only the communication function selected in [Pr. PN08] "Select communication function" can be used.

14. If this servo amplifier is the last axis, connect a 150 Ω resistor between DA and DB, and terminate the servo amplifier. For details, refer to the "MR-JE-_C Servo Amplifier Instruction Manual (Network)”.

15. When CN3-6 pin is used as the input device of sink interface, supply + of 24 V DC to CN3-18 pin (OPC: power input for opencollector sink interface).

2 - 3

2. SIGNALS AND WIRING

2.2 Connectors and pin assignment

For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters.

Pin No.

1 I EM2

2 I DOG PD07

3 I LSP PD10

4 I LSN PD13

5 DICOM

6 I TPR1 (Note 5) PD25

7

8 I (Note 3) PD16

9

10 LG

11 O LA

12 O LB

13 O LZ

14 O RD PD29

15 O ALM PD30

16 O OP PD31/PD38

17 DOCOM

18 OPC

19 I (Note 4) PD28

20

21 I (Note 3) PD19

22 O INP PD32

23 LG

24 O LAR

25 O LBR

26 O LZR

I/O

(Note 1)

Note 1. I: input signal, O: output signal

2. pp: Profile position mode, pv: Profile velocity mode, tq: Profile torque mode

3. Input devices are not assigned by default. Assign the input devices with [Pr. PD16] and [Pr. PD19] as necessary.

4. Input devices are not assigned by default. When using CN3-19 pin as the input device of sink interface, assign the device with

[Pr. PD28] as necessary. In addition, supply + of 24 V DC to CN3-18 pin (OPC: power input for open-collector sink interface).

5. When CN3-6 pin is used as the input device of sink interface, supply + of 24 V DC to CN3-18 pin (OPC: power input for open-

collector sink interface).

I/O signals in control modes

(Note 2)

pp/pv/tq

Related parameter

2 - 4

2. SIGNALS AND WIRING

2.3 Signal (device) explanations

For details of the devices and I/O interfaces (symbols in I/O division column in the table) not described in the table, refer to sections 3.5 and 3.9 in "MR-JE-_C Servo Amplifier Instruction Manual".

Device Symbol

Proximity dog DOG Turning off DOG will detect a proximity dog. The polarity for dog detection can

Connector

pin No.

be changed with [Pr. PT29].

Function and application

_ _ _ 0 Detection with off

_ _ _ 1 Detection with on

Touch probe 1 TPR1 CN3-6 The touch probe function that executes current position latch by sensor input

can be used. For details of the touch probe function, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

[Pr. PT29]

Polarity for proximity dog

detection

2.4 Power-on sequence

POINT

The output signal, etc. may be unstable at power-on.

I/O

division

DI-1

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 of "MR-JE-_C Servo Amplifier

Instruction Manual" using the magnetic contactor with the power supply (L1/L2/L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier receives the servo-on command in 3 s to 4 s + network initial communication

time after the power supply is switched on. (Refer to (2) in this section.)

(2) Timing chart

Power supply

Base circuit

Servo-on command (from controller)

ON OFF

Servo-on command accepted

(3 s to 4 s + network initial communication time)

95 ms 10 ms 95 ms

2 - 5

2. SIGNALS AND WIRING

MEMO

2 - 6

3. STARTUP

The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual”. For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual".

Switching power on for the first time MR-JE-_C section 4.1

Display and operation section MR-JE-_C section 4.5

Test operation MR-JE-_C section 4.6

Test operation mode MR-JE-_C section 4.7

3.1 Startup

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

(1) Power on

When the power is switched on, "b01" (when the identification number is 01h) appears on the servo amplifier display. When you use the absolute position detection system, first power-on results in [AL. 25 Absolute position erased] and the servo-on cannot be ready. [AL. 25] can be deactivated by cycling the power. Also, if the power is switched on when the servo motor is rotated at a speed of 3000 r/min or higher, a position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Parameter setting

Item Detailed explanation

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC04] to "1 _ _ _" to select the four-wire type. An incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H

Set the parameters according to the structure and specifications of the machine. Refer to chapter 4 for details. After setting the above parameters, turn off the power as necessary. Then switch power on again to enable the parameter values.

(3) Servo-on

Enable the servo-on with the following procedure.

(a) Turn on the power.

(b) Transmit the servo-on command with the controller.

When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is locked.

3 - 1

3. STARTUP

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop

If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor. Turn off the servo-on command after the servo motor has stopped, and then switch the power off. Refer to section 3.10 in "MR-JE-_C Servo Amplifier Instruction Manual" for the servo motor with an electromagnetic brake.

Controller

Servo amplifier

Note 1. This is for CC-Link IE Field Network Basic. If an error occurs, RX (n + 3) F is set to "0" (cyclic communication ready turns off).

2. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

Operation/command Stopping condition

Servo-off command The base circuit is shut off, and the servo motor coasts.

Ready-off command

Quick stop command The servo motor decelerates to a stop.

Error occurrence (Note 1) The servo motor decelerates to a stop.

Alarm occurrence

EM2 (Forced stop 2) off

LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

The servo motor decelerates to a stop. With some alarms; however, the dynamic brake operates to stop the servo motor. (Note 2)

The servo motor decelerates to a stop. [AL. E6 Servo forced stop warning] occurs. In the torque control mode, EM2 functions the same as EM1

The servo motor stops immediately and will be servo locked. Operation in the opposite direction is possible.

3 - 2

4. PARAMETERS

CAUTION

4.1 Parameter list

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.

Changing the values of the parameters for manufacturer setting Setting a value out of the range

Changing the fixed values in the digits of a parameter When you write parameters with the controller, make sure that the identification No. of the servo amplifier is set correctly. Otherwise, the parameter settings of another identification No. may be written, possibly causing the servo amplifier to be an unexpected condition.

POINT

To enable a parameter whose symbol is preceded by *, cycle the power after setting it. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr. PA20].

Refer to chapter 5 in "MR-JE-_C Servo Amplifier Instruction Manual" for the parameters with "MR-JE-_C" in the detailed explanation field.

4 - 1

4. PARAMETERS

4.1.1 Basic setting parameters ([Pr. PA_ _ ])

POINT

The following parameters cannot be used in the profile mode.

[Pr. PA05 Number of command input pulses per revolution] [Pr. PA13 Command pulse input form]

No. Symbol Name

PA01 *STY Operation mode 1000h Section 4.2.1

PA02 *REG Regenerative option 0000h MR-JE-_C

PA03 *ABS Absolute position detection system 0000h Section 4.2.1

PA04 *AOP1 Function selection A-1 2000h MR-JE-_C

PA05 *FBP Number of command input pulses per revolution 10000

PA06 CMX Electronic gear numerator (command pulse multiplication numerator) 1 Section 4.2.1

PA07 CDV Electronic gear denominator (command pulse multiplication denominator) 1

PA08 ATU Auto tuning mode 0001h MR-JE-_C

PA09 RSP Auto tuning response 16

PA10 INP In-position range 100 [pulse] Section 4.2.1

PA11 TLP Forward rotation torque limit 1000.0 [%]

PA12 TLN Reverse rotation torque limit 1000.0 [%]

PA13 *PLSS Command pulse input form 0100h MR-JE-_C

PA14 *POL Rotation direction selection 0 Section 4.2.1

PA15 *ENR Encoder output pulses 4000 [pulse/rev] MR-JE-_C

PA16 *ENR2 Encoder output pulses 2 1

PA17 For manufacturer setting 0000h

PA18 0000h

PA19 *BLK Parameter writing inhibit 00AAh

PA20 *TDS Tough drive setting 0000h

PA21 *AOP3 Function selection A-3 0001h Section 4.2.1

PA22 For manufacturer setting 0000h MR-JE-_C

PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h

PA24 AOP4 Function selection A-4 0000h

PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]

PA26 *AOP5 Function selection A-5 0000h

PA27 For manufacturer setting 0000h

PA28 *AOP6 Function selection A-6 0000h

PA29 For manufacturer setting 0000h

PA30 0000h

PA31 0000h

PA32 0000h

Initial value

Unit

Detailed

explanation

4 - 2

4. PARAMETERS

4.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

No. Symbol Name

PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h MR-JE-_C

PB02 VRFT Vibration suppression control tuning mode (advanced vibration

suppression control II)

PB03 PST Position command acceleration/deceleration time constant (position

smoothing)

PB04 FFC Feed forward gain 0 [%]

PB05 For manufacturer setting 500

PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]

PB07 PG1 Model loop gain 15.0 [rad/s]

PB08 PG2 Position loop gain 37.0 [rad/s]

PB09 VG2 Speed loop gain 823 [rad/s]

PB10 VIC Speed integral compensation 33.7 [ms]

PB11 VDC Speed differential compensation 980

PB12 OVA Overshoot amount compensation 0 [%]

PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]

PB14 NHQ1 Notch shape selection 1 0000h

PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]

PB16 NHQ2 Notch shape selection 2 0000h

PB17 NHF Shaft resonance suppression filter 0000h

PB18 LPF Low-pass filter setting 3141 [rad/s]

PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]

PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00

PB23 VFBF Low-pass filter selection 0100h

PB24 *MVS Slight vibration suppression control 0000h

PB25 *BOP1 Function selection B-1 0000h

PB26 *CDP Gain switching function 0000h

PB27 CDL Gain switching condition 10 [kpulse/s]/

PB28 CDT Gain switching time constant 1 [ms]

PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]

PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]

PB31 VG2B Speed loop gain after gain switching 0 [rad/s]

PB32 VICB Speed integral compensation after gain switching 0.0 [ms]

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain

switching

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain

switching

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after

gain switching

PB37

PB38 0.00

PB39 0.00

PB40 0.00

PB41 0000h

PB42 0000h

PB43 0000h

PB44 0.00

PB45 CNHF Command notch filter 0000h

PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]

PB47 NHQ3 Notch shape selection 3 0000h

For manufacturer setting 1600

Initial value

0000h

0 [ms]

0.0 [Hz]

0.00

Unit

[pulse]/

[r/min]

Detailed

explanation

4 - 3

4. PARAMETERS

No. Symbol Name

PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] MR-JE-_C

PB49 NHQ4 Notch shape selection 4 0000h

PB50 NH5 Machine resonance suppression filter 5 4500 [Hz]

PB51 NHQ5 Notch shape selection 5 0000h

PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]

PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]

PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00

PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00

PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]

PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain

switching

PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain

switching

PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after

gain switching

PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]

PB61 For manufacturer setting 0.0

PB62 0000h

PB63 0000h

PB64 0000h

Initial value

0.0 [Hz]

0.00

Unit

Detailed

explanation

4 - 4

4. PARAMETERS

4.1.3 Extension setting parameters ([Pr. PC_ _ ])

POINT

The following parameters cannot be used in the profile mode.

[Pr. PC04 Torque command time constant] [Pr. PC05 Internal speed command 1/internal speed limit 1] [Pr. PC06 Internal speed command 2/internal speed limit 2] [Pr. PC07 Internal speed command 3/internal speed limit 3] [Pr. PC08 Internal speed command 4/internal speed limit 4] [Pr. PC09 Internal speed command 5/internal speed limit 5] [Pr. PC10 Internal speed command 6/internal speed limit 6] [Pr. PC11 Internal speed command 7/internal speed limit 7] [Pr. PC12 Analog speed command - Maximum speed/Analog speed limit Maximum speed] [Pr. PC13 Analog torque command maximum output] [Pr. PC32 Command input pulse multiplication numerator 2] [Pr. PC33 Command input pulse multiplication numerator 3] [Pr. PC34 Command input pulse multiplication numerator 4]

No. Symbol Name

PC01 STA Acceleration time constant 0 [ms] Section 4.2.2

PC02 STB Deceleration time constant 0 [ms]

PC03 STC S-pattern acceleration/deceleration time constant 0 [ms] MR-JE-_C

PC04 TQC Torque command time constant 0 [ms]

PC05 SC1 Internal speed command 1 100.00 [r/min]

Internal speed limit 1

PC06 SC2 Internal speed command 2 500.00 [r/min]

Internal speed limit 2

PC07 SC3 Internal speed command 3 1000.00 [r/min]

Internal speed limit 3

PC08 SC4 Internal speed command 4 200.00 [r/min]

Internal speed limit 4

PC09 SC5 Internal speed command 5 300.00 [r/min]

Internal speed limit 5

PC10 SC6 Internal speed command 6 500.00 [r/min]

Internal speed limit 6

PC11 SC7 Internal speed command 7 800.00 [r/min]

Internal speed limit 7

PC12 VCM Analog speed command - Maximum speed 0.00 [r/min]

Analog speed limit - Maximum speed

PC13 TLC Analog torque command maximum output 100.0 [%]

PC14

PC15 0000h

PC16 MBR Electromagnetic brake sequence output 0 [ms]

PC17 ZSP Zero speed 50 [r/min]

PC18 *BPS Alarm history clear 0000h

PC19 *ENRS Encoder output pulse selection 0000h

PC20

PC21 0000h

PC22 *COP1 Function selection C-1 0020h

PC23 *COP2 Function selection C-2 0000h

PC24 *COP3 Function selection C-3 0000h

For manufacturer setting 0000h

For manufacturer setting 0

Initial value

Unit

Detailed

explanation

4 - 5

4. PARAMETERS

No. Symbol Name

PC25 *COP4 Function selection C-4 0000h Section 4.2.2

PC26 *COP5 Function selection C-5 0000h MR-JE-_C

PC27 *COP6 Function selection C-6 0000h

PC28 For manufacturer setting 0000h

PC29 *COP8 Function selection C-8 0120h Section 4.2.2

PC30 STA2 Acceleration time constant 2 0 [ms] MR-JE-_C

PC31 STB2 Deceleration time constant 2 0 [ms]

PC32 CMX2 Command input pulse multiplication numerator 2 1

PC33 CMX3 Command input pulse multiplication numerator 3 1

PC34 CMX4 Command input pulse multiplication numerator 4 1

PC35 TL2 Internal torque limit 2 1000.0 [%]

PC36 For manufacturer setting 0000h

PC37 VCO Analog speed command offset 0 [mV]

PC38 TPO Analog torque command offset 0 [mV]

Analog torque limit offset

PC39

PC40 0

PC41 0

PC42 0

PC43 ERZ Error excessive alarm detection level 0 [rev]

PC44

PC45 0000h

PC46 0

PC47 0

PC48 0

PC49 0

PC50 0000h

PC51 RSBR Forced stop deceleration time constant 100 [ms]

PC52

PC53 0

PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]

PC55

PC56 100

PC57 0000h

PC58 0

PC59 0000h

PC60 *COPD Function selection C-D 0000h

PC61 For manufacturer setting 0000h

PC62 0000h

PC63 0000h

PC64 0000h

PC65 0000h

PC66 0

PC67 0

PC68 0

PC69 0

PC70 0

PC71 0040h

PC72 0000h

PC73 ERW Error excessive warning level 0 [rev]

PC74 For manufacturer setting 0000h

For manufacturer setting 0

For manufacturer setting 0000h

For manufacturer setting 0

Initial value

Unit

Detailed

explanation

4 - 6

4. PARAMETERS

No. Symbol Name

PC75 FEWL Following error output level 0000h 10-3 [degree]/

PC76 FEWH 00C0h

PC77 FEWF Following error output filtering time 10 [ms]

PC78 For manufacturer setting 0000h MR-JE-_C

PC79 0000h

PC80 0000h

Initial value

Unit

[pulse]

4.1.4 I/O setting parameters ([Pr. PD_ _ ])

POINT

The following parameters cannot be used in the profile mode.

[Pr. PD05 Input device selection 1L] [Pr. PD06 Input device selection 1M] [Pr. PD08 Input device selection 2L] [Pr. PD09 Input device selection 2M] [Pr. PD11 Input device selection 3L] [Pr. PD12 Input device selection 3M] [Pr. PD14 Input device selection 4L] [Pr. PD15 Input device selection 4M] [Pr. PD17 Input device selection 5L] [Pr. PD18 Input device selection 5M] [Pr. PD23 Input device selection 7L] [Pr. PD24 Input device selection 7M] [Pr. PD26 Input device selection 8L] [Pr. PD27 Input device selection 8M]

Detailed

explanation

Section 4.2.2

No. Symbol Name

PD01 *DIA1 Input signal automatic on selection 1 0000h MR-JE-_C

PD02 For manufacturer setting 0000h

PD04 0000h

PD05 *DI1L Input device selection 1L 0202h

PD06 *DI1M Input device selection 1M 0202h

PD07 *DI1H Input device selection 1H 002Bh Section 4.2.3

PD08 *DI2L Input device selection 2L 0A0Ah MR-JE-_C

PD09 *DI2M Input device selection 2M 0700h

PD10 *DI2H Input device selection 2H 000Ah Section 4.2.3

PD11 *DI3L Input device selection 3L 0B0Bh MR-JE-_C

PD12 *DI3M Input device selection 3M 0800h

PD13 *DI3H Input device selection 3H 000Bh Section 4.2.3

PD14 *DI4L Input device selection 4L 0703h MR-JE-_C

PD15 *DI4M Input device selection 4M 3807h

PD16 *DI4H Input device selection 4H 0000h Section 4.2.3

PD17 *DI5L Input device selection 5L 0806h MR-JE-_C

PD18 *DI5M Input device selection 5M 2008h

PD19 *DI5H Input device selection 5H 0000h Section 4.2.3

Initial value

Unit

Detailed

explanation

PD03 0000h

4 - 7

4. PARAMETERS

No. Symbol Name

PD20

PD21 0000h

PD22 0000h

PD23 *DI7L Input device selection 7L 0000h

PD24 *DI7M Input device selection 7M 0000h

PD25 *DI7H Input device selection 7H 002Ch Section 4.2.3

PD26 *DI8L Input device selection 8L 0000h MR-JE-_C

PD27 *DI8M Input device selection 8M 0000h

PD28 *DI8H Input device selection 8H 0000h

PD29 *DO1 Output device selection 1 0002h

PD30 *DO2 Output device selection 2 0003h

PD31 *DO3 Output device selection 3 0000h

PD32 *DO4 Output device selection 4 0004h

PD33 For manufacturer setting 0000h MR-JE-_C

PD34 *DIF Input filter setting 0004h

PD35 *DOP1 Function selection D-1 0101h Section 4.2.3

PD36 For manufacturer setting 0000h MR-JE-_C

PD37 *DOP3 Function selection D-3 0000h

PD38 *DOP4 Function selection D-4 3000h Section 4.2.3

PD39 *DOP5 Function selection D-5 0000h MR-JE-_C

PD40 For manufacturer setting 0000h

PD41 *TPOP Touch probe function selection 0000h Section 4.2.3

PD42

PD43 0000h

PD44 0000h

PD45 0000h

PD46 0000h

PD47 0000h

PD48 0000h

For manufacturer setting 0000h

For manufacturer setting 0

Initial value

Unit

4.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Detailed

explanation

MR-JE-_C

Section 4.2.3

MR-JE-_C

No. Symbol Name

PE01

PE02 0000h

PE03 0000h

PE04 0

PE05 0

PE06 0

PE07 0

PE08 0

PE09 0000h

PE10 0000h

PE11 0000h

PE12 0000h

PE13 0000h

PE14 0111h

PE15 20

PE16 0000h

PE17 0000h

PE18 0000h

For manufacturer setting 0000h

Initial value

Unit

Detailed

explanation

MR-JE-_C

4 - 8

4. PARAMETERS

No. Symbol Name

PE19

PE20 0000h

PE21 0000h

PE22 0000h

PE23 0000h

PE24 0000h

PE25 0000h

PE26 0000h

PE27 0000h

PE28 0000h

PE29 0000h

PE30 0000h

PE31 0000h

PE32 0000h

PE33 0000h

PE34 0

PE35 0

PE36 0.0

PE37 0.00

PE38 0.00

PE39 0

PE40 0000h

PE41 EOP3 Function selection E-3 0000h

PE42

PE43 0.0

PE44 LMCP Lost motion compensation positive-side compensation value selection 0 [0.01%] Section 4.2.4

PE45 LMCN Lost motion compensation negative-side compensation value selection 0 [0.01%]

PE46 LMFLT Lost motion filter setting 0 [0.1 ms]

PE47 TOF Torque offset 0 [0.01%]

PE48 *LMOP Lost motion compensation function selection 0000h

PE49 LMCD Lost motion compensation timing 0 [0.1 ms]

PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/

PE51

PE52 0000h

PE53 0000h

PE54 0000h

PE55 0000h

PE56 0000h

PE57 0000h

PE58 0000h

PE59 0000h

PE60 0000h

PE61 0.00

PE62 0.00

PE63 0.00

PE64 0.00

For manufacturer setting 0000h

For manufacturer setting 0

For manufacturer setting 0000h

Initial value

Unit

[kpulse]

Detailed

explanation

MR-JE-_C

4 - 9

4. PARAMETERS

4.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

No. Symbol Name

PF01

PF02 0000h

PF03 0000h

PF04 0

PF05 0

PF06 0000h

PF07 1

PF08 1

PF09 *FOP5 Function selection F-5 0003h

PF10

PF11 0000h

PF12 10000

PF13 100

PF14 100

PF15 2000

PF16 0000h

PF17 10

PF18 0000h

PF19 0000h

PF20 0000h

PF21 DRT Drive recorder switching time setting 0 [s]

PF22 For manufacturer setting 200

PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]

PF24 *OSCL2 Vibration tough drive function selection 0000h

PF25 CVAT Instantaneous power failure tough drive - Detection time 200 [ms]

PF26

PF27 0

PF28 0

PF29 0000h

PF30 0

PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]

PF32

PF33 0000h

PF34 0000h

PF35 0000h

PF36 0000h

PF37 0000h

PF38 0000h

PF39 0000h

PF40 0

PF41 0

PF42 0

PF43 0

PF44 0

PF45 0000h

PF46 0

PF47 0000h

PF48 0000h

For manufacturer setting 0000h

For manufacturer setting 0

For manufacturer setting 50

Initial value

Unit

Detailed

explanation

MR-JE-_C

4 - 10

4. PARAMETERS

4.1.7 Positioning control parameters ([Pr. PT_ _ ])

No. Symbol Name

PT01 *CTY Command mode selection 0300h Section 4.2.5

PT02 For manufacturer setting 0001h

PT03 *FTY Feeding function selection 0000h Section 4.2.5

PT04 For manufacturer setting 0000h

PT05 ZRF Home position return speed 100.00 [r/min] Section 4.2.5

PT06 CRF Creep speed 10.00 [r/min]

PT07 ZST Home position shift distance 0 10-3 [degree]/

PT08 For manufacturer setting 0

PT09 DCT Travel distance after proximity dog 0 10-3 [degree]/

PT10 ZTM Stopper type home position return stopper time 100 [ms]

PT11 ZTT Stopper type home position return torque limit value 15.0 [%]

PT12 For manufacturer setting 0

PT13 100.00

PT14 0

PT15 LMPL Software limit + 0000h 10-3 [degree]/

PT16 LMPH 0000h 10-3 [degree]/

PT17 LMNL Software limit - 0000h 10-3 [degree]/

PT18 LMNH 0000h 10-3 [degree]/

PT19 For manufacturer setting 0000h

PT20 0000h

PT21 0000h

PT22 0000h

PT23 0

PT24 0

PT25 0

PT26 *TOP2 Function selection T-2 0000h Section 4.2.5

PT27 For manufacturer setting 0000h

PT28 8

PT29 *TOP3 Function selection T-3 0000h Section 4.2.5

PT30 For manufacturer setting 0000h

PT31 0000h

PT32 0000h

PT33 0000h

PT34 0000h

PT35 0000h

PT36 0000h

PT37 10

PT38 0000h

PT39 100

PT40 0

PT41 ORP Home position return inhibit function selection 0000h Section 4.2.5

PT42 For manufacturer setting 0

PT43 0

PT44 0000h

Initial value

Unit

[pulse]

Detailed

explanation

Section 4.2.5

4 - 11

4. PARAMETERS

No. Symbol Name

PT45 HMM Home position return method 37 Section 4.2.5

PT46 For manufacturer setting 0000h

PT47 0000h

PT48 0000h

PT49 TQS Torque slope 0.0 [%/s] Section 4.2.5

PT50 PVC Profile speed command 100.00 [r/min]

PT51 MPVC Maximum profile speed 20000.00 [r/min]

PT52 VLMT Speed limit 500.00 [r/min]

PT53 For manufacturer setting 0000h

PT54 0000h

PT55 0000h

PT56 0000h

PT57 ZSTH Home position shift distance (extension parameter) 0 10-3 [degree]/

PT58 For manufacturer setting 0

PT59 DCTH Travel distance after proximity dog (extension parameter) 0 10-3 [degree]/

PT60 *TOP8 Function selection T-8 0000h

PT61 HMA Home position return acceleration time constant 0 [ms]

PT62 HMB Home position return deceleration time constant 0 [ms]

PT63 ZSP2L Zero speed 2 level 50.00 [r/min]

PT64 ZSP2F Zero speed 2 filtering time 10 [ms]

PT65 INP2R In-position 2 output range 100 10-3 [degree]/

PT66 INP2F In-position 2 output filtering time 10 [ms]

PT67 SA2R Speed reached 2 output range 20.00 [r/min]

PT68 SA2F Speed reached 2 output filtering time 10 [ms]

PT69 For manufacturer setting 0000h

PT70 0000h

PT71 0000h

PT72 0000h

PT73 0000h

PT74 0000h

PT75 0000h

PT76 0000h

PT77 0000h

PT78 0000

PT79 0000

PT80 0000

Initial value

Unit

[pulse]

Detailed

explanation

Section 4.2.5

4 - 12

4. PARAMETERS

4.2 Detailed list of parameters

POINT

For parameters which are not described in this section, refer to chapter 5 of "MR-JE-_C Servo Amplifier Instruction Manual". Set a value to each "x" in the "Setting digit" columns.

4.2.1 Basic setting parameters ([Pr. PA_ _ ])

No./symbol/

name

PA01 *STY Operation

mode

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 1h

PA03 *ABS Absolute

position detection system

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

Setting

digit

_ _ _ x Control mode selection

To use the profile mode, select "9" (Profile mode (pp/pv/tq)). 0: Position control mode (P) 1: Position control mode and speed control mode (P/S) 2: Speed control mode (S) 3: Speed control mode and torque control mode (S/T) 4: Torque control mode (T) 5: Torque control mode and position control mode (T/P) 6: Positioning mode (point table method) (CP) 8: Positioning mode (indexer method) (PS) 9: Profile mode (pp/pv/tq)

_ _ _ x Absolute position detection system selection

Set this digit when using the absolute position detection system. 0: Disabled (used in the incremental system) 2: Enabled (absolute position detection system)

Setting "1" will trigger [AL. 37].

Function

Initial value [unit]

0h

4 - 13

4. PARAMETERS

No./symbol/

name

PA06 CMX Electronic

gear numerator (command pulse multiplication numerator)

Setting

digit

Set an electronic gear numerator.

To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21].

In the profile mode, cycle the power to enable the parameter. The following shows a standard of the setting range of the electronic gear.

1

27649

If the set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

<

CMX CDV

< 8484

Function

Number of command input pulses per revolution

([Pr. PA05] "1000" to "1000000")

Initial value [unit]

1

PA07 CDV Electronic

gear denominator (command pulse multiplication denominator)

PA10 INP In-position

range

Command pulse train

Electronic gear selection

(x _ _ _ ) ([Pr. PA21])

"0" (initial value)

"1"

Pt (servo motor resolution): 131072 pulses/rev

Electronic gear

([Pr. PA06]/[Pr. PA07])

CMX CDV

Pt

FBP

+

Deviation

counter

-

Be sure to set the electronic gear with servo-off state to prevent unexpected operation due to improper setting.

This parameter corresponds to "Motor revolutions (Index: 6091h, Sub: 1)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 1 to 16777215

Set an electronic gear denominator.

To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21].

In the profile mode, cycle the power to enable the parameter.

Setting range: 1 to 16777215

Set an in-position range per command pulse.

To change it to the servo motor encoder pulse unit, set [Pr. PC24].

-3

When [Pr. PC24] is set to "_ _ _ 0" in the profile mode, the unit can be changed 10

[degree] or

[pulse] with the setting of [Pr. PT01].

Setting range: 0 to 65535

Servo motor

M

Encoder

1

100

Refer to

Function

column

for unit.

4 - 14

4. PARAMETERS

No./symbol/

name

PA11 TLP Forward

rotation torque limit

PA12 TLN Reverse

rotation torque limit

Setting

digit

You can limit the torque generated by the servo motor.

Set the parameter on the assumption that the rated torque is 100.0 [%]. Set the parameter to limit the torque of the servo motor in the CW power running or CCW regeneration.

The polarity of the torque limit changes depending on the [Pr. PA14] setting. Set this parameter to "0.0" to generate no torque.

If a value larger than the maximum torque of the servo motor is set, the value will be limited to the maximum torque of the servo motor.

This parameter corresponds to "Positive torque limit value (Index: 60E0h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.0 to 1000.0

You can limit the torque generated by the servo motor.

Set the parameter on the assumption that the rated torque is 100.0 [%]. Set this parameter when limiting the torque of the servo motor in the CW power running or CCW regeneration.

The polarity of the torque limit changes depending on the [Pr. PA14] setting. Set this parameter to "0.0" to generate no torque.

If a value larger than the maximum torque of the servo motor is set, the value will be limited to the maximum torque of the servo motor.

This parameter corresponds to "Negative torque limit value (Index: 60E1h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.0 to 1000.0

Function

Initial value [unit]

1000.0 [%]

4 - 15

4. PARAMETERS

No./symbol/

name

PA14 *POL Rotation

direction selection

0 CCW CW

1 CW CCW

Setting value Servo motor rotation direction

Setting

digit

Select a rotation direction or travel direction.

The torque polarity changes depending on the combination of this parameter and [Pr. PC29 POL reflection selection at torque mode].

In the profile position mode/profile velocity mode

Setting

value

In the profile torque mode

[Pr. PA14] [Pr. PC29]

The following shows the servo motor rotation directions.

Positioning address

Speed command: Positive

0

1

Servo motor rotation direction

Position mode

increase/

Velocity mode

0 _ _ _:

Enabled

1 _ _ _:

Disabled

0 _ _ _:

Enabled

1 _ _ _:

Disabled

Function

Position mode

Positioning address

decrease/

Velocity mode

Speed command: Negative

Torque mode

Torque command: Forward

CCW CW

CW CCW

CCW CW

Torque mode

Torque command: Reverse

Initial value [unit]

0

Forward rotation (CCW)

Reverse rotation (CW)

Setting range: 0, 1

PA21 *AOP3 Function

selection A-3

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ Electronic gear selection

_ _ _ x One-touch tuning function selection

0: Disabled 1: Enabled When the digit is "0", the one-touch tuning is not available.

0: Electronic gear ([Pr. PA06] and [Pr. PA07]) 1: Number of command input pulses per revolution ([Pr. PA05]) "1" is not used in the profile mode. Setting "1" triggers [AL. 37 Parameter error].

1h

0h

4 - 16

4. PARAMETERS

4.2.2 Extension setting parameters ([Pr. PC_ _ ])

No./symbol/

name

PC01 STA Acceleration

time constant

PC02 STB Deceleration

time constant

PC25 *COP4 Function

selection C-4

Setting

digit

Set the acceleration time taken from 0 r/min to the rated speed for the command.

Set the acceleration time constant in the profile position mode and the profile velocity mode. Setting a value exceeding 20000 ms in the profile position mode will trigger [AL. F4].

Servo motor speed

Rated speed

Function

If the preset speed command is lower than the rated speed, acceleration/ deceleration time will be shorter.

Initial value [unit]

0

[ms]

0 r/min

[Pr. PC01] setting

For example, for the servo motor with the rated speed of 3000 r/min, set 3000 (3 s) to increase speed from 0 r/min to 1000 r/min in 1 s.

This parameter corresponds to "Profile acceleration (Index: 6083h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 50000

Set the deceleration time taken from the rated speed to 0 r/min for the command.

Set the deceleration time constant in the profile position mode and the profile velocity mode. Setting a value exceeding 20000 ms in the profile position mode will trigger [AL. F4].

This parameter corresponds to "Profile deceleration (Index: 6084h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 50000

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ [AL. E9 Main circuit off warning] selection

Select an occurring condition of [AL. E9 Main circuit off warning]. 0: Detection with ready-on and servo-on command 1: Detection with servo-on command

This function will be enabled in the profile mode.

[Pr. PC02] setting

Time

0

[ms]

0h

4 - 17

4. PARAMETERS

Initial value [unit]

1h

0000h

Refer to

Function

column

for unit.

0000h

Refer to

Function

column

for unit.

No./symbol/

name

PC29 *COP8 Function

selection C-8

Setting

digit

_ _ _ x For manufacturer setting 0h

_ _ x _ 2h

_ x _ _ POL reflection selection at torque mode

The polarity of "Target torque (Index: 6071h)", "Torque demand (Index: 6074h)", "Positive torque limit value (Index: 60E0h)", "Negative torque limit value (Index: 60E1h)", and "Torque actual value (Index: 6077h)" changes depending on the combination of this parameter and [Pr. PA14 Rotation direction selection].

0: Enabled 1: Disabled

Function

Setting value Servo motor rotation direction/travel direction

x _ _ _ For manufacturer setting 0h

PC75 FEWL Following

error output level

(Lower four digits)

PC76 FEWH Following

error output level

(Upper four digits)

[Pr. PA14] [Pr. PC29]

digits

0 _ _ _:

Enabled

1 _ _ _:

Disabled

0 _ _ _:

Enabled

1 _ _ _:

Disabled

Lower four

digits

-3

[degree] or [pulse] with the setting of [Pr. PT01].

-3

[degree] or [pulse] with the setting of [Pr. PT01].

0

1

Set a following error output level.

Upper and lower are a set. This function will be enabled in the profile position mode. When the state in which the value of droop pulses exceeds the setting value for [Pr. PC75, Pr.

PC76] continues for the time set in [Pr. PC77] or longer, "Statusword (Index: 6041h) bit 13 Following error" will be turned on. However, setting "FFFFFFFFh" will disable it.

Set a value in hexadecimal.

Setting value:

Upper four

The unit can be changed to 10

This parameter corresponds to "Following error window (Index: 6065h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 00000000h to FFFFFFFFh

Set a following error output level.

Upper and lower are a set. This function will be enabled in the profile position mode. Refer to [Pr. PC75] for details. The unit can be changed to 10

Torque mode

Torque command: Forward

CCW or positive direction CW or negative direction

CW or negative direction CCW or positive direction

CCW or positive direction CW or negative direction

[Pr. PC75]

[Pr. PC76]

Torque mode

Torque command: Reverse

4 - 18

4. PARAMETERS

No./symbol/

name

PC77 FEWF Following

error output filtering time

4.2.3 I/O setting parameters ([Pr. PD_ _ ])

Setting

digit

Set the time until the following error output turns on.

When the state in which the value of droop pulses exceeds the setting value for [Pr. PC75, Pr. PC76] continues for the time set in the parameter setting value or longer, "Statusword (Index: 6041h) bit 13 Following error" will be turned on.

This function will be enabled in the profile position mode. The following error output will be disabled when both [Pr. PC75] and [Pr. PC76] are "FFFFh".

This parameter corresponds to "Following error time out (Index: 6066h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 65535

Function

Initial value [unit]

0000h

Refer to

Function

column

for unit.

No./symbol/

name

PD07 *DI1H Input device

selection 1H

Setting

digit

Any input device can be assigned to the CN3-2 pin.

_ _ x x Communication command mode - Device selection

Refer to table 4.1 for settings.

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Function

Initial value [unit]

Table 4.1 Selectable input devices

04 PC (Proportional control)

0A LSP (Forward rotation stroke end)

0B LSN (Reverse rotation stroke end)

0D CDP (Gain switching)

2B DOG (Proximity dog)

2C TPR1 (touch probe 1) (Note)

Note. This can be used when TRP1 is assigned to CN3-6 with [Pr. PD25 Input device selection 7H].

PD10 *DI2H Input device

selection 2H

x _ _ _ 0h

PD13 *DI3H Input device

selection 3H

x _ _ _ 0h

PD16 *DI4H Input device

selection 4H

PD19 *DI5H Input device

selection 5H

x _ _ _ 0h

Any input device can be assigned to the CN3-3 pin.

_ _ x x Communication command mode - Device selection

_ x _ _ For manufacturer setting 0h

Any input device can be assigned to the CN3-4 pin.

_ _ x x Communication command mode - Device selection

_ x _ _ For manufacturer setting 0h

Any input device can be assigned to the CN3-8 pin.

_ _ x x Communication command mode - Device selection

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Any input device can be assigned to the CN3-21 pin.

_ _ x x Communication command mode - Device selection

_ x _ _ For manufacturer setting 0h

Setting

value

Refer to table 4.1 in [Pr. PD07] for settings.

Input device

2Bh

0Ah

0Bh

00h

4 - 19

4. PARAMETERS

No./symbol/

name

PD25 *DI7H Input device

selection 7H

x _ _ _ 0h

PD28 *DI8H Input device

selection 8H

x _ _ _ 0h

PD29 *DO1 Output device

selection 1

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Setting

digit

Any input device can be assigned to the CN3-6 pin.

_ _ x x Communication command mode - Device selection

Refer to table 4.1 in [Pr. PD07] for settings.

_ x _ _ For manufacturer setting 0h

Any input device can be assigned to the CN3-19 pin.

_ _ x x Communication command mode - Device selection

Refer to table 4.1 in [Pr. PD07] for settings.

_ x _ _ For manufacturer setting 0h

_ _ x x Device selection

Any output device can be assigned to the CN3-14 pin. When "CN3-14 (1 _ _ _)" is selected in "OP output selection" of [Pr. PD38], this digit is disabled

and OP (Encoder Z-phase pulse (open collector)) is assigned to the CN3-14 pin. Refer to table 4.2 for settings.

Function

Table 4.2 Selectable output devices

_ _ 0 0 Always off

_ _ 0 2 RD (Ready)

_ _ 0 3 ALM (Malfunction)

_ _ 0 4 INP (In-position)

_ _ 0 5 MBR (Electromagnetic brake interlock)

_ _ 0 7 TLC (Limiting torque)

_ _ 0 8 WNG (Warning)

_ _ 0 9 BWNG (Battery warning)

_ _ 0 A SA (Speed reached)

_ _ 0 B VLC (Limiting speed)

_ _ 0 C ZSP (Zero speed detection)

_ _ 0 D MTTR (During tough drive)

_ _ 0 F CDPS (Variable gain selection)

_ _ 1 1 ABSV (Absolute position undetermined)

PD30 *DO2 Output device

selection 2

PD31 *DO3 Output device

selection 3

_ _ x x Device selection

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

_ _ x x Device selection

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Setting

value

Any output device can be assigned to the CN3-15 pin. When "CN3-15 (2 _ _ _)" is selected in "OP signal output selection" of [Pr. PD38], this digit is

disabled and OP (Encoder Z-phase pulse (open collector)) is assigned to the CN3-15 pin. Refer to table 4.2 in [Pr. PD29] for settings.

Any output device can be assigned to the CN3-16 pin. This parameter cannot be used to assign output devices since the OP signal is assigned to the

CN3-16 pin with "OP signal assignment selection" of [Pr. PD38] in the initial setting. To assign output devices, select a value other than "CN3-16 (3 _ _ _)" (initial value) in "OP signal assignment selection" of [Pr. PD38].

Refer to table 4.2 in [Pr. PD29] for settings.

Output device

Initial value [unit]

2Ch

00h

02h

03h

00h

4 - 20

4. PARAMETERS

No./symbol/

name

PD32 *DO4 Output device

selection 4

PD35 *DOP1 Function

selection D-1

_ x _ _ For manufacturer setting 1h

x _ _ _ 0h

PD38 *DOP4 Function

selection D-4

PD41 *TPOP Touch probe

function selection

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Setting

digit

_ _ x x Device selection

Any output device can be assigned to the CN3-22 pin. When "CN3-22 (4 _ _ _)" is selected in "OP signal output selection" of [Pr. PD38], this digit is

disabled and OP (Encoder Z-phase pulse (open collector)) is assigned to the CN3-22 pin. Refer to table 4.2 in [Pr. PD29] for settings.

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

_ _ _ x It is not used in the profile mode. 1h

_ _ x _ Base circuit status selection for RES (Reset) on

0: Base circuit shut-off 1: No base circuit shut-off

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ OP signal assignment selection

Select a pin to which the OP (Encoder Z-phase pulse (open collector)) is assigned. For example, if the OP is assigned to the CN3-14 pin, the OP is outputted regardless of the setting

in [Pr. PD29]. 0: Not assigned 1: CN3-14 ([Pr. PD29] disabled) 2: CN3-15 ([Pr. PD30] disabled) 3: CN3-16 ([Pr. PD31] disabled) 4: CN3-22 ([Pr. PD32] disabled)

_ _ _ x For manufacturer setting 0h

_ _ x _ Touch probe signal filter selection

0: Not assigned 1: 0.111 ms 2: 0.222 ms 3: 0.444 ms

Function

4.2.4 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial value [unit]

04h

0h

3h

0h

No./symbol/

name

PE44 LMCP Lost motion

compensation positive-side compensation value selection

PE45 LMCN Lost motion

compensation negative-side compensation value selection

Setting

digit

Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation

(CCW) in increments of 0.01% assuming the rated torque as 100%. This function will be enabled in the profile position mode.

Setting range: 0 to 30000

Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation

(CW) in increments of 0.01% assuming the rated torque as 100%. This function will be enabled in the profile position mode.

Setting range: 0 to 30000

Function

4 - 21

Initial value [unit]

0

[0.01%]

0

[0.01%]

4. PARAMETERS

No./symbol/

name

PE46 LMFLT Lost motion

filter setting

PE47 TOF Torque offset

PE48 *LMOP Lost motion

compensation function selection

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

PE49 LMCD Lost motion

compensation timing

PE50 LMCT Lost motion

compensation non-sensitive band

Setting

digit

Set the time constant of the lost motion compensation filter in increments of 0.1 ms.

When "0" is set, the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45]. When other than "0" is set, the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue.

This function will be enabled in the profile position mode.

Setting range: 0 to 30000

Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque of

the servo motor as 100%. The torque offset does not need to be set for a machine not generating unbalanced torque.

The torque offset set with this parameter will be enabled in the position control mode, speed control mode, and torque control mode. Input commands considering the torque offset in the torque control mode.

Setting range: -10000 to 10000

_ _ _ x Lost motion compensation selection

0: Disabled 1: Enabled This function will be enabled in the profile position mode.

_ _ x _ Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit 1: 1 kpulse unit This function will be enabled in the profile position mode.

Set the lost motion compensation timing in increments of 0.1 ms.

You can delay the timing to perform the lost motion compensation for the set time. This function will be enabled in the profile position mode.

Setting range: 0 to 30000

Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses is

equal to or less than the setting value, the speed will be 0. The setting unit can be changed in [Pr. PE48]. Set the parameter per encoder unit.

This function will be enabled in the profile position mode.

Setting range: 0 to 65535

Function

Initial value [unit]

[0.1 ms]

[0.01 %]

[0.1 ms]

[pulse]/

[kpulse]

0

0h

0

4 - 22

4. PARAMETERS

4.2.5 Positioning control parameters ([Pr. PT_ _ ])

No./symbol/

name

PT01 *CTY Command

mode selection

x _ _ _ For manufacturer setting 0h

PT03 *FTY Feeding

function selection

x _ _ _ For manufacturer setting 0h

PT05 ZRF Home

position return speed

PT06 CRF Creep speed

PT07 ZST Home

position shift distance

PT09 DCT Travel

distance after proximity dog

Setting

digit

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ Position data unit

0: mm 1: inch 2: degree 3: pulse "0" and "1" are not used in the profile mode. Setting "0" or "1” triggers [AL. 37 Parameter error].

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ Shortest rotation selection per degree

0: Rotation direction specifying 1: Shortest rotation 2: Rotation in address decreasing direction 3: Rotation in address increasing direction This parameter corresponds to "Positioning option code (Index: 60F2h)". When this parameter is

mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Set the servo motor speed for the home position return.

Setting range: 0 to instantaneous permissible speed This parameter corresponds to "Speed during search for switch (Index: 6099h, Sub: 1)". When this

parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Set a creep speed after proximity dog at home position return.

Setting range: 0 to instantaneous permissible speed This parameter corresponds to "Speed during search for zero (Index: 6099h, Sub: 2)". When this

parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Set the shift distance from Z-phase pulse detection position in the encoder or from the position that

has been set in [Pr. PT09].

31

Up to 2 The unit will be changed to 10 Refer to the Function column of [Pr. PA10] for the command unit of [pulse].

Setting range: 0 to 65535

Set a travel distance after proximity dog at home position return for the count type (front end

detection, Z-phase reference) (Homing method -2, -34) and dog reference.

Up to 2

The following shows the home position return of the dog reference.

Homing without index pulse (Homing method 19, 20, 21, 22, 23, 24, 27, 28) The unit will be changed to 10

Setting range: 0 to 65535

can be set with [Pr. PT57].

31

can be set with [Pr. PT59].

Dog type (rear end detection, rear end reference) (Homing method -6, -38)

Count type (front end detection, front end reference) (Homing method -7, -39)

Dog type front end reference (Homing method -10, -42)

-3

[degree] or [pulse] with the setting of [Pr. PT01].

-3

[degree] or [pulse] with the setting of [Pr. PT01].

Function

Initial value [unit]

100.00

[r/min]

10.00

[r/min]

Refer to

Function

column

for unit.

Refer to

Function

column

for unit.

3h

0h

0

4 - 23

4. PARAMETERS

No./symbol/

name

PT10 ZTM Stopper type

home position return stopper time

PT11 ZTT Stopper type

home position return torque limit value

PT15 LMPL Software limit

+ (lower four

digits)

PT16 LMPH Software limit

+ (upper four

digits)

Setting

digit

Set a time from a moving part touches the stopper and torques reaches to the torque limit of [Pr.

PT11 Stopper type home position return - Torque limit value] to a home position is set for the stopper type home position return.

Setting range: 5 to 1000

Set a torque limit value with [%] to the maximum torque at stopper type home position return.

Setting "0.0" will be the same as setting "1.0".

Setting range: 0 to 1000

Set an address increasing side of the software stroke limit.

Upper and lower are a set. Set an address in hexadecimal.

Setting address:

Setting an identical value for "Software limit -" and this parameter will disable the software limit. (Refer to section 4.3.)

When changing the setting with the parameter, change it during servo-off, in the homing mode, velocity mode, or torque mode.

In the position mode during servo-on, changing the setting in a certain order may trigger [AL. 35], [AL. 69], or [AL. 98].

This function will be enabled in the profile mode and cyclic synchronous mode. The unit can be changed to 10

This parameter corresponds to "Max position limit (Index: 607Dh, Sub: 2)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 00000000h to FFFFFFFFh

Upper four

digits

Function

Lower four

digits

[Pr. PT15]

[Pr. PT16]

-3

[degree] or [pulse] with the setting of [Pr. PT01].

Initial value [unit]

100

[ms]

15.0 [%]

0000h

Refer to

Function

column

for unit.

0000h

Refer to

Function

column

for unit.

4 - 24

4. PARAMETERS

No./symbol/

name

PT17 LMNL Software limit

(lower four

digits)

PT18 LMNH Software limit

(upper four

digits)

PT26 *TOP2 Function

selection T-2

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PT29 *TOP3 Function

selection T-3

Setting

digit

Set an address decreasing side of the software stroke limit.

Upper and lower are a set. Set an address in hexadecimal.

Setting address:

Upper four

digits

Setting a same value with "Software limit +" will disable the software stroke limit. (Refer to section

4.3.) When changing the setting with the parameter, change it during servo-off, in the homing mode,

velocity mode, or torque mode. In the position mode during servo-on, changing the setting in a certain order may trigger [AL. 35],

[AL. 69], or [AL. 98]. This function will be enabled in the profile mode and cyclic synchronous mode. The unit can be changed to 10

This parameter corresponds to "Min position limit (Index: 607Dh, Sub: 1)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 00000000h to FFFFFFFFh

_ _ _ x Electronic gear fraction clear selection

0: Disabled 1: Enabled Selecting "Enabled" will clear a fraction of the previous command by the electronic gear at start of

the profile mode.

Set the DOG polarity.

_ _ _ x

(HEX)

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

Convert the setting value into hexadecimal as follows.

_ _ _ x (BIN): DOG (Proximity dog) polarity selection 0: Dog detection with off 1: Dog detection with on

_ _ x _ (BIN): For manufacturer setting

_ x _ _ (BIN): For manufacturer setting

x _ _ _ (BIN): For manufacturer setting

Lower four

digits

-3

[degree] or [pulse] with the setting of [Pr. PT01].

Function

[Pr. PT17]

[Pr. PT18]

Initial value [unit]

0000h

Refer to

Function

column

for unit.

0000h

Refer to

Function

column

for unit.

0h

000

Setting

DOG (Proximity dog) polarity selection

4 - 25

Initial value

BIN HEX

0 0

0

0 0

4. PARAMETERS

No./symbol/

name

PT41 ORP Home

position return inhibit function selection

PT45 HMM Home

position return method

Setting

-2 Count type -34 Count type

-3 Data set type -36 Stopper type

-4 Stopper type

-38 Dog type

-6 Dog type

-39 Count type

-40 Dog cradle type

-9 Dog type last Z-phase

-42 Dog type front end

-10 Dog type front end

-43 Dogless Z-phase

-11 Dogless Z-phase

Setting

digit

_ _ _ x Home position return inhibit selection

0: Disabled (home position return allowed) 1: Enabled (home position return inhibited)

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

Set a home position return method.

Refer to the following table for details. "Statusword bit13 Homing error" is turned on when the setting is different from the setting value.

This parameter corresponds to "Homing method (Index: 6098h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Home position

value

-1

-7 Count type

-8 Dog cradle type -41 Dog type last Z-phase

return direction

Address increasing

direction

Home position return

method

Dog type -33

(rear end detection,

Z-phase reference)

(front end detection,

Z-phase reference)

(Stopper position

reference)

(rear end detection, rear end reference)

(front end detection, front end reference)

reference

Function

Setting

value

(Stopper position

(rear end detection,

(front end detection,

Home position

return direction

Address decreasing

direction

Home position return

method

Dog type

(rear end detection,

Z-phase reference)

(front end detection,

Z-phase reference)

reference)

rear end reference)

front end reference)

reference

Initial value [unit]

0h

37

4 - 26

4. PARAMETERS

No./symbol/

name

PT45 HMM Home

position return method

5 Address decreasing

6 Address decreasing

7 Address increasing

8 Address increasing

11 Address decreasing

12 Address decreasing

19 Address increasing

20 Address increasing

PT49 TQS Torque slope

PT50 PVC Profile speed

command

PT51 MPVC Maximum

profile speed

PT52 VLMT Speed limit

Setting

digit

Setting

value

3 Address increasing

4 Address increasing

Set the rate of change of the torque command per second.

Set the speed of the profile speed command.

Set the maximum profile speed.

Set the maximum speed in the torque control.

Home position return direction

direction

However, setting "0.0" will disable the torque slope. This function will be enabled in the profile torque mode.

This parameter corresponds to "Torque slope (Index: 6087h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.0 to 1000000.0

The fractional portion of the parameter will be rounded down. This function will be enabled in the profile position mode.

This parameter corresponds to "Profile velocity (Index: 6081h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.00 to instantaneous permissible speed

This function will be enabled in the profile position mode and profile velocity mode. The fractional portion of this parameter will be rounded down in the profile position mode.

This parameter corresponds to "Max profile velocity (Index: 607Fh)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.00 to 20000.00

This function will be enabled in the profile mode.

This parameter corresponds to "Velocity limit value (Index: 2D20h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.00 to instantaneous permissible speed

Home position return

method

Method 3 21 Address decreasing

Method 4 22 Address decreasing

Method 5 23 Address increasing

Method 6 24 Address increasing

Method 7 27 Address decreasing

Method 8 28 Address decreasing

Method 11 33 Address decreasing

Method 12 34 Address increasing

Method 19 35 Method 35

Method 20

Function

Setting

Home position

value

37 Method 37

return direction

direction

Home position return

method

Method 21

Method 22

Method 23

Method 24

Method 27

Method 28

Method 33

Method 34

(Data set type)

Initial value [unit]

0.0

[%/s]

100.00 [r/min]

20000.00

[r/min]

500.00 [r/min]

4 - 27

4. PARAMETERS

No./symbol/

name

PT57 ZSTH Home

position shift distance (extension parameter)

PT59 DCTH Travel

distance after proximity dog (extension parameter)

PT60 *TOP8 Function

selection T-8

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PT61 HMA Home

position return acceleration time constant

PT62 HMB Home

position return deceleration time constant

PT63 ZSP2L Zero speed 2

level

Setting

digit

This parameter is the extension parameter of [Pr. PT07].

When [Pr. PT57] is used, the home position shift distance is calculated as follows. Home position shift distance = [Pr. PT07] + ([Pr. PT57] × 65536) This function will be enabled in the profile mode. The unit can be changed to 10

Setting range: 0 to 32767

This parameter is the extension parameter of [Pr. PT09].

When [Pr. PT59] is used, the travel distance after proximity dog is calculated as follows. Travel distance after proximity dog = [Pr. PT09] + ([Pr. PT59] × 65536) This function will be enabled in the profile mode. The unit can be changed to 10

Setting range: 0 to 32767

_ _ _ x Home position return - Deceleration time constant selection

Select a parameter used for setting the deceleration time constant at home position return. The acceleration time constant is fixed to [Pr. PT61].

0: Using [Pr. PT61] as deceleration time constant 1: Using [Pr. PT62] as deceleration time constant

Set the acceleration time constant for the home position return. Set an acceleration time taken from

0 r/min to the rated speed. This function will be enabled in the profile mode. When "Using [Pr. PT61] as deceleration time constant (_ _ _ 0)" is selected in "Home position

return - Deceleration time constant selection" of [Pr. PT60], the value set in this parameter is used as a deceleration time constant at home position return.

This parameter corresponds to "Homing acceleration (Index: 609Ah)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 20000

Set the deceleration time constant at the home position return. Set a deceleration time taken from

the rated speed to 0 r/min. This function will be enabled in the profile mode. When "Using [Pr. PT62] as deceleration time constant (_ _ _ 1)" is selected in "Home position

return - Deceleration time constant selection" of [Pr. PT60], the value set in this parameter is enabled.

Setting range: 0 to 20000

Set a speed level for turning on the zero speed 2.

When the state in which the absolute value of the servo motor speed exceeds the parameter setting value continues for the time set in [Pr. PT64 Zero speed 2 filtering time] or longer, "Statusword (Index: 6041h) bit 12 Speed" will be turned off.

This function will be enabled in the profile velocity mode.

This parameter corresponds to "Velocity threshold (Index: 606Fh)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.00 to 655.35

-3

[degree] or [pulse] with the setting of [Pr. PT01].

-3

[degree] or [pulse] with the setting of [Pr. PT01].

Function

Initial value [unit]

Refer to

Function

column

for unit.

Refer to

Function

column

for unit.

50.00

[r/min]

0

0h

0

[ms]

0

[ms]

4 - 28

4. PARAMETERS

No./symbol/

name

PT64 ZSP2F Zero speed 2

filtering time

PT65 INP2R In-position 2

output range

PT66 INP2F In-position 2

output filtering time

PT67 SA2R Speed

reached 2 output range

PT68 SA2F Speed

reached 2 output filtering time

Setting

digit

Set the zero speed 2 filtering time.

When the state in which the absolute value of the servo motor speed exceeds [Pr. PT63 Zero speed 2 level] continues for the time set in this parameter or longer, "Statusword (Index: 6041h) bit 12 Speed" will be turned off.

This function will be enabled in the profile velocity mode.

This parameter corresponds to "Velocity threshold time (Index: 6070h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 65535

Set a position range for turning on the in-position 2 output.

When the state in which an error between the command position and current position is within the parameter setting value continues for the time set in [Pr. PT66 In-position 2 output filtering time] or longer, "Statusword (Index: 6041h) bit 10 Target reached" will be turned on. However, when this parameter is set to "65535", "Statusword (Index: 6041h) bit 10 Target reached" will be always on.

This function will be enabled in the profile position mode and homing mode. The unit can be changed to 10

This parameter corresponds to "Position window (Index: 6067h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 65535

Set the time until the in-position 2 output turns on.

When the state in which an error between the command position and current position is within [Pr. PT65 In-position 2 output range] continues for the time set in this parameter or longer, "Statusword (Index: 6041h) bit 10 Target reached" will be turned on. However, when this parameter is set to "65535", "Statusword (Index: 6041h) bit 10 Target reached" will be always on.

This function will be enabled in the profile position mode and homing mode.

This parameter corresponds to "Position window time (Index: 6068h)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 65535

Set a speed range for turning on the speed reached 2 output.

When the state in which an error between the command speed and servo motor speed is within the parameter setting value continues for the time set in [Pr. PT68 Speed reached 2 output filtering time] or longer, "Statusword (Index: 6041h) bit 10 Target reached" will be turned on.

This function will be enabled in the profile velocity mode.

This parameter corresponds to "Velocity window (Index: 606Dh)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0.00 to 655.35

Set the time until the speed reached 2 output turns on.

When the state in which an error between the speed command and servo motor speed is within [Pr. PT67 Speed reached 2 output range] continues for the time set in this parameter or longer, "Statusword (Index: 6041h) bit 10 Target reached" will be turned on.

This function will be enabled in the profile velocity mode.

This parameter corresponds to "Velocity window time (Index: 606Eh)". When this parameter is mapped to the link device of CC-Link IE Field Network Basic, the value written with MR Configurator2 is overwritten by the controller. Thus, do not write a value with MR Configurator2.

Setting range: 0 to 65535

Function

-3

[degree] or [pulse] with the setting of [Pr. PT01].

Initial value [unit]

10

[ms]

100

Refer to

Function

column

for unit.

10

[ms]

20.00

[r/min]

10

[ms]

4 - 29

4. PARAMETERS

r

4.3 Software limit

The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end. Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be disabled in the profile velocity mode, profile torque mode, and homing mode. Setting a same value to "Software limit +" and "Software limit -" will disable this function. Setting a larger value to "Software limit -" than "Software limit +" will disable this function.

Inhibited range

Travel

impossible

Current position

Movable range

Travel possible

Software limit

4.4 How to set the electronic gear

4.4.1 Electronic gear setting for the profile mode

(1) Setting [pulse] with "Position data unit" of [Pr. PT01]

Adjust [Pr. PA06] and [Pr. PA07] to match the servo amplifier setting with the travel distance of the machine.

Electronic gea

([Pr. PA06]/[Pr. PA07])

Travel distance

: Servo motor encoder resolution: 131072 [pulse/rev]

P

t

CMX CDV

+

-

Deviation counter

Servo motor

M

Encoder

ΔS: Travel distance per servo motor revolution [pulse/rev] CMX/CDV = P

/ΔS

t

The following setting example explains how to calculate the electronic gear.

POINT

To calculate the electronic gear, the following specification symbols are required. Pb: Ball screw lead [mm] 1/n: Reduction ratio P

: Servo motor encoder resolution [pulse/rev]

t

ΔS: Travel distance per servo motor revolution [mm/rev]

4 - 30

4. PARAMETERS

(a) Setting example of a ball screw

Machine specifications

Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z Z

: Number of gear teeth on servo motor side

1

Z

: Number of gear teeth on load side

2

Servo motor encoder resolution: P

CMX

CDV

Note. Because the command unit is "pulse", α is 1.

Therefore, set CMX = 131072 and CDV = 5.

(b) Setting example of a conveyor

Machine specifications

Pulley diameter: r = 160 [mm] Reduction ratio: 1/n = Z Z

: Number of gear teeth on servo motor side

1

Z

: Number of gear teeth on load side

2

Servo motor encoder resolution: P

CMX

CDV

Note. Because the command unit is "pulse", α is 1.

Reduce CMX and CDV to within the setting range or lower and round off each value to the closest whole number. Therefore, set CMX = 16384 and CDV = 21.

P

t

==

ΔS

=

ΔS

1/n Pb α (Note)

P

t

=

1/n r πα (Note)

1/Z2

P

t

1/Z2

P

= 1/2

= 1/3

t

= 131072 [pulse/rev]

t

131072

=

1/2 10 1

= 131072 [pulse/rev]

t

131072

=

1/3 160 π 1

131072

=

r = 160 [mm]

1/n = Z1/Z2 = 1/2

Servo motor encoder resolution 131072 [pulse/rev]

5

1/n

1/n = Z1/Z2 = 1/3

131072

=

167.6

1/n

2

Z

Pb = 10 [mm]

1

Z

Servo motor encoder resolution 131072 [pulse/rev]

1Z2

Z

16384

21

4 - 31

4. PARAMETERS

(2) Setting [degree] with "Position data unit" of [Pr. PT01].

Set the number of gear teeth on machine side to [Pr. PA06] and the number of gear teeth on servo motor side to [Pr. PA07].

Electronic gear

([Pr. PA06]/[Pr. PA07])

Travel distance

: Servo motor encoder resolution: 131072 [pulse/rev]

P

t

CMX CDV

P

360000

+

t

-

Deviation counter

Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter error].

(a) Set values to make numerator and denominator 16384 or lower if the electronic gear (CMX/CDV) is

reduced to its lowest terms.

(b) Set values to make numerator and denominator 16777216 or lower if (CMX × Pt)/(CDV × 360000) is

reduced to its lowest terms.

The following shows a setting example of the electronic gear. Number of gear teeth on machine side: 25, number of gear teeth on servo motor side: 11 Set [Pr. PA06] = 25 and [Pr. PA07] = 11.

Servo motor

M

Encoder

Machine

Servo motor

: (servo motor resolution): 131072 pulses/rev

P

t

Z2

Z1

Z1: Number of gear teeth on servo motor side Z2: Number of gear teeth on machine side Z1: Z2 = 11:25

4 - 32

4. PARAMETERS

4.5 Restrictions on using objects/registers

4.5.1 Restrictions on input devices

The following input devices can be used when [Pr. PA01] = "_ _ _ 0" to "_ _ _ 5" (Position/speed/torque control mode). They cannot be used when [Pr. PA01] = "_ _ _ 9" (Profile mode).

Device Symbol

Servo-on SON

Reset RES

Control switching LOP

Forward rotation start/reverse rotation selection

Reverse rotation start/forward rotation selection

ST1/RS2

ST2/RS1

(Position/speed/torque control mode)

_ _ _ 0 to _ _ _ 5

4.5.2 Restrictions on objects/registers

The following objects/registers can be used when [Pr. PA01] = "_ _ _ 9" (Profile mode). They cannot be used when [Pr. PA01] = "_ _ _ 0" to "_ _ _ 5" (Position/speed/torque control mode).

objects/registers name Index

(Position/speed/torque control mode)

Controlword 6040h

Modes of operation 6060h

_ _ _ 0 to _ _ _ 5

Pr. PA01

_ _ _ 9

(Profile mode)

Pr. PA01

_ _ _ 9

(Profile mode)

4 - 33

4. PARAMETERS

MEMO

4 - 34

5. CiA 402 DRIVE PROFILE

POINT

The following is shown in the "Access" column. "ro": Only reading is available. "wo": Only writing is available. "rw": Reading and writing are available.

This chapter describes how to drive a servo motor in the communication. For MR-JE-_C servo amplifier, objects/registers are assigned according to Index of the CiA 402 drive profile. By accessing the assigned objects/registers, the controller can drive the servo motor. The following table lists the usable functions. For details of the objects/registers, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

Function Description

State machine control of the servo amplifier

Control mode The profile mode can be selected. Section 5.2

Homing mode This is a mode where the servo amplifier performs a home position return operation

Profile mode This is a mode which drives the servo motor based on the position data (target

The controller can control the state machine of the servo amplifier to drive the servo motor.

using the method directed by the controller.

position), servo motor speed, and acceleration/deceleration time constants set by the controller.

Detailed

explanation

Section 5.1

Section 6.1

Section 6.2 Section 6.3 Section 6.4

5 - 1

5. CiA 402 DRIVE PROFILE

5.1 State machine control of the servo amplifier

5.1.1 Function description

The servo amplifier status is managed based on the state machine below. Setting the Controlword (6040h) from the master station (controller) changes the status of the slave stations (servo amplifiers). The current servo amplifier status can be read with the Statusword (6041h).

Power on

(0)

Servo initialization in process

(A) Not ready to switch on

Ready-off/Servo-off (During main circuit charging)

In wait for forced stop reset

In wait for main circuit charging (ready-off)

(12)

Drive standby (servo-off)

Forced stop deceleration

(F) Quick stop active

Transition by slave Transition by master Transition by slave or master

(10)

(1)

(B) Switch on disabled

(2)

(C) Ready to switch on

(3) (6)

(D) Switched on

(4) (5)

(16)

(E) Operation enabled

(11)

In normal drive (servo-on)

(7)

(15)

(H) Fault

(14)

(9)(8)

(G) Fault reaction active

(13)

Error occurs

Occurrence of alarm

Ready-off/Servo-off (Main circuit charging completed)

Ready-on/Servo-on

Alarm handling in process (forced stop deceleration, alarm history writing, and alarm display change)

5 - 2

5. CiA 402 DRIVE PROFILE

Table 5.1 State transition

Transition

No.

(0) The power is turned on. Initialization

(1) The state automatically transitions when the power is turned on. Communication setting

(2) The state transitions with the Shutdown command from the master.

(3) The state transitions with the Switch on command from the master. RA turns on.

The state transitions with the Enable operation command from the

(4)

master.

The state transitions with the Disable operation command from the

(5)

master.

(6) The state transitions with the Shutdown command from the master. RA turns off.

The state transitions with the Disable Voltage command or Quick

(7)

Stop command from the master.

(8) The state transitions with the Shutdown command from the master. Operation is disabled after servo-off or RA-off.

The state transitions with the Disable Voltage command from the

(9)

master.

The state transitions with the Disable Voltage command or Quick

(10)

Stop command from the master.

(11) The state transitions with the Quick Stop command from the master. Quick Stop starts.

(a) The state automatically transitions after Quick Stop is completed.

(12)

(13) Alarm occurrence Processing against the alarm is executed.

(14) Automatic transition

(15) The state transitions with the Fault Reset command from the master.

(16)

(Not

compatible)

(Note)

(If the Quick Stop option code is 1, 2, 3, or 4)

(b) The state transitions with the Disable Voltage command from the

master.

The state transitions with the Enable Operation command from the master.

(If the Quick Stop option code is 5, 6, 7, or 8)

Note. This is not available with MR-JE-_C servo amplifier.

Event Remark

The operation becomes ready after servo-on.

The operation is disabled after servo-off.

Operation is disabled after servo-off or RA-off.

RA turns off.

Operation is disabled after servo-off or RA-off.

After processing against the alarm has been completed, servo-off or RA-off is performed and the operation is disabled.

Alarms are reset. Alarms that can be reset are reset.

The operation becomes ready.

5 - 3

5. CiA 402 DRIVE PROFILE

5.1.2 Related objects/registers

Index Sub Index Access Name Data Type Default

6040h 0 rw Controlword U16

6041h 0 ro Statusword U16

(1) Controlword (6040h)

This object/register issues a command from the master station (controller) to the slave stations (servo amplifiers).

Index Sub Index Access Name Data Type Default

6040h 0 rw Controlword U16

The current control command status can be checked. In addition, control commands can be written. The following table lists the bits of this object/register. The slave can be controlled with bit 0 to bit 3 and bit 7.

Bit Symbol Description

0 SO Switch On

1 EV Enable Voltage

2 QS Quick Stop

3 EO Enable Operation

4 to 6 OMS

7 FR Fault Reset

8 HALT

9

10 to 14

15

Note 1. The description changes depending on the control mode.

2. The value at reading is undefined. Set "0" when writing.

The following table lists the commands issued to the servo amplifier. Turn on the bit that corresponds to the command.

Command

Fault Reset

Shutdown 0 1 1 0 (2)/(6)/(8)

Switch On 0 0 1 1 1 (3)

Disable Voltage 0 0 (7)/(9)/(10)/(12)

Quick Stop 0 0 1 (7)/(10)/(11)

Disable Operation 0 0 1 1 1 (5)

Enable Operation 0 1 1 1 1 (4)

Fault Reset 0 → 1 (Note) (15)

Note. To prevent the command from failing to be recognized in faulty communication, hold the state in which Bit 7 is " 1" for at least 10

ms for the Fault Reset command.

Operation Mode Specific Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

Halt 0: Operation ready 1: Temporary stop

Operation Mode Specific Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

Reserved The value at reading is undefined. Set "0" when writing.

New set-point 0: The servo motor is stopped. 1: The servo motor is driven. This is used in the profile velocity mode. (Refer to section 6.3.2.)

Command bit setting of Controlword

Bit 7

Bit 3

Enable Operation

Bit 2

Quick Stop

Bit 1

Enable Voltage

Bit 0

Switch On

Transition No.

5 - 4

5. CiA 402 DRIVE PROFILE

(2) Statusword (6041h)

Index Sub Index Access Name Data Type Default

6041h 0 ro Statusword U16

The current control status can be checked. The following table lists the bits of this object/register. The status can be checked with bit 0 to bit 7.

Bit Symbol Description

0 RTSO Ready To Switch On

1 SO Switched On

2 OE Operation Enabled

3 F Fault

Voltage-enabled

4 VE

5 QS

6 SOD Switch On Disabled

7 W

8

9 RM

10 TR

11 ILA

12 to 13 OMS

14 to 15 Reserved The value at reading is undefined.

The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status

0 0 0 0 0 Not ready to switch on

1 0 0 0 0 Switch on disable

0 1 0 0 0 1 Ready to switch on

0 1 0 0 1 1 Switch on

0 1 0 1 1 1 Operation enabled

0 0 0 1 1 1 Quick stop active

0 1 1 1 1 Fault reaction active

0 1 0 0 0 Fault

1 Main power on (power input on)

1 Warning (warning occurrence)

Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.

0: The bus voltage is lower than the certain (RA) level. 1: The bus voltage is equal to or higher than the certain level.

Quick stop 0: During a quick stop 1: No during a quick stop (including during the test mode)

Warning 0: No warning has occurred. 1: A warning is occurring.

Reserved The value at reading is undefined.

Target reached Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

Internal limit active 0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have

not been reached.

1: The forward rotation stroke end, reverse rotation stroke end, or software position limit has

been reached (Enabled in the pp, pv, or hm mode).

Operation Mode Specific Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

5 - 5

5. CiA 402 DRIVE PROFILE

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-JE_C_ servo amplifier). Refer to the following table for details.

x0xx xxx0 x0xx 0000 Not ready to switch on (Note)

x0xx xxx0 x1xx 0000 Switch on disabled

x0xx xxx0 x01x 0001 Ready to switch on

x0xx xxx0 x01x 0011 Switched on

x0xx xxx0 x01x 0111 Operation enabled

x0xx xxx0 x00x 0111 Quick stop active

x0xx xxx0 x0xx 1111 Fault reaction active

x0xx xxx0 x0xx 1000 Fault

Note. Statusword is not sent in the Not ready to switch on state.

5.1.3 Directions for use

A control command allows a transition to the target status, skipping the statuses in between. The statuses can transition as shown in the following table, for example. (Refer to the figure in section 5.1.1.)

(B) Switch on disabled Switch on (D) Switched on

(B) Switch on disabled Enable operation (E) Operation enabled

(C) Ready to switch on Enable operation (E) Operation enabled

Statusword (bin) State machine

Current status Command Status after transition

5 - 6

5. CiA 402 DRIVE PROFILE

5.2 Control mode

This section describes the control modes of the MR-JE-_C servo amplifier.

5.2.1 Function description

A control mode of the MR-JE-_C servo amplifier can be selected with Modes of operation (6060h). The following is the chart of control modes, switchable from the current mode.

Position (Note 1)

Speed (Note 1)

Torque (Note 1)

Control mode

before

switching

: Switchable : Non-switchable

Note 1. When Modbus RTU communication is not used, switch any one of the control modes (positioning/speed/torque) with [Pr.

PA01] and LOP (control switching). When Modbus RTU communication is used, setting [Pr. PC71] “Control switching method

selection” to "2 _ _ _” (object (6060h)) enables the control modes (positioning/speed/torque) to be switched with the

objects/registers.

2. When [Pr. PN08] “Command interface selection” is set for the general-purpose interface ( _ _ _ 0), change the control mode

with the input devices (MD0, MD1).

Profile

Positioning

(Note 2)

Home position return

Position Speed Torque

pp

pv

tq

pt

idx

jg

The following table lists the control switching conditions of the profile mode.

Switching operation Switching condition

(1) Profile position mode → Profile velocity mode

(2) Profile velocity mode → Profile position mode

(3) Profile position mode → Profile torque mode

(4) Profile torque mode → Profile position mode

(5) Profile velocity mode → Profile torque mode

(6) Profile torque mode → Profile velocity mode

(7) Profile position mode → Homing mode

(8) Profile velocity mode → Homing mode

(9) Profile torque mode → Homing mode

(10) Homing mode → Profile position mode

(11) Homing mode → Profile velocity mode

(12) Homing mode → Profile torque mode

Note 1. You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped.

For the zero speed, refer to section 3.5 (1) (b) in "MR-JE-_C Servo Amplifier Instruction Manual".

2. When the mode is switched from the profile velocity mode to the profile torque mode, the servo motor speed may fluctuate for

a moment. Therefore, it is recommended that the servo motor be stopped before the mode switching from the profile velocity

mode to the profile torque mode.

After switching control modes, check that the control modes have been switched by monitoring the Modes of operation display (6061h).

Control mode after switching

Profile Positioning

pp pv tq pt idx jg

While the servo motor is stopped (Note 1)

Not restricted (Note 2)

While the servo motor is stopped (Note 1)

Home

position

return

5 - 7

5. CiA 402 DRIVE PROFILE

5.2.2 Related objects/registers

Index Sub Index Access Name Data Type Default

6060h 0 rw Modes of operation I8 0

6061h 0 ro Modes of operation display I8 -20

6502h 0 ro Supported Drive Modes U32

5 - 8

6. SERVO MOTOR DRIVING

POINT

The following is shown in the "Access" column. "ro": Only reading is available. "wo": Only writing is available. "rw": Reading and writing are available.

6.1 Homing mode (hm)

This section describes how to perform a home position return operation in the communication.

6.1.1 Function description

Perform a home position return operation following the instruction below.

For specified home position return operation, set Homing method (6098h), Homing speed (6099h), and Homing acceleration (609Ah), and then start the operation with Controlword (6040h). The completion of the home position return operation can be checked with Statusword (6041h).

Controlword (6040h)

Homing method (6098h)

Homing speeds (6099h)

Homing acceleration (609Ah)

Homing

method

Statusword (6041h)

Home offset (607Ch)

6 - 1

6. SERVO MOTOR DRIVING

6.1.2 Related objects/registers

Index Sub Index Access Name Data Type Default Description

The home position saved in EEP-ROM is stored at poweron. If a home position return is executed in the homing

607Ch 0 ro Home offset I32

6098h 0 rw Homing Method I8 37

0 ro Homing Speeds U8 2

1 rw Speed during search for switch U32 10000

6099h

2 rw Speed during search for zero U32 1000

609Ah 0 rw Homing acceleration U32 0

0 ro Supported Homing Method U8 40 (Note 3)

1 ro 1st supported homing method I8 37

60E3h

to

th

40

(Note 2)

ro

40

supported homing method

(Note 2)

I8 -43

Note 1. In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the

stroke end is detected. Set the home position return speed carefully.

2. For servo amplifiers with prior A3 software version, the maximum value of Sub Index is 39, and Name is 39

method.

3. In the case of a servo amplifier with prior A3 software version, the Default value is 39.

mode (hm), the home position will be updated. If [Pr. PA03 Absolute position detection system] is disabled, 0 is always stored.

Specify a home position return method. Refer to (2) in this section for supported home position return methods.

Number of entries of the home position return speed

Specify the travel speed until dog detection.

Unit: Vel unit (0.01 r/min) Range: 0 to servo motor

maximum speed

Specify the travel speed up to the home position after dog detection. (Note 1)

Unit: Vel unit (0.01 r/min) Range: 0 to servo motor

maximum speed

Acceleration/deceleration time constant at home position return Unit: ms

Number of entries of the supported home position return method

The home position return method that uses the current position as a home position is supported.

The dogless Z-phase reference home position return method (reverse rotation) is supported.

th

supported homing

6 - 2

6. SERVO MOTOR DRIVING

(1) Controlword (6040h)

Index Sub Index Access Name Data Type Default

6040h 0 rw Controlword U16

The current control command status can be checked. In addition, control commands can be written. The following table lists the bits of this object/register that relate to the home position return operation.

(2) Homing method (6098h)

Bit Description

0 to 3 Refer to section 5.1.2.

4 Homing Operation Start

0: Do not start homing procedure 1: Start or continue homing procedure

5 to 6 Reserved (Note)

7 Refer to section 5.1.2.

8 Halt

0: Bit 4 enable 1: Stop axis according to halt option code (605Dh)

9 Reserved (Note)

10 to 14 Refer to section 5.1.2.

15 Reserved (Note)

Note. The value at reading is undefined. Set "0" when writing.

To start a home position return operation, turn bit 4 from "0" to "1". When the home position return operation is completed or an alarm is issued during the operation, turn bit 4 from "1" to "0". When bit 8 (Halt) of the Controlword (6040h) is set to "1", the servo motor decelerates to a stop. After that, when bit 8 (Halt) is set to "0" and bit 4 is turned to "0" and then "1", the home position return operation is performed again.

Index Sub Index Access Name Data Type Default

6098h 0 rw Homing method I8 37

The current home position return method can be read. In addition, a home position return method can be set. To enable the written home position return method after turning the power back on, execute Store Parameters (1010h). After the execution of Store Parameters, the setting value of [Pr. PT45] is changed.

6 - 3

6. SERVO MOTOR DRIVING

The setting values that can be selected are as follows.

Setting value Home position return method

3

4

5

6

7

8

11

12

19 Homing without index pulse Forward rotation

20 Homing without index pulse Forward rotation

21 Homing without index pulse Reverse rotation

22 Homing without index pulse Reverse rotation

23 Homing without index pulse Forward rotation Same as the dog type front end reference home position return.

24 Homing without index pulse Forward rotation

27 Homing without index pulse Reverse rotation Same as the dog type front end reference home position return.

Homing on positive home

switch and index pulse

Homing on positive home

switch and index pulse

Homing on negative home

switch and index pulse

Homing on negative home

switch and index pulse

Homing on home switch and

index pulse

Homing on home switch and

index pulse

Homing on home switch and

index pulse

Homing on home switch and

index pulse

Direction of

rotation

Forward rotation

Reverse rotation

Forward rotation

Reverse rotation

Description

Same as the dog type last Z-phase reference home position return.

Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog cradle type home position return. Note that if the stroke end is detected during home position

return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return.

Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog cradle type home position return. Note that if the stroke end is detected during home position

return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return.

Same as the dog cradle type home position return.

Same as the dog type last Z-phase reference home position return.

The direction of rotation is opposite to that of the method 7.

Same as the dog cradle type home position return. The direction of rotation is opposite to that of the method 8.

Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position

return, [AL. 90 Home position return incomplete warning] occurs.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

6 - 4

6. SERVO MOTOR DRIVING

Setting value Home position return method

28 Homing without index pulse Reverse rotation

33 Homing on index pulse Reverse rotation

34 Homing on index pulse Forward rotation

35 Homing on current position

37 Homing on current position

Direction of

rotation

Description

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

Although this type is the same as the dogless Z-phase reference home position return, the creep speed is applied as the movement start speed.

The current position is set as the home position. This type can be executed not in the Operational enabled state.

6 - 5

6. SERVO MOTOR DRIVING

Setting value Home position return method

-1

(Rear end detection, Z-phase

-33 Reverse rotation

-3

-4

-36 Reverse rotation

-2

-34 Reverse rotation

-6

-38 Reverse rotation

-7

-39 Reverse rotation

-8

-40 Reverse rotation

-9

-41 Reverse rotation

-10

-42 Reverse rotation

-11

-43 Reverse rotation

Data set type home position

(Stopper position reference)

(Front end detection, Z-phase

(Rear end detection, rear end

(Front end detection, front

Dog type front end reference

Dogless Z-phase reference

Dog type

reference)

return

Stopper type

Count type

reference)

Dog type

reference)

Count type

end reference)

Dog cradle type

Dog type last Z-phase

reference

Direction of

rotation

Forward rotation

Description

Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Zphase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

The current position is set as the home position.

A workpiece is pressed against a mechanical stopper, and the position where it is stopped is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

At the front end of the proximity dog, deceleration starts. After the front end is passed, the position specified by the first Zphase signal after the set distance or the position of the Zphase signal shifted by the set home position shift distance is set as a home position. If the stroke end is detected during home position return, the direction of movement is reversed.

Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

Deceleration starts from the front end of the proximity dog. The position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction. Then, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, the direction of movement is reversed.

The position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

6 - 6

6. SERVO MOTOR DRIVING

(3) Homing speed (6099h)

Index Sub Index Access Name Data Type Default

0 ro

6099h

1

2 Speed during search for zero U32 1000

rw

Homing speed

The current home position return speed can be read. At this time, "02h" is returned to Number of entries. The current home position return speed is returned to Speed during search for switch in units of r/min. The current creep speed is returned to Speed during search for zero in units of r/min.

Set a home position return speed. At this time, write "02h" in Number of entries. Set a home position return speed in Speed during search for switch in units of r/min. Set a creep speed in Speed during search for zero in units of r/min.

(4) Statusword (6041h)

POINT

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. For incremental system

At power-on At communication shut-off by controller reset At home position return start At home position erasure

For absolute position detection system

At home position return start

At home position erasure To check the home position return status with Statusword (6041h), note the following.

When the mode is switched to the hm mode, Modes of operation display

(6061h) is changed to 6 (hm) and Statusword (6041h) changes at the same

time.

The transition of Statusword (6041h) may take 50 ms at a maximum after Bit 4

(Homing operation start) of Controlword (6040h) is set. To obtain the status of

Statusword without any fault, wait 50 ms or more before obtaining Statusword

(6041h). Before updating the position after a home position return completion, check that both Bit 12 and Bit 10 of Statusword (6041h) are changed to "1" and then wait 8 ms. It may take approximately 8 ms for the position information to be correctly updated.

Number of entries U8 2

Speed during search for switch U32 10000

Index Sub Index Access Name Data Type Default

6041h 0 ro Statusword U16

6 - 7

6. SERVO MOTOR DRIVING

The current control status can be checked. The following table lists the bits of this object/register that relate to the home position return operation.

Bit Description

0 to 9 Refer to section 5.1.2.

Target reached

10

Refer to (a) and the following table for the definition.

11 Refer to section 5.1.2.

Homing attained

12

Refer to (b) and the following table for the definition.

Homing error

13

Refer to (c) and the following table for the definition.

14 to 15 Refer to section 5.1.2.

(a) Bit 10 (Target reached) of Statusword (6041h)

Bit 10 turns on (1) when the command position is reached. If bit 8 (Halt) of Controlword (6040h) is set to "1", bit 10 turns on (1) when a deceleration stop is completed. If a command is input again, bit 10 turns off (0).

(b) Bit 12 (Homing attained) of Statusword (6041h)

Bit 12 turns off (0) when a home position return operation is started and turns on (1) when the operation is completed. For absolute position detection system, bit 12 turns on (1) after the power supply is turned on.

(c) Bit 13 (Homing error) of Statusword (6041h)

Bit 13 turns on (1) when an alarm or warning ([AL 90.2], [AL 90.3], [AL 90.5], [AL 96.1], [AL 96.2], or [AL 96.3]) occurs during a home position return operation.

The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword (6041h) in the hm mode.

Bit 13 Bit 12 Bit 10 Definition

0 0 0 Homing procedure is in progress

0 0 1 Homing procedure is interrupted or not started

0 1 0 Homing is attained, but target is not reached

0 1 1 Homing procedure is completed successfully

1 0 0 Homing error occurred, velocity is not 0

1 0 1 Homing error occurred, velocity is 0

1 1 reserved

6 - 8

6. SERVO MOTOR DRIVING

6.1.3 Directions for use

(1) How to execute home position return in the profile mode

[Precondition setting] Set an IP address that can communicate with the controller. Set the profile mode in "Control mode selection" of [Pr. PA01].

Set Homing method (6098h).

Save the parameter in the EEP-ROM with Save manufacturer defined parameters of

Set Speed during search for switch and Speed during search for zero for Homing speed (6099h).

Save the parameter in the EEP-ROM with Save application parameters of

Specify Homing mode (hm) on Modes of operation (6060h).

Confirm the switching to Homing mode (hm) on Modes of operation display (6061h).

Set 0Fh in Controlword (6040h)→ Operation enable

Set 1Fh in Controlword (6040h) to start home position return.

Store Parameters (1010h).

Cycle the power.

Set Homing acceleration (609Ah).

Store Parameters (1010h).

Skip if the setting does

not need to be changed.

Save the parameter in the

EEP-ROM if necessary.

Check that bit 12 (Homing attained) of Statusword (6041h) turns on (1).

Home position return completion

6 - 9

6. SERVO MOTOR DRIVING

(2) CiA 402-type homing method

(a) Home position return type in CiA 402 type

The following shows the CiA 402-type home position return.

1) Method 3 and 4: Homing on positive home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position. Method 3 has the operation of the dog type last Z-phase reference home position return, and Method 4 has the operation of the dog cradle type home position return at a forward rotation start. However, if the stroke end is detected during home position return, [AL. 90] occurs.

3

4

Index Pulse

Home Switch

2) Method 5 and 6: Homing on negative 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. Method 5 and 6 differ from Method 3 and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the reversed direction.

6 - 10

6. SERVO MOTOR DRIVING

3) Method 7, 8, 11, 12: Homing on home switch and index pulse These types include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the operation of the dog type last Z-phase reference home position return. Method 8 has the operation of the dog cradle type home position return at a forward rotation start. Method 11 and 12 differ from Method 7 and Method 8 only in the starting direction: the starting direction of Method 11 and 12 is the reversed direction.

8

7

8

7

8

Index Pulse

Home Switch

Positive Limit Switch

4) Method 17 to 30: Homing without index pulse Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home position not on the Z-phase but on the dog. Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home position not on the Z-phase but on the dog. The following figure shows the operation of the home position return type of Method 19 and Method 20. Method 19 and Method 20 have the operation of Method 3 and Method 4; however, these types set the home position not on the Z-phase but on the dog Method 19 has the operation of the dog type front end reference home position return. Method 20 has the operation of the dog cradle type home position return; however, the stop position is not on the Z-phase but on the dog.

19

20

Home Switch

6 - 11

6. SERVO MOTOR DRIVING

5) Method 33 and 34: Homing on index pulse These home position return types set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z-phase reference home position return except that the creep speed is applied at the start.

Index Pulse

6) Method 35 and 37: Homing on current position These home position return types set the current position as a home position. The operation is the same as that of the data set type home position return; however, these types can be executed even during servo-off.

33

34

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

Controlword bit 4 Homing operation start

ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF

Home position return position data

6 - 12

6. SERVO MOTOR DRIVING

(b) 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

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

method.

1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3. The operation direction of Homing method 5 is opposite to that of Homing method 3.

ON OFF ON OFF

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF ON OFF

Acceleration time constant

10 ms or shorter

Home position shift distance

Home position return direction

0 r/min Reverse rotation

After retracting to before proximity dog, the home position return starts from here.

Home position return speed

Proximity dog

Deceleration time constant

Creep speed

Proximity dog

Home position return start position

Home position return position data

When a home position return is started from the proximity dog

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

6 - 13

6. SERVO MOTOR DRIVING

2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that of Homing method 4.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

Servo motor speed 0 r/min

ON OFF ON OFF ON OFF

Home position return direction

Forward rotation

0 r/min Reverse rotation

shift distance

Proximity dog

Home position return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Home position return start position

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

6 - 14

6. SERVO MOTOR DRIVING

3) Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to that of Homing method 7.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF ON OFF

Acceleration time constant

10 ms or shorter

Home position shift distance

Home position return direction

0 r/min Reverse rotation

After retracting to before proximity dog, the home position return starts from here.

Home position return speed

Proximity dog

Deceleration time constant

Creep speed

Proximity dog

Home position return start position

Home position return position data

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 15

6. SERVO MOTOR DRIVING

4) Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The operation direction of Homing method 12 is opposite to that of Homing method 8.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Home position return direction

Forward rotation

0 r/min Reverse rotation

shift distance

Proximity dog

Home position return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position return direction

Home position return start position

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Proximity dog

Home position return position data

Stroke end (Note)

Note. This is not available with the software limit.

When the servo motor returns at the stroke end

6 - 16

6. SERVO MOTOR DRIVING

5) Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to that of Homing method 19.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

Acceleration time constant

Home position return position data

10 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

Proximity dog

+

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

6 - 17

6. SERVO MOTOR DRIVING

6) Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The operation direction of Homing method 22 is opposite to that of Homing method 20.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Home position shift distance

Travel distance after proximity dog

Proximity dog

+

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

Servo motor speed 0 r/min

ON OFF ON OFF ON OFF

Home position return direction

Forward rotation

0 r/min Reverse rotation

Home position shift distance

Travel distance after proximity dog

+

Proximity dog

Home position return position data

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Home position return start position

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

6 - 18

6. SERVO MOTOR DRIVING

7) Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to that of Homing method 23.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

Acceleration time constant

Home position return position data

10 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

Proximity dog

+

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 19

6. SERVO MOTOR DRIVING

8) Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The operation direction of Homing method 28 is opposite to that of Homing method 24.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Home position shift distance

Travel distance after proximity dog

Proximity dog

+

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Home position return direction

Forward rotation

0 r/min Reverse rotation

Home position shift distance

Travel distance after proximity dog

+

Proximity dog

Home position return position data

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Home position return start position

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Proximity dog

Home position return position data

Stroke end (Note)

Note. This is not available with the software limit.

When the servo motor returns at the stroke end

6 - 20

6. SERVO MOTOR DRIVING

9) Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to that of Homing method 34.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Servo motor speed

Z-phase

Controlword bit 4 Homing operation start

Servo motor speed 0 r/min

10) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These methods can be performed in the servo-off status.

Forward rotation

0 r/min Reverse rotation

OFF ON OFF

Acceleration time constant

Creep speed

10 ms or shorter

Home position return position data

Home position shift distanceON

Home position return direction

Forward rotation

Home position return start position

When the stroke end is detected

Deceleration time constant

Creep speed

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

Controlword bit 4 Homing operation start

ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF

6 - 21

Home position return position data

6. SERVO MOTOR DRIVING

(3) Operation example of Manufacturer-specific Homing method

The following shows an operation example of the Manufacturer-specific home return.

(a) Method -1 and -33 (Dog type home position return)

The following figure shows the operation of Homing method -1. The operation direction of Homing method -33 is opposite to that of Homing method -1.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

td

Proximity dog(Note)

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,

[AL. 90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return

speed to the creep speed.

ON OFF ON OFF ON OFF

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Proximity dog

Stroke end (Note)

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

6 - 22

6. SERVO MOTOR DRIVING

(b) Method -2 and -34 (Count type home position return)

Home position return speed

Travel distance after proximity dog

The following figure shows the operation of Homing method -2. The operation direction of Homing method -34 is opposite to that of Homing method -2.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

POINT

For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog. Then, the first Z-phase is set as the home position. Therefore, when the on-time of the proximity dog is 10 ms or more, the length of the proximity dog has no restrictions. Use this home position return type when the dog type home position return cannot be used because the length of the proximity dog cannot be reserved or other cases.

Acceleration time constant

10 ms or shorter

Deceleration time constant

Proximity dog(Note)

Creep speed

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,

[AL. 90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return

speed to the creep speed.

ON OFF ON OFF ON OFF

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

return direction

0 r/min Reverse rotation

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

6 - 23

6. SERVO MOTOR DRIVING

Home position return direction

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

(c) 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 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

Controlword bit 4 Homing operation start

ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF

Proximity dog

Stroke end (Note)

Home position return position data

6 - 24

6. SERVO MOTOR DRIVING

(d) Method -4 and -36 (stopper type home position return)

Acceleration time constant

Home position return speed

10 ms or shorter

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.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

Controlword bit 4 Homing operation start

TLC (Limiting torque)

Torque limit value

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

POINT

Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough.

Torque limit value (Note 1) [Pr. PT11] Torque limit value (Note 1)

5 ms or longer

Stopper time [Pr. PT10]

Stopper

Home position return position data

(Note 2)

Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (60E0h) is applied. When Method -36 is set, the

torque limit value of Negative torque limit value (60E1h) is applied.

2. If the torque limit value is reached, TLC remains on after the home position return is completed.

Home position

Servo motor speed

return direction

Forward rotation

0 r/min

Home position return start position

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

6 - 25

6. SERVO MOTOR DRIVING

(e) Method -6 and -38 (dog type rear end reference home position return)

Home position return speed

Deceleration time constant

Proximity dog(Note)

The following figure shows the operation of Homing method -6. The operation direction of Homing method -38 is opposite to that of Homing method -6.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

POINT

This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The higher the creep speed, the greater the error of the home position.

Acceleration time constant

10 ms or shorter

Travel distance after proximity dog

Home position shift distance

Creep speed

+

Home position return position data

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep

speed, [AL. 90] occurs. Revise the length of the proximity dog or revise both the home position return speed and creep speed.

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 26

6. SERVO MOTOR DRIVING

(f) Method -7 and -39 (count type front end reference home position return)

Home position return speed

Deceleration time constant

The following figure shows the operation of Homing method -7. The operation direction of Homing method -39 is opposite to that of Homing method -7.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

POINT

This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The faster home position return speed sets a larger error in the home position.

Acceleration time constant

10 ms or shorter

Travel distance after proximity dog

Home position shift distance

Creep speed

Proximity dog

+

Home position return position data

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 27

6. SERVO MOTOR DRIVING

(g) 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

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

When a home position return is started from the proximity dog

Servo motor speed

ON OFF ON OFF ON OFF

Home position return direction

Forward rotation

0 r/min Reverse rotation

shift distance

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Proximity dog

Home position return position data

Proximity dog

Home position return position data

Home position return start positionHome position

Home position return direction

Home position return start position

Stroke end (Note)

Note. This is not available with the software limit.

When the servo motor returns at the stroke end

6 - 28

6. SERVO MOTOR DRIVING

(h) 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

ON OFF ON OFF

Acceleration time constant

Forward

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs.

Revise the length of the proximity dog or revise both the home position return speed and creep speed.

rotation

0 r/min Reverse rotation

ON OFF ON OFF ON OFF

10 ms or shorter

Home position shift distance

Home position return speed

Creep speed

(Note)

Deceleration time constant

Home position return position data

Proximity dog

Home position

Servo motor speed

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

After retracting to before proximity dog, the home position return starts from here.

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 29

6. SERVO MOTOR DRIVING

(i) 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

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return position data

10 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

+

(Note)

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep

speed, [AL. 90] occurs. Revise the length of the proximity dog or revise both the home position return speed and creep speed.

ON OFF ON OFF

Proximity dog

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Proximity dog

Stroke end (Note)

Forward rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

6 - 30

6. SERVO MOTOR DRIVING

(j) Method -11 and -43 (dogless Z-phase reference home position return)

The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to that of Homing method -11.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Acceleration time constant

Home position return speed

Deceleration time constant

Servo motor speed

Z-phase

Controlword bit 4 Homing operation start

Servo motor speed 0 r/min

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

Home position return

position data

10 ms or shorter

Home position shift distance

Home position return direction

Forward rotation

Home position return start position

When the stroke end is detected

Creep speed

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

6 - 31

6. SERVO MOTOR DRIVING

6.2 Profile position mode (pp)

The following shows the functions and related objects/registers of the profile position mode (pp).

6.2.1 Function description

Torque limit value (60E0h, 60E1h)

Motion profile type (6086h)

Profile Acceleration (6083h)

Profile deceleration (6084h)

Quick Stop Deceleration (6085h)

Quick stop option code (605Ah)

Profile velocity (6081h)

Max profile velocity (607Fh)

Max motor speed (6080h)

Target position (607Ah)

Software position limit (607Dh)

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h)

Acceleration

limit

Function

Velocity

limit

function

Position

limit

function

+

-

×××

Position trajectry

Generator

×

Position

control

Control

effort

(60FAh)

Velocity

control

Torque

control

Motor

Encoder

×

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

×

Position actual internal value (6063h)×

×

6.2.2 Related objects/registers

Index Sub Index Access Name Data Type Default Description

607Ah 0 rw Target position I32 0

Command position (Pos units)

0 ro Position range limit U8 2 Number of entries

Minimum value of the position range limit

The value is automatically set

1 rw Min position range limit I32

according to the setting of "Position data unit" of [Pr. PT01].

pulse: -2147483648

607Bh

degree: 0

Maximum value of the position range limit

The value is automatically set

2 rw Max position range limit I32

according to the setting of "Position data unit" of [Pr. PT01].

pulse: 2147483647 degree: 359999

0 ro Software position limit U8 2 Number of entries

607Dh

1 rw Min position limit I32 0

2 rw Max position limit I32 0

607Fh 0 rw Max profile velocity U32 2000000

6080h 0 rw Max motor speed U32

Minimum position Index (Pos units)

Maximum position Index (Pos units)

maximum speed Unit: Vel unit (0.01 r/min)

Servo motor maximum speed Unit: r/min

6 - 32

6. SERVO MOTOR DRIVING

Index Sub Index Access Name Data Type Default Description

Speed after acceleration

6081h 0 rw Profile velocity U32 10000

6083h 0 rw Profile Acceleration U32 0

6084h 0 rw Profile deceleration U32 0

6085h 0 rw Quick stop deceleration U32 100

6086h 0 rw Motion profile type I16 -1

605Ah 0 rw Quick stop option code I16 2

6063h 0 ro Position actual internal value I32

6064h 0 ro Position actual value I32 Current position (Pos units)

606Ch 0 ro Velocity actual value I32

6077h 0 ro Torque actual value I16

0 ro Feed constant U8 2

6092h

60F4h 0 ro Following error actual value I32 Droop pulses (Pos units)

60FAh 0 ro Control effort I32 0

60E0h 0 rw Positive torque limit value U16 10000

60E1h 0 rw Negative torque limit value U16 10000

6091h

607Eh 0 rw Polarity U8 00h

1

2 Shaft revolutions

0 ro Gear ratio U8 2 Gear ratio

1

2 Shaft revolutions 1

rw

Feed

Motor revolutions

Travel distance setting

U32

1

U32

completed Unit: Vel unit (0.01 r/min)

Acceleration at start of movement to target position

Unit: ms

Deceleration at arrival at target position

Unit: ms

Deceleration at deceleration to a stop by Quick stop

Unit: ms

Acceleration/deceleration type selection

-1: S-pattern 0: Linear ramp (not

compatible) (Note 1)

2

ramp (not compatible)

1: sin

(Note 1)

2: Jerk-free ramp (not

compatible) (Note 1)

3: Jerk-limited ramp (not

compatible) (Note 1)

Operation setting for Quick stop (Note 2)

Current position (Enc inc) Unit: pulse

Current speed Unit: Vel unit (0.01 r/min)

Current torque Unit: 0.1% (rated torque of

100%)

Travel distance per revolution of an output shaft

Number of servo motor shaft revolutions

Position control loop output (speed command)

Unit: Vel unit (0.01 r/min)

Torque limit value (forward) Unit: 0.1% (rated torque of

100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of

100%)

Number of revolutions of the servo motor axis (numerator)

Number of revolutions of the drive axis (denominator)

Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL (Note 2)

6 - 33

6. SERVO MOTOR DRIVING

Index Sub Index Access Name Data Type Default Description

SI unit position

60A8h 0 rw SI unit position U32

60A9h 0 rw SI unit velocity U32 FEB44700h

Note 1. This is not compatible with the MR-JE-_C servo amplifier.

2. Refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

(1) Details on the Controlword (6040h) (pp mode)

Bit Symbol Description

4

5

6

8

9

New set-point

Change set

immediately

abs/rel

HALT

Change on set-point

New positioning parameters are obtained when this bit turns on.

0: Set of set-points 1: Single set-point

0: Absolute position command 1: Relative position command When the unit is set to degree, relative position commands are disabled. When the relative

position command is specified and positioning is started, [AL. F4.8] occurs and positioning cannot be started.

0: Positioning is executed. 1: The servo motor stops according to Halt option code (605Dh). Enabled only for Set of set-points (Bit 5 = 0). 0: The next positioning starts after the current positioning is completed (stopped). (Black line

(Refer to section 6.2.3 (2).))

1: The next positioning starts after positioning is executed with Profile velocity (6081h) held up to

the current set-point. (Gray line (Refer to section 6.2.3 (2).))

(2) Details on the Statusword (6041h) (pp mode)

Bit Symbol Description

0 (Halt (Bit 8) = 0): Target position not reached. 0 (Halt (Bit 8) = 1): Axis decelerates 1 (Halt (Bit 8) = 0): Target position reached.

10 Target reached

12

13 Following error

Set-point

acknowledge

1 (Halt (Bit 8) = 1): Velocity of axis is 0 Judgment condition for Target position reached If the error between Position actual value (6064h) and Target position (607Ah) has stayed within

Position window (6067h) for Position window time (6068h) or more, Target position reached is stored.

0: Positioning completed (wait for next command) 1: Positioning being executed (The set-point can be overwritten.)

0: No following error 1: Following error

The value is automatically set according to the setting of "Position data unit" of [Pr. PT01].

SI unit velocity FEB44700h (0.01 r/min)

6 - 34

6. SERVO MOTOR DRIVING

T

t

y

A

t

T

t

T

A

t

T

t

6.2.3 Directions for use

(1) Single Set-point

Update of positioning parameters during a positioning operation is immediately accepted. (The current positioning operation is cancelled and the next positioning is started.)

ctual

speed

New set-point (bit 4)

arge position (set-point)

Profile velocit

Current targe position processed

Set-poin acknowledge (bit 12)

arge reached (bit 10)

t

(2) Set of set-points

After the current positioning operation is completed, the next positioning is started. Whether positioning is stopped at the first positioning point when at an update of the positioning parameter before completion of the positioning can be switched. To switch the setting, use Change on set-point (Bit 9 of Controlword).

ctual

speed

New set-point (bit 4)

arget position (set-point)

Profile velocity

Current

arget position processed

Set-point acknowledge (bit 12)

arge reached (bit 10)

t

6 - 35

Mitsubishi Electric MELSERVO-JE, MR-JE-C Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

Compliance with global standards

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Profile mode specification list

2. SIGNALS AND WIRING

2.1 I/O signal connection example

2.2 Connectors and pin assignment

2.3 Signal (device) explanations

2.4 Power-on sequence

3. STARTUP

3.1 Startup

4. PARAMETERS

4.1 Parameter list

4.1.1 Basic setting parameters ([Pr. PA_ _ ])

4.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

4.1.3 Extension setting parameters ([Pr. PC_ _ ])

4.1.4 I/O setting parameters ([Pr. PD_ _ ])

4.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

4.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

4.1.7 Positioning control parameters ([Pr. PT_ _ ])

4.2 Detailed list of parameters

4.2.1 Basic setting parameters ([Pr. PA_ _ ])

4.2.2 Extension setting parameters ([Pr. PC_ _ ])

4.2.3 I/O setting parameters ([Pr. PD_ _ ])

4.2.4 Extension setting 2 parameters ([Pr. PE_ _ ])

4.2.5 Positioning control parameters ([Pr. PT_ _ ])

4.3 Software limit

4.4 How to set the electronic gear

4.4.1 Electronic gear setting for the profile mode

4.5 Restrictions on using objects/registers

4.5.1 Restrictions on input devices

4.5.2 Restrictions on objects/registers

5. CiA 402 DRIVE PROFILE

5.1 State machine control of the servo amplifier

5.1.1 Function description

5.1.2 Related objects/registers

5.1.3 Directions for use

5.2 Control mode

5.2.1 Function description

5.2.2 Related objects/registers

6. SERVO MOTOR DRIVING

6.1 Homing mode (hm)

6.1.1 Function description

6.1.2 Related objects/registers

6.1.3 Directions for use

6.2 Profile position mode (pp)

6.2.1 Function description

6.2.2 Related objects/registers

6.2.3 Directions for use