SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION". DANGER Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers of the servo amplifier while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover of the servo amplifier removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
3. For injury prevention CAUTION Do not apply a voltage other than that specified in this manual and the instruction manual of the product you are using on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of position board or servo amplifier, regenerative resistor and servo motor, etc.
CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servo motor are for holding applications, and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
(3) Transportation and installation CAUTION Transport the product with the correct method according to the mass. Use the servo motor suspension bolts only for the transportation of the servo motor. Do not transport the servo motor with machine installed on it. Do not stack products past the limit. When transporting, installing, and removing the position board, never touch the print board inner part and electronic components. Hold the front panel or edge of the print board.
CAUTION Always install the servo motor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Altitude Vibration Conditions Position board/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual.
(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servo motor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W) and ground.
(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the position board, servo amplifier or servo motor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit.
(8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the position board and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts.
(9) About processing of waste When you discard position board, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Dec., 2013 Dec.
INTRODUCTION Thank you for choosing the Mitsubishi position board MR-MC210/MR-MC211/MR-MC240/MR-MC241. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the position board you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions .................................
3.2.2 Forced stop input cable ...................................................................................................................... 3- 6 4. SYSTEM STARTUP 4- 1 to 4-18 4.1 Startup procedures .................................................................................................................................... 4- 1 4.2 Check of wiring and ambient environment ............................................................................................... 4- 2 4.
5.5.11 Home position return using a Z-phase detection method .............................................................. 5-35 5.5.12 Home position return using a scale home position signal detection method ................................ 5-38 5.5.13 Home position return using a scale home position signal detection method 2 ............................. 5-39 5.6 Home position reset function (data set function)..................................................................................... 5-40 6.
6.21.2 Processing procedure ..................................................................................................................... 6-54 6.21.3 Sequence example ......................................................................................................................... 6-56 6.22 Home position return request ................................................................................................................ 6-58 6.23 Other axes start ....................................
7.4 Monitor function ......................................................................................................................................... 7- 8 7.4.1 Summary ............................................................................................................................................ 7- 8 7.4.2 Monitor latch function ........................................................................................................................ 7-10 7.5 High speed monitor function .
7.15.3 Setting method ................................................................................................................................ 7-94 7.16 Amplifier-less axis function .................................................................................................................... 7-95 7.16.1 Summary ......................................................................................................................................... 7-95 7.16.2 Interface .........................
9.5.5 Control method for interrupt output invalid ....................................................................................... 9-18 9.5.6 Control method for interrupt output valid .......................................................................................... 9-21 9.5.7 Procedure for switching control mode .............................................................................................. 9-26 9.5.8 Examples of switching control mode .........................................
14. EMC AND LOW VOLTAGE DIRECTIVES 14- 1 to 14- 6 14.1 Requirements for compliance with the EMC directive ......................................................................... 14- 1 14.1.1 Standards relevant to the EMC directive ....................................................................................... 14- 2 14.1.2 Installation instructions for EMC directive ..................................................................................... 14- 3 14.1.3 Parts of measure against noise ..
App. 5.14.2 Auxiliary function .......................................................................................................... App.-50 App. 5.15 Table map ............................................................................................................................ App.-51 App. 5.15.1 Table list ....................................................................................................................... App.-52 App. 5.15.2 System information ...............................
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.
(2) Servo amplifier Manual Number (Model Code) Manual Name SSCNET /H interface AC Servo MR-J4_B(-RJ)/MR-J4_B4(-RJ)/MR-J4_B1(-RJ) Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC SH-030106 (1CW805) Servo MR-J4_B(-RJ)/MR-J4_B4(-RJ)/MR-J4_B1(-RJ) Servo amplifier.
1. SUMMARY 1. SUMMARY 1 1.1 Summary This manual describes the specifications and handling of SSCNET /H compatible position board (MR-MC210/MR-MC211/MR-MC240/MR-MC241). In this manual, the following abbreviations are used.
1. SUMMARY (1) PCI bus compatible position board The PCI bus compatible position board (MR-MC210/MR-MC211) is a board compatible with PCI bus mounted to the host controller and controls our servo amplifiers (MR-J4(W )- B/MR-J3(W)- B). The PCI bus compatible position board and the servo amplifiers are connected with SSCNET /H, which is a high speed synchronous network.
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1. SUMMARY ® (2) PCI Express bus compatible position board ® The PCI Express bus compatible position board (MR-MC240/MR-MC241) is a board compatible with PCI ® ® Express bus mounted to a PCI Express system and controls our servo amplifiers (MR-J4(W )- B/ ® MR-J3(W)- B). The PCI Express bus compatible position board and the servo amplifiers are connected with SSCNET /H, which is a high speed synchronous network.
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1. SUMMARY 1.2 Features The position board has the following features. (1) Structuring of SSCNET /H communication servo system by computer control The position board can be directly connected to the Mitsubishi servo amplifiers of MR-J4-B series using SSCNET /H. (a) By connecting the position board and servo amplifier and servo amplifiers with a high speed synchronous network by SSCNET /H, the reduction of wiring is achieved.
1. SUMMARY (5) Wide variety of positioning control functions The main functions (such as home position return control, standard mode, and interface mode (sequential positioning command method)) which are required for any positioning system and the sub functions which limit and add functions to those controls are supported.
1. SUMMARY (8) Setting, monitoring, and testing through test tool Using the test tool of Position Board Utility2 (MRZJW3-MC2-UTL), users can check the validity of the preset parameters and point table by performing test operation of the position board before creating a user program. The control monitor/graph function allows users to debug programs efficiently. (9) Forced stop function The batch forced stop is available for connected servo amplifiers by the forced stop input signal of the external input.
1. SUMMARY 1.3 Specifications 1.3.1 General specifications General specifications of the position board are shown below.
1. SUMMARY 1.3.2 List of specifications of position board (1) Position board control specifications Function System function Operation function (Note 1, 2) Control cycle Control axes Control mode SSCNET communication JOG operation Incremental feed Automatic operation Linear interpolation Home position return Contents MR-MC210 MR-MC211 MR-MC240 MR-MC241 0.88ms/0.44ms/0.22ms (Select using parameters.
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1. SUMMARY (2) PCI bus specifications Items Specification Address bit 32 bit Data bit 32 bit System clock 33MHz System voltage +5V Shape [mm(inch)] Short size (106.7(4.20) × 167.6(6.60)) Hot swap Not supported Base address Set configuration register by BIOS ® (3) PCI Express bus specifications Items Specification ® Bus specification PCI Express 1.1 Shape [mm(inch)] Short size (111.15(4.38) × 167.6(6.60)) Link width Transfer rate System voltage ×1 2.5Gbps +3.3V ® Note.
1. SUMMARY 1.4 Name of each section 1.4.
1. SUMMARY No. 1) Item Function Setting switch (SW1) Define a board ID in order to distinguish between multiple position boards. Switch 2 Switch 1 Board ID ON ON 3 ON OFF 2 OFF ON 1 OFF OFF 0 (default value) ON This switch is provided for manufacturer setting. Make sure the switch is always OFF. 1 2 3 4 Switch 3 For manufacturer setting OFF Masks interrupt output when interrupt occurs.
1. SUMMARY ® 1.4.
1. SUMMARY No. 1) Item Function Setting switch (SW1) Define a board ID in order to distinguish between multiple position boards. Switch 2 Switch 1 Board ID ON ON 3 ON OFF 2 OFF ON 1 OFF OFF 0 (default value) ON This switch is provided for manufacturer setting. Make sure the switch is always OFF. 1 2 3 4 Switch 3 For manufacturer setting OFF Masks interrupt output when interrupt occurs.
1. SUMMARY 1.5 Bus interface 1.5.1 Configuration register The following shows the configuration register of PCI bus compatible position board (MR-MC210/MR-MC211) ® and PCI Express bus compatible position board (MR-MC240/MR-MC241).
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1. SUMMARY 1.5.2 Dual port memory map The bus width of dual port memory is 32 bits. For the address map of the dual port memory on the position board side, refer to Chapter 10.
1. SUMMARY 1.5.3 Module information The (R)s in the table designate read only, while the (W)s designate write only capability.
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1. SUMMARY 1.6 SSCNET cables Connect the position board and servo amplifiers, or servo amplifier and servo amplifier by SSCNET cable. When using MR-MC210/MR-MC240, the SSCNET cable for connecting servo amplifiers can be used for one line only. When using MR-MC211/MR-MC241, the SSCNET cable for connecting servo amplifiers can be used for up to two lines (use 1CH and 2CH). Up to 32 servo amplifiers can be connected.
1. SUMMARY 1.7 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specifications Number of input points Input method Forced stop signal: 1 point Positive common/Negative common shared type Rated input current 2.4mA Isolation method Photocoupler Operating voltage range 20.4 to 26.4VDC (+10/ -15%, ripple ratio 5% or less) ON voltage/current 17.5VDC or more/2.0mA or more OFF voltage/current 1.8VDC or less/0.
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2. SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the system configuration and equipment settings for the position board. 2.1 Position board configuration 2.1.
2. SYSTEM CONFIGURATION 2.1.2 MR-MC211 system configuration SSCNET /H-compatible Servo amplifier MR-J4-B PCI bus compatible position board MR-MC211 Axis 1 Axis 2 Axis 20 Axis 1 Axis 2 Axis 12 SSCNET Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B USB SSCNET line 1 SSCNET line 2 EMI DI signal Forced stop (EMI 1) DI signal side limit switch (LSP 1) side limit switch (LSN 1) Proximity dog (DOG 1) DI signal (LSP, LSN and DOG) from Servo Amplifier can be input POINT Refer to Section 4.5.
2. SYSTEM CONFIGURATION 2.1.
2. SYSTEM CONFIGURATION 2.1.4 MR-MC241 system configuration SSCNET /H-compatible Servo amplifier MR-J4-B PCI ExpressR bus compatible position board MR-MC241 Axis 1 Axis 2 Axis 20 Axis 1 Axis 2 Axis 12 SSCNET Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B USB SSCNET line 1 SSCNET line 2 EMI DI signal Forced stop (EMI 1) DI signal side limit switch (LSP 1) side limit switch (LSN 1) Proximity dog (DOG 1) DI signal (LSP, LSN and DOG) from Servo Amplifier can be input POINT Refer to Section 4.5.
2. SYSTEM CONFIGURATION 2.2 System configuration equipment (1) MR-MC2 related module Model name (Note 1) Part name Position board MR-MC210 Up to 20 axes control, Operation cycle 0.22[ms], 0.44[ms], 0.88[ms], PCI bus compatible (Note 2) MR-MC211 Up to 32 axes control, Operation cycle 0.22[ms], 0.44[ms], 0.88[ms], PCI bus compatible (Note 2) MR-MC240 MR-MC241 USB cable SSCNET cable Description ® Up to 20 axes control, Operation cycle 0.22[ms], 0.44[ms], 0.
2. SYSTEM CONFIGURATION 2.3 Checking serial number and operating system software version Checking for the serial number of position board and software version are shown below. 2.3.1 Checking serial number (1) Rating plate The serial number is printed on the rating plate which is on the position board. UL US LISTED 80M1 IND. CONT. EQ. C PASSED BC370C286H01 MSIP-REI-MEKTC510A875G51 DATE 2014-02 Instruction manual. mode d'emploi. 3.3VDC 1.
2. SYSTEM CONFIGURATION 2.4 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the software. Function/Item name Version Change details MR-MC2 MRZJW3-MC2-UTL Digital input/output Addition A1 or later 1.20 or later Servo amplifier general input/output Addition A1 or later 1.20 or later Digital output signal control for the other axes start Addition A1 or later 1.
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3. INSTALLATION AND WIRING 3. INSTALLATION AND WIRING 3.1 Board installation This section explains instructions for handling and installation environment of the position board. 3.1.1 Instructions for handling The following explains instructions for handling. CAUTION • Do not touch any connectors while power is ON. Doing so may cause electric shock or malfunction. • Do not directly touch any conductive parts and electronic components of the board. Doing so may cause malfunction or failure of the board.
3. INSTALLATION AND WIRING 3.2 Connection and disconnection of cable 3.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend radius is less than the minimum cable bend radius, it may cause malfunctions due to characteristic deterioration, wire breakage, etc. • For connection and disconnection of SSCNET cable, hold surely a tab of cable connector.
3. INSTALLATION AND WIRING (4) Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
3. INSTALLATION AND WIRING POINT • Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the position board and servo amplifier cannot be communicated. • Forced removal of the SSCNET cable from the position board will damage the position board and SSCNET cables. • After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions.
3. INSTALLATION AND WIRING POINT • Migratable plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Optical cord SSCNET cable Cord Cable Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.
3. INSTALLATION AND WIRING 3.2.2 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or removal of the forced stop input cable, do it surely while holding a connector of forced stop input cable. Position board Tab (2) Connection of the forced stop input cable • For connection of a forced stop input cable to the position board, connect it surely to an EMI connector of position board while holding a connector. Be sure to insert it until it clicks.
4. SYSTEM STARTUP 4. SYSTEM STARTUP The following explains the preparations and settings for system startup. 4.1 Startup procedures Check of wiring and ambient environment Visually check whether the position board and servo amplifier are wired correctly. Also check the ambient environment. (Refer to Section 4.2 Check of wiring and ambient environment) Position board setting Set board ID by position board ID selection (SW1). (Refer to Section 4.
4. SYSTEM STARTUP 4.2 Check of wiring and ambient environment (1) Wiring Refer to "Chapter 3 INSTALLATION AND WIRING". (2) Cable treatment The wiring cables should not be strained. The connector part should not be strained. (3) Environment Signal cables and bus of host controller are not shorted by wire offcuts and metallic dust.
4. SYSTEM STARTUP 4.3 Position board setting Board ID is set by board ID selection (SW1) switch of the position board. (1) Board ID Board ID and board ID selection switch No. are correlated as shown on the table below. Set board ID so that it will not be duplicated. If it is duplicated, it may interfere with board identification on the host controller side.
4. SYSTEM STARTUP 4.4 Servo amplifier setting (1) MR-J4(W )- B Axis No. of MR-J4(W )- B is set by the axis selection rotary switch (SW1) and the axis No. auxiliary setting (SW2) on the servo amplifier. MR-J4- B 3-digit, 7-segment LED Axis selection rotary switch Axis 1 to 20 Note. For when set with the axis No. auxiliary setting ON 1 2 3 4 Axis No. auxiliary setting switch MR-J4W - B 3-digit, 7-segment LED Axis selection rotary switch Axis 1 to 20 Note. For when set with the axis No.
4. SYSTEM STARTUP POINT • For each switch setting, refer to the Servo Amplifier Instruction Manual for your servo amplifier. • If the "An axis that has not been mounted exists" (system error E400) occurred, the axis with wrong axis No. set can be confirmed with "information concerning axis that is not mounted" (monitor No.0480 to 0482). • The servo amplifier axis No. and the axis No. to be managed on the position board are different. For details, refer to Section 4.5.5.
4. SYSTEM STARTUP 4.5 Parameter setting After parameter initialization, set the parameters according to the system such as for control cycle and external signal (sensor) input option. 4.5.1 Parameter initialization After turning on the position board power, initialize parameter and set before system startup starts. Position board Host controller 3) Parameter data (Internal memory) Dual port memory 1) 2) Parameter initial value Servo amplifier Parameter backup (Flash ROM) Figure 4.
4. SYSTEM STARTUP 4.5.2 System option 1 setting SSCNET communication method and control cycle is set by System option 1 (parameter No.0001). SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET /H method is available. Control cycle is a cycle in which the position board controls command import, position control, status output, and communication with servo amplifier and 0.88ms, 0.44ms and 0.22ms are available.
4. SYSTEM STARTUP Control cycle settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) System parameter Parameter No. Abbreviation 0001 *SYSOP1 Name Function System option 1 0 0 Control cycle setting Set the control cycle 0: 0.88ms 1: 0.44ms 2: 0.22ms SSCNET communication method Set the SSCNET communication method. 0: SSCNET /H (Note) SSCNET communication method is shared in lines 1 and 2.
4. SYSTEM STARTUP 4.5.3 System option 2 setting Set control mode (standard mode or interface mode) by System option 2 (parameter No.0002). When using interface mode, select "1: Interface mode". When interface mode is assigned and system is startup, the in interface mode signal (IFMO) turns ON. Control mode setting is imported during system startup (system command code: 000Ah), and cannot be changed during system running (system status code: 000Ah). (1) System parameter Parameter Abbreviation No.
4. SYSTEM STARTUP 4.5.4 Control option 1 setting When controlling servo amplifier, set "1: control" for control axis of control option 1 (parameter No.0200). When the axis No. is set out of the controllable range, the corresponding axis will be system setting error (alarm No. 38) and cannot be controlled.
4. SYSTEM STARTUP 4.5.5 Axis No. assignment With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. (1) When Axis No. assignment is invalid When Axis No. assignment is invalid, correspondence between the axis No. on a position board and the axis No. on a servo amplifier is shown in the following table. (a) When SSCNET communication method is SSCNET /H Servo amplifier axis No. Line 1 d1 d2 d3 d4 d5 d6 d7 d8 0.
4. SYSTEM STARTUP (b) Control parameter Parameter Abbreviation No. 0203 *AXALC Name Initial value Units Axis No. assignment Setting range 0000h Function 0000h to 011Fh 0 Servo amplifier axis No. Set the servo amplifier axis No. to be assigned to the axis Nos. on the position board. (Note 1, 2 and 3) 00h: No axis No. assignment 01h to 14h: Axis No. Example) 0Ah: Axis No. 10 Servo amplifier line No. Set the servo amplifier line No. to be assigned to the axis Nos. on the position board.
4. SYSTEM STARTUP 4.5.6 Sensor input option setting External signal (sensor) is connected by setting sensor input options (parameter No.0219). Parameter Abbreviation No. 0219 *SOP Name Initial Value Sensor input options 0000h Units Setting range 0000h to 0304h Function 0 0 Sensor input system Set the input system of the sensor (LSP, LSN, DOG).
4. SYSTEM STARTUP (1) When selecting the driver input When 1 (driver input) is selected as the sensor destination, the sensor (LSP, LSN, DOG) status connected to the driver (such as a servo amplifier) is imported via SSCNET. (a) MR-J4(W )- B is used as a servo amplifier 1) MR-J4- B Signal Name Destination connector pin No. Abbreviation LSP CN3-2 D11 LSN CN3-12 D12 DOG CN3-19 D13 2) MR-J4W2- B Signal Name Destination connector pin No.
4. SYSTEM STARTUP (4) When selecting dual port memory When 4 (dual port memory input) is selected as the sensor destination, side limit switch input signal (LSPC), side limit switch input signal (LSNC) and proximity dog input signal (DOGC) are imported as substitutes for sensors.
4. SYSTEM STARTUP 4.5.7 Vendor ID and type code setting Available functions, parameter settings and ranges will vary by servo amplifier type. At the time the communication with the servo amplifier has started, the position board will perform consistency check between vendor ID and type code of the servo amplifier connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output, therefore set correct vendor ID and type code.
4. SYSTEM STARTUP 4.6 System startup processing (1) System startup procedure After parameter initialization, start system startup before performing operations. Position board Host controller 1) Parameter data (Internal memory) Dual port memory Parameter initial value Servo amplifier Parameter backup (Flash ROM) Figure 4.2 Parameter data flow during system startup Procedure Description Remarks 1 The number of seconds passed since 0000hrs, January 1, 1970 is stored in system startup time.
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5. OPERATIONAL FUNCTIONS 5. OPERATIONAL FUNCTIONS POINT Refer to Chapter 10 for the table bit for each signal. There are restrictions for the number of axes which can start simultaneously in each operation function and in start operation using other axes start. When the number of started axes exceeds the maximum number of simultaneous start axes, start operation will be performed for the rest of axes in the next control cycle or later. Control cycle Max. No. of simultaneous start axes 0.88ms 16 0.
5. OPERATIONAL FUNCTIONS 5.1 JOG operation 5.1.1 Summary When the movement direction is specified and the start operation signal (ST) input, it starts in the designated direction and movement continues until the start operation signal (ST) is turned OFF. When the start operation signal (ST) is turned off, it slows and comes to a stop. JOG operation can be used without completing home position return.
5. OPERATIONAL FUNCTIONS 5.1.3 Resuming operation When the start operation signal (ST) is turned off, deceleration is started; however, if the start operation signal (ST) is turned back on while decelerating, it does not completely stop but reaccelerates.
5. OPERATIONAL FUNCTIONS 5.2 Incremental feed 5.2.1 Summary A prescribed feed amount is implemented for each fast start operation signal (FST). The feed amount is defined using the incremental feed movement amount. Incremental feed can be used without completing home position return (home position return request (ZREQ) is ON). sscWaitIntDriveFin function/ sscGetDriveFinStatus function After moving the movement amount designated as the incremental feed movement amount, it stops.
5. OPERATIONAL FUNCTIONS 5.2.2 Start operation method Start operation is performed according to the following procedure. (1) Turn on the incremental feed mode signal (S). (2) Set the manual feed speed, manual feed acceleration constant, and manual feed deceleration constant. (3) Set the incremental feed movement amount. (4) Use the movement direction signal (DIR) to set the movement direction of the axis.
5. OPERATIONAL FUNCTIONS 5.3 Automatic operation 5.3.1 Summary Automatic operation (positioning) uses the point table for operation. Position data and feed speed designation is set in the point table. When the fast start operation signal (FST) is turned on, instructions are executed in order from the instruction set at the start point number to the end point number.
5. OPERATIONAL FUNCTIONS 5.3.2 Start operation method Start operation is performed according to the following procedure. (1) Set up the point table. (2) Set the start point number and the end point number. (3) Turn on the automatic operation mode signal (AUT). (4) Turn on the fast start operation signal (FST). POINT For stoppage of operation mid way, turn on the stop operation signal (STP).
5. OPERATIONAL FUNCTIONS 5.3.3 Auxiliary command The auxiliary command can be set in the following procedure.
5. OPERATIONAL FUNCTIONS (a) In-position stop After completion of the command pulse output, if it is in-position, the point movement is completed. Command speed Movement to next point Actual speed When the actual position is within the in-position boundaries, movement to the next point is started. (b) Smoothing stop After completion of the command pulse output, point movement is complete. Command speed Actual speed Movement to next point If the command is zero, movement to the next point is started.
5. OPERATIONAL FUNCTIONS For the end point of continuous operation, if the position after deceleration stop exceeds the command position. A selection can be made from the following control option 2 (parameter No.0201). 1) Stop by the alarm 2) After completion of the deceleration stop, return to the command position 3) Stop at the command position For selection 2), the stop position over-bound signal (POV) is turned on. The stop position over-bound signal (POV) is turned off at the next start up.
5. OPERATIONAL FUNCTIONS (3) Speed switching point specification If "2: Continue operation" is selected in the deceleration check system, a point where speed change is completed can be specified.
5. OPERATIONAL FUNCTIONS (4) Dwell specification Specify the system of dwell. 0: Dwell 1: Predwell POINT If the setting of the dwell specification is incorrect, it causes a point table setting error (operation alarm 25, detail 01) and operation is stopped. (a) Dwell Specify the time until executing point is completed after the point movement is completed. For the pass point, after the time specified with dwell has elapsed, the next point starts moving.
5. OPERATIONAL FUNCTIONS 2) When the deceleration check system is In-position stop Time is counted after the in-position signal (INP) turns on after the during smoothing of stopping signal (SMZ) turns on. The following shows the case for the end point. Dwell Speed Point 0 is moving. Point 0 is being executed.
5. OPERATIONAL FUNCTIONS CAUTION If large value is set by mistake, the wait time of axis is long and it may look as if axes did not operate. In that case, it is dangerous to approach the moving part because axes operate unexpectedly. Do not approach the moving parts even when axes do not operate while during operation signal (OP) is on because the axes may operate. Predwell Speed Point 0 is moving. Point 0 is being executed.
5. OPERATIONAL FUNCTIONS 5.3.4 Other axes start specification Set other axes start data number (1 to 32). When the other axes start data number is set, the position board starts the other axes according to other axes start conditions and operation details of their start data. Up to 2 other axes start data number can be set. For details of other axes start function, refer to Section 6.23.
5. OPERATIONAL FUNCTIONS 5.4 Linear interpolation 5.4.1 Summary Linear interpolation operation has interpolation control performed for the axes set up as a group. This system enables a maximum of 4 axis interpolation control. When the feed speed and position data are defined in the point table and the fast start operation signal (FST) is input, all of the axes setup in the group perform linear interpolation operation.
5. OPERATIONAL FUNCTIONS An example of the feed speed and speed of axis 1 and 2 when each axis is interpolated is shown below. Linear interpolation speed limit value 1st axis speed Feed speed 2nd axis speed Actual acceleration time Actual deceleration time Acceleration time constant Deceleration time constant Speed for each axis is figured out by dividing feed speed by distance ratio.
5. OPERATIONAL FUNCTIONS 5.4.2 Settings The following items are defined for performing linear interpolation. Refer to Section 5.3 concerning details for the point table. (1) Setting 1: Items set for all axes to be interpolated. Items Point table Content Remarks Position data Define setting within maximum moveable limits. (Maximum moveable limit 999999999) Other axes start specification Define the setting when using the other axes start.
5. OPERATIONAL FUNCTIONS 5.4.3 Start operation method Start operation is performed according to the following procedure. (1) Define the linear interpolation group, the linear interpolation speed limit, and the linear interpolation options in the control parameters. The group number is valid during system startup. Other than that it is valid during writing of parameters. (2) Set up the point table. At this time, all items are set up for the primary axis and only position data is set up for auxiliary axes.
5. OPERATIONAL FUNCTIONS 5.4.4 Processing for exceeding speed limit for each axis Processing is different concerning exceeding speed limit for each axis depending on the setting for excessive speed processing (parameter No.0261). (1) Using a speed clamp When parameter No.0261 is set to 0, if there is an axis that exceeds the speed limit, other axes grouped with the axis are also clamped. The actual acceleration time is the time until the feed speed after clamping is reached.
5. OPERATIONAL FUNCTIONS (3) No processing When parameter No.0261 is set to 2, normal operation is continued even if the speed limit is exceeded. Feed speed Speed limit for each axis Speed of each axis Start operation ON OFF (ST) Note. This enables operation at the limits of the motor; however, there is the possibility of setting overload or over speed alarms. 5.4.5 Restrictions The following restrictions apply concerning use of linear interpolation.
5. OPERATIONAL FUNCTIONS 5.5 Home position return 5.5.1 Summary The home position return enables the establishment of a start position (home position) in positioning control. By performing a home position return, instructed coordinates and machine coordinates will be consistent. When the incremental system method is used, a home position return is required for each power supply.
5. OPERATIONAL FUNCTIONS POINT • When using the following home position return methods, set proximity dog signal and limit switch signal so that the Z-phase can be passed during home position return. • Dog method • Dog cradle method • Limit switch combined method • When performing Z-phase detection method home position return, the Zphase is required to be passed through with the JOG operation etc. When the Z-phase is not passed, not passing Z-phase (operation alarm 91, detail 01) occurs.
5. OPERATIONAL FUNCTIONS 5.5.2 Home position return method Home position return method is set with the home position return option 1 (parameter No.0240). (1) Software version A4 or before Set the home position return method with home position return method (parameter No.0240). The value at system startup is effective. Therefore, the system needs to be restarted if the parameters are changed. (2) Software version A5 or later The home position return method (parameter No.
5. OPERATIONAL FUNCTIONS 5.5.3 Start operation method Start operation is performed according to the following procedure. (1) Set parameters "home position return to speed" (parameter No.0242, 0243), "home position return acceleration time constant" (parameter No.0244), "home position return deceleration time constant" (parameter No.0245), "home position coordinates" (parameter No.0246, 0247), "creep speed" (parameter No.024C), and "home position return direction" (parameter No.0240).
5. OPERATIONAL FUNCTIONS POINT • Set the "amount of home position shift" (parameter No.0248, 0249) and "home position search limit" (parameter No.024A, 024B) if required. • When a home position return is complete, the home position return complete signal (ZP) turns on. The home position return complete signal (ZP) turns off at the next start operation or at an operation mode change. • The home position return request (ZREQ) turns on when a home position return starts.
5. OPERATIONAL FUNCTIONS 5.5.4 Home position return using a dog method The deceleration is started at the front end of the dog, and the first Z-phase after passing the rear end of the dog is defined as the home position. (1) When there is a proximity dog in the direction of home position return Home position return speed Home position return direction Creep speed Speed Home position (Note 1, 2) Amount of home position shift (Note 3) Start operation Proximity dog Z-phase pulse Note 1.
5. OPERATIONAL FUNCTIONS (3) When the proximity dog is in the opposite direction against the direction of home position return Home position return direction Home position return speed Limit switch Home position Creep speed Speed Amount of home position shift Start operation Proximity dog Z-phase pulse (4) If a limit switch is detected at the start operation position If a limit switch in the direction of home position return is detected, the home position return should be executed by the (3) pattern.
5. OPERATIONAL FUNCTIONS 5.5.5 Home position return using a data set method The command position at the start operation of the home position return is defined as the home position. It is necessary to move to home position using JOG operation or something similar in advance. (1) When the home position is the current command position Move to home position using JOG operation or something similar. The current command position is changed to the home position coordinates. Speed Start operation Note.
5. OPERATIONAL FUNCTIONS 5.5.7 Home position return using a dog cradle method A method where deceleration is started at the front end of the dog, then return briefly to the front end of the dog, and start moving again at a creep, and that uses the first Z-phase after the dog front end passes as the home position.
5. OPERATIONAL FUNCTIONS (3) When the start operation position is on the dog Home position return direction Home position Creep speed Speed Amount of home position shift Start operation Proximity dog Z-phase pulse (4) If a limit switch is on at the start operation position If the limit switch in the direction of home position return is on, the home position return should be executed by the (2) pattern.
5. OPERATIONAL FUNCTIONS 5.5.8 Home position return using a limit switch combined method The Z-phase prior to the limit switch of the opposite direction to the home position return direction is defined as the home position. Home position return direction Home position return speed Speed Home position (Note 1, 2) Amount of home position shift Start operation Creep speed (Note 3) Limit switch Z-phase pulse Note 1.
5. OPERATIONAL FUNCTIONS 5.5.10 Home position return using a dog front end method In the home position return using a dog front end method, the motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position.
5. OPERATIONAL FUNCTIONS (3) When the start operation position is on the proximity dog Home position return direction Home position return speed Home position Speed Creep speed Amount of home position shift Start operation Creep speed Home position return speed Proximity dog (4) If a limit switch is on at the start operation position When the limit switch on the same side as the home position return direction is on, the home position return should be executed by the (3) pattern.
5. OPERATIONAL FUNCTIONS 5.5.11 Home position return using a Z-phase detection method After moving from the position where home position return has started to the nearest Z-phase (in addition, after moving by shift amount when home position shift amount is set), home position return is completed. It is necessary to move to around home position using JOG operation or something similar in advance. For home position return direction (parameter No.
5. OPERATIONAL FUNCTIONS [Cautions] In the sequence 2) above, stop processing by response delay to the home position sensor signal and deceleration occurs during the time until the axis stops.
5. OPERATIONAL FUNCTIONS [Encoder Z-phase mask amount] When the stop position is near the encoder Z-phase by the dispersion, the Z-phase position to be the home position can be fixed by setting encoder Z-phase mask amount. 1) When stop position is before the encoder Z-phase Mask encoder Z-phase in this section. Z-phase pulse Z-phase mask amount (parameter No.0250, 0251) Stop position Home position 2) When stop position is after the encoder Z-phase Z-phase pulse Z-phase mask amount (parameter No.
5. OPERATIONAL FUNCTIONS 5.5.12 Home position return using a scale home position signal detection method Home position return is performed using a home position signal (Z-phase) on a linear scale. After detecting the proximity dog, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position.
5. OPERATIONAL FUNCTIONS 5.5.13 Home position return using a scale home position signal detection method 2 Home position return is performed using a home position signal (Z-phase) on a linear scale. Move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position.
5. OPERATIONAL FUNCTIONS 5.6 Home position reset function (data set function) The home position reset function (data set function) is a function that resets the current position to the home position. Prior to executing the home position reset function, set the home position coordinates (parameter No.0246, 0247). The movement is the same as the data set method return to home position, where the current position is changed to the home position coordinates (parameter No.0246, 0247).
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6. APPLICATION FUNCTIONS 6. APPLICATION FUNCTIONS 6.1 Command units 6.1.1 Position command unit - electronic gear Set position command (such as position data of point table and the incremental movement amount) by position command unit. Electronic gears (parameter No.020A, 020B, 020C, 020D) are used to adjust position command unit. Through making changes to the electronic gears, it is possible to move the equipment using an arbitrary multiplication constant for the movement amount.
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6. APPLICATION FUNCTIONS 6.1.2 Settings Control parameters Parameter No. (Note) Abbreviation 020A *CMXL Electronic gear numerator (lower) 0001h 020B *CMXH Electronic gear numerator (upper) 0000h 020C *CDVL Electronic gear denominator (lower) 0001h 020D *CDVH Electronic gear denominator (upper) 0000h Initial Value Name Setting range Unit Function Set the numerator for electronic gears. 1 to 5242879 (32 bits) Set the denominator of the electronic gear. 1 to 589823 (32 bits) Note.
6. APPLICATION FUNCTIONS 6.1.4 Restrictions The restrictions on electronic gears are shown below. (1) When the setting of an electronic gear (CMX, CDV, CMX/CDV) is incorrect, an electronic gear setting error (system error E500) occurs at system startup and the electronic gear setting is treated as CMX: CDV = 1: 1. The operation cannot be performed since the electronic gear is in forced stop status at this time. Reexamine the setting of an electronic gear and start the system again.
6. APPLICATION FUNCTIONS 6.2 Speed unit The speed command (feed speed of point table, manual feed speed, etc) is set by the speed unit. Speed units are adjusted using the speed units and the speed units multiplication factor (parameter No.020E, 020F) of the control option 1 (parameter No.0200). Through changing the speed units, movement can be performed at an arbitrary unit and multiplication of speed. API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter functions to set/get speed unit. 6.2.
6. APPLICATION FUNCTIONS 6.2.2 Setting example of speed units The following is a setup example for use of mm/min as a speed unit for a piece of equipment that uses ball screws. (1) Equipment specification The equipment specification is same as that of Section 6.1. (2) Parameter setting for the speed unit As the position command unit is µm, set 1000 to the speed units multiplication factor to use mm/min as a speed unit. 1000µm/min = 1mm/min Parameter No.
6. APPLICATION FUNCTIONS 6.3 Acceleration/deceleration The method of acceleration/deceleration can be set by Speed options (parameter No.0220). POINT The setting at starting operation is valid for the method of acceleration/deceleration. If the method of acceleration/deceleration is changed during operation, the change is not made. It is validated (changed) the next time operation is started. API LIBRARY Use the sscChange2Parameter/sscCheck2Parameter functions to set/get speed unit. 6.3.
6. APPLICATION FUNCTIONS 6.3.2 Smoothing filter Setting smoothing filter makes smooth acceleration/deceleration. The smoothing time constants are set using parameter No.0226. The acceleration time and deceleration time make the profile be longer. Acceleration time constant Deceleration time constant Speed limit value Command speed Smoothing time constant Smoothing time constant POINT The setting at starting operation is valid for the smoothing time constants.
6. APPLICATION FUNCTIONS 6.3.4 S-curve acceleration/deceleration (Sine acceleration/deceleration) This is a method where acceleration/deceleration is performed gradually based on the Sin-curve. To make the S-curve acceleration/deceleration valid, set the S-curve ratio (1 to 100%). At this time, the acceleration time and deceleration time is the same as in the case of the linear acceleration/deceleration.
6. APPLICATION FUNCTIONS The S-curve ratio indicates which part of the Sin-curve is used to draw the acceleration/deceleration curve as shown in the figure below. (Example) V A Speed B B/2 B/2 t When S-curve ratio is 100% V Speed b Sin-curve a S-curve ratio = B/A 100% b/a = 0.7 When S-curve ratio is 70% t POINT The valid limits of S-curve ratio are 30 to 100%. When less than 30% is set, the command waveform is the same as the one of the setting of 0%.
6. APPLICATION FUNCTIONS When the acceleration time constant is changed during the acceleration, acceleration based on the Sin-curve is performed again from the time of the completion of acceleration time constant change preparation.
6. APPLICATION FUNCTIONS When the original command shape is not in a trapezoid but in a triangle (for example, the travel distance is small.), acceleration/deceleration is performed based on the Sin-curve that peaks at the maximum command speed for triangle command. Speed Speed limit value Command speed Maximum command speed for triangle command Smoothing filter and S-curve acceleration/deceleration can be used together.
6. APPLICATION FUNCTIONS 6.4 Servo off If an axis has moved due to an external force while the servo was off, the current command position is updated in accordance with the movement amount (Current feedback position). After the servo has been off, coordinate return processing such as return to home position is not necessary. Actual Speed ON OFF Servo On (SON) Servo ready (RDY) ON OFF Current command position Current command position is updated in accordance with distance moved while servo is off.
6. APPLICATION FUNCTIONS 6.5 Forced stop Commands are turned to " " at forced stop. Servo amplifiers become free from the control of the position board and stops according to their specifications or settings such as dynamic brake stop and deceleration to a stop. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.
6. APPLICATION FUNCTIONS 6.6 Stop operation When the stop operation signal (STP) is turned on, movement is stopped. (Alarms and warnings are not set.) Even if the stop operation signal (STP) is turned back off, operation is not resumed. The time constant used for stopping for stop operation is the deceleration time constant. If operation is stopped during linear interpolation operation or automatic operation, they do not turn on positioning complete signal (PF).
6. APPLICATION FUNCTIONS 6.7 Rapid stop operation When the rapid stop signal (RSTP) is turned on, movement is stopped abruptly. (Alarms and warnings are not set.) Even if the rapid stop signal (RSTP) is turned back off, operation is not resumed. The deceleration time constant used for stopping for rapid stop operation is the rapid stop time constant (parameter No.0227).
6. APPLICATION FUNCTIONS 6.8 Limit switch (stroke end) When the limit switch signal corresponding to the movement direction is turned off, an alarm occurs and movement is stopped. The deceleration time constant used for stopping by the limit switch is the rapid stop time constant. (Note 5) Rapid stop time constant Speed limit value Command speed (Note 1) Operation is not resumed. (Note 2, 3) side limit switch (LSP) ON OFF During smoothing of stopping (SMZ) ON OFF (Note 4) Note 1.
6. APPLICATION FUNCTIONS 6.9 Software limit (1) Using a JOG operation During JOG operation, if the software limit is reached, a reached software limit (operation alarm A2, detail 01) occurs, the deceleration of the servo is started, and the servo is stopped not to exceed the software limit.
6. APPLICATION FUNCTIONS If the current command position is outside the software limit boundaries (prohibited area), the servo can be moved in the direction of the movement allowed area. However, execute the start operation after resetting the alarm that has been set.
6. APPLICATION FUNCTIONS 6.10 Interlock When the interlock signal (ITL) is turned on, movement is temporarily stopped. During stoppage of movement the interlock stop signal (ISTP) is turned on. When the interlock signal (ITL) is turned off, operation is resumed. The interlock signal (ITL) for normally-open contact or normally-closed contact can be selected using control option 3 (parameter No.0202). (The explanation in this section is for a normally-open contact.
6. APPLICATION FUNCTIONS POINT If the stop operation signal (STP) or rapid stop signal (RSTP) is turned on during interlock stop, operation is not resumed even if the interlock signal is turned off. If smoothing filter is set, the smoothing time constant is always valid. Therefore, rapid stop as well will use smoothing filter. If start up is executed while the interlock signal is on, the interlock is on alarm (operation alarm 13, detail 01) occurs and the start operation is not performed.
6. APPLICATION FUNCTIONS 6.11 Rough match output When the command remaining distance (difference between the command position and the current command position) is less than the rough match output limit (parameter No.0230, 0231), the rough match signal (CPO) is output. Rough match output is only valid at the end points while operating using automatic operation or linear interpolation operation. Therefore, it does not turn on when passing points on the way.
6. APPLICATION FUNCTIONS 6.12 Torque limit When the torque limit signal (TL) is turned on, the torque is limited by the torque limit values set in the normal revolution torque limit (parameter No.0210) and the reverse revolution torque limit (parameter No.0211). When torque is limited by the torque limit values, the torque limit effective signal (TLC) is turned on.
6. APPLICATION FUNCTIONS 6.13 Command change 6.13.1 Speed change Rewriting the command speed followed by turning on the change speed signal (SCHG) changes the speed. For automatic operation and linear interpolation operation, rewrite the feed speed in the operating point table and for JOG operation and incremental feed, rewrite the manual feed speed. Speed change can also be implemented during acceleration or deceleration.
6. APPLICATION FUNCTIONS 6.13.2 Change of time constants After rewriting the time constant, turning the change time constant signal (TACHG, TDCHG) on causes the time constant to change. Time constants can be designated separately as the acceleration time constant and the deceleration time constant. For automatic operation and linear interpolation operation rewrite the time constant in the operating point table and for JOG operation and incremental feed, rewrite the manual feed time constant.
6. APPLICATION FUNCTIONS 6.13.3 Position change After rewriting the command position, turning the position change signal (PCHG) on causes the command position to be changed. For automatic operation rewrite position data in the operating point table and for incremental feed, rewrite the feed movement amount. During linear interpolation operation, rewrite the position data in each point table of the axes in the group.
6. APPLICATION FUNCTIONS (b) For linear interpolation operation An example of the position change when axis 1 and 2 are linearly interpolated is shown below.
6. APPLICATION FUNCTIONS The tracks of axis 1 and 2 to each current command position when the position P1 is changed to the position P2 are shown below. At this time, the tracks move to the end position, forming a curve from the position where the position change is performed, to keep the speed continuity.
6. APPLICATION FUNCTIONS (2) When position change is performed during deceleration When position change is performed during deceleration, the deceleration continues. After the axis stops, the positioning to the new position is performed.
6. APPLICATION FUNCTIONS (b) For linear interpolation operation When one or more axes in a linear interpolation group reverse the movement direction because of the position change, all axes in the group automatically decelerate and stop. After the stop, the axes return to the new position. The setting of control option 2 (parameter No.0201) is invalid. At this time, the stop position over-bound signal (POV) remains off.
6. APPLICATION FUNCTIONS In the example above, the current command position of the axis 1 exceeds the new position. The following formulas provide the approximate calculation of the excessive travel distance (excessive position amount).
6. APPLICATION FUNCTIONS 6.14 Backlash A function that corrects the mechanical error (backlash) when the movement direction is reverse. The compensation amount for backlash is set in backlash compensation amount (Parameter No.0208). Workpiece Ball screw Backlash compensation amount Condition Processing details Normal The compensation amount is added at the timing of switching movement direction. Home position return Backlash compensation is performed as well as normal.
6. APPLICATION FUNCTIONS 6.15 Position switch Position switch is turned on when the axis is within setting range (including the boundary line) which set by position switch upper limit (parameter No.022C, 022D), position switch lower limit: parameter No.022E, 022F).
6. APPLICATION FUNCTIONS 6.16 Completion of operation signal The completion of operation signal (OPF) shows a completion of operation status. At the startup, the "completion of operation signal" (OPF) turns off, and the "completion of operation signal" (OPF) turns on when positioning operation is complete. Interruption of operation due to an alarm also turns on the completion of operation signal (OPF). A summary of operation for each operation mode is shown.
6. APPLICATION FUNCTIONS (3) Using an automatic operation Moves to the end point and then stops. Speed Start of operation Start operation (ST) ON During operation (OP) ON OFF Positioning complete (PF) OFF ON OFF During smoothing of stopping (SMZ) ON In-position (INP) ON OFF OFF Completion of operation (OPF) ON OFF (4) Stop by the stop operation signal Decelerates and stops.
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6. APPLICATION FUNCTIONS (7) Stop by servo alarm occurrence Stops by the dynamic brake, or decelerates and stops by servo amplifier control. (Depending on the setting of the servo amplifier) Speed (The dashed line indicates actual speed.) Servo alarm (SALM) ON OFF Operation alarm (OALM) ON OFF During operation (OP) ON OFF Servo ready (RDY) ON OFF Completion of operation (OPF) ON OFF (8) Stop by operation alarm occurrence Decelerates and stops, or rapidly stops.
6. APPLICATION FUNCTIONS (9) Stop by servo off Rapidly stops Speed Servo on (SON) ON OFF Servo ready (RDY) ON OFF Operation alarm (OALM) ON OFF During smoothing of stopping (SMZ) ON OFF During operation (OP) ON OFF Completion of operation (OPF) ON OFF (10) Stop by a software limit (Example: In JOG operation) Decelerates and stops.
6. APPLICATION FUNCTIONS (11) Stop by forced stop occurrence Stops by the dynamic brake, or decelerates and stops by servo amplifier control. (Depending on the setting of the servo amplifier) Speed (The dashed line indicates actual speed.
6. APPLICATION FUNCTIONS 6.17 Interference check function Through setting the standard coordinate system for the interference check function, the current command position of all of the axes and movement direction is changed to the standard coordinate system and interference check using relative position is implemented.
6. APPLICATION FUNCTIONS CAUTION When the axis or the interference check axis is free from the control of the position board, such as in the following cases, this function may not prevent axes from collision. A servo alarm occurs. In torque limit status The power line is disconnected.
6. APPLICATION FUNCTIONS 6.17.1 Interface (1) Parameter Parameter No.
6. APPLICATION FUNCTIONS 6.17.2 Interference check operation image diagram The following example shows where the direction of the interference check coordinate (the direction of the coordinate system for each axis against the standard coordinate system) is the same direction. Axis 2 coordinate system (Note 3) Home position of axis 2 (where the current command position is 0) Interference check direction Axis 2 Axis 2 interference check coordinate direction (parameter No.
6. APPLICATION FUNCTIONS 6.17.3 Checks prior to start up The interference check area is the relative distance from the target position of the interference check axis positioning. Interference checks are performed when operation is started as well as changing of points and if the target position of positioning of the axis is not within the interference check area, a command error in interference area (operation alarm 44, detail 01) is output and start of operation is interrupted.
6. APPLICATION FUNCTIONS 6.17.4 Operation check In order to prevent collision, the current command position is monitored at all times and if the difference between the relative distance of the axis and the interference check axis is judged to be less than the interference check width, rapid stop is executed.
6. APPLICATION FUNCTIONS 2) When Interference check standby is valid If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis, turn the during interference check standby signal (IWT) for the axis on and rapid stop is executed.
6. APPLICATION FUNCTIONS (3) While the interference check axis is stopped If the distance between the axis and the interference check axis is judged to drop below the interference check width, an entering interference area error (operation alarm 45, detail 01) is output and rapid stop is executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the interference check axis.
6. APPLICATION FUNCTIONS 6.18 Home position search limit 6.18.1 Summary The home position search limit function is that while returning to home position, through movement operation in the opposite direction of home position return, if the movement exceeds the parameter set for the home position search limit (parameter No.024A, 024B), a home position search limit error (operation alarm 98, detail 01) occurs and home position return operation is terminated.
6. APPLICATION FUNCTIONS 6.18.
6. APPLICATION FUNCTIONS 6.19 Gain changing Through turning on the gain changing command signal (GAIN), the gain for the servo amplifier can be changed. This is used to change the gain during revolution and while stopped, as well as changing gain proportional to amount of movement or speed. When the gain changing function is used, set the following servo parameters. For servo parameters (MR-J4(W )- B) Parameter No. MR-J4-B Parameter No.
6. APPLICATION FUNCTIONS A timing chart using for gain changing is shown below.
6. APPLICATION FUNCTIONS 6.20 PI-PID switching By turning on the PID control command signal (CPC), control of the servo amplifier is changed to PID control from PI control. Use this function, for example, to remove any interference (torsion) between tandem drive axes by operating an axis (slave axis) under PID control. When using the PI-PID switching function, set the following servo parameters. For servo parameter (MR-J4(W )- B) Parameter No. MR-J4-B Parameter No.
6. APPLICATION FUNCTIONS 6.21 Absolute position detection system By using a servo motor compatible with the absolute position detection system, the positioning control can be made by the absolute position detection system. In the absolute position detection system, if machinery position is determined at the system startup, there is no need to execute the home position return because the absolute position is restored at system startup. Determination of machinery position is made by the home position return.
6. APPLICATION FUNCTIONS 6.21.2 Processing procedure Be sure to execute the operation referring to the following procedures at home position return and power on. (1) Processing procedure for returning to home position (a) Set the absolute position detection system (parameter No.1102) to 1 (Use in absolute position detection system). (b) If setting the parameter in (a) for the first time, "absolute position erased" (servo alarm 25) occurs.
6. APPLICATION FUNCTIONS (3) Cautions for use of absolute position detection system In the case of the following (a) to (f), the absolute position erased signal (ABSE) is turned on and the absolute position data of the home position return option 2 (parameter No.0241) is changed to 0 (invalid). Furthermore, the servo is not yet finished with home position return, and the home position return request (ZREQ) turns on. Therefore when performing automatic operation, execute home position return again.
6. APPLICATION FUNCTIONS 6.21.3 Sequence example Prepare a home position return complete memo showing that the home position has been established on the user program. Turn the home position return complete memo on when home position return is complete. When the home position return complete memo is turned on, execution of home position return is not necessary. If the absolute position erased signal (ABSE) is turned on, turn the home position return complete memo off, and re-execute home position return.
6. APPLICATION FUNCTIONS Is the home position return complete memo on? sscHomeReturnStart function Y N Execute home position return operation Wait for operation command sscWaitIntDriveFin function /sscGetDriveFinStatus function Wait for home position return complete (wait until the home position return complete signal (ZP) is turned on) Complete return to position (turn on home position return complete signal (ZP).
6. APPLICATION FUNCTIONS 6.22 Home position return request The home position return request (ZREQ) shows the home position return incomplete status. In the home position return incomplete status, the home position return request (ZREQ) turns on. When it is necessary to determine the home position, perform the home position return. When the home position return is completed properly and the home position is determined, the home position return request (ZREQ) turns off.
6. APPLICATION FUNCTIONS (2) The following shows the conditions for the home position return request (ZREQ) to turns on/off. (a) At system startup 1) Condition of turning on a) When the axis is a tandem drive axis and does not have home position (parameter No.0200). b) When "absolute position erased" (servo alarm 25) or "absolute position counter warning" (servo alarm E3) occurs c) The setting value for "home position multiple revolution data" (parameter No.
6. APPLICATION FUNCTIONS 6.23 Other axes start 6.23.1 Summary The other axes start function is a function that automatically performs the start operation for other axes or turns on/off the digital output signal according to the conditions for starting other axes (start conditions) and other axes start data consisting of operation (operation content) that is performed when the conditions are satisfied. When using the other axes start, set the other axes start data No.
6. APPLICATION FUNCTIONS (1) Point table Set the other axes start data No. for the other axes start specification. POINT The setting range of the other axes start data No. differs depending on the control cycle. A maximum of 1 to 32 can be set. When the setting is out of the range of the valid other axes start data No., it causes a point table setting error (operation alarm 25, detail 09). Control cycle Valid other axes start data No. 0.88ms 1 to 32 0.44ms 1 to 16 0.
6. APPLICATION FUNCTIONS (2) Other axes start data For the other axes start data (1 to 32), set the conditions for starting other axes (start conditions) and the operation (operation content) performed when the condition is satisfied. When the other axes start No. (1 to 32) is set to the other axes start specification (other axes start specification 1 and 2) of the point table, other axes are started according to the settings of the corresponding other axes start data.
6. APPLICATION FUNCTIONS (a) Start condition Address Abbreviation E100 E104 OSOPN1 OSOPN2 Name Axis option (4 bytes) Observed axis option (4 bytes) Initial Value 00000000h 00000000h Unit Setting range 00000000h to 00000011h Function 0 0 0 0 0 0 Axis judgment condition Set the judgment condition for the axis. 0: Remaining distance specification (The condition is satisfied when the axis remaining distance is equal to or shorter than the axis remaining distance data.
6. APPLICATION FUNCTIONS 1) Cause of alarm An incorrect setting of the other axes start condition causes an other axes start setting error (operation alarm 4D, detail 01) at the start operation or point switching. • The setting of the axis option, observed axis option, or axis remaining distance data is outside limits. • The position specified in the axis pass position data cannot be passed.
6. APPLICATION FUNCTIONS Address Abbreviation E15C OSDOP Name Unit Digital output signal command (2 bytes) Setting range 0000h to FFFFh Function Set the digital output signal command (ON/OFF) of the digital output signal (DO_ ) selected in the digital output signal valid selection. DO_ 0 (bit 0) to DO_ F (bit 15) Note. is set in the digital output signal specification. 0: OFF 1: ON E15E Reserved (10 bytes) to E167 Note 1.
6. APPLICATION FUNCTIONS 6.23.3 Interface (1) Other axes start command/other axes start status bit The other axes start commands/other axes start statuses related to the other axes start function are shown below.
6. APPLICATION FUNCTIONS Other axes start command Address Bit E080 0 Abbreviation Other axes start status Address Bit E082 0 OSOP Other axes start notice 1 1 OSFIN Other axes start complete 2 2 OSERR Other axes start incomplete 3 3 4 4 5 5 6 6 OSSTP Signal name Other axes start cancel 7 Abbreviation Signal name 7 8 Reserved 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 Reserved Note 1.
6. APPLICATION FUNCTIONS (b) Details concerning other axes start status bits Abbreviation Signal name Function details OSOP Other axes start notice [Function] Notifies the monitoring for the other axes start condition. [Operation] The other axis start data is specified in the other axes start specification of the point table for automatic operation and linear interpolation operation, and the axis is monitored for the other axes start condition.
6. APPLICATION FUNCTIONS 6.23.4 Operation example (1) When other axes start is complete The other axes start notice (OSOP) turns on between the axis start and the completion of the other axis start. The other axes start complete (OSFIN) turns on when the other axes start notice (OSOP) is turned off on completion of the other axes start.
6. APPLICATION FUNCTIONS (2) When the observed axis is valid When "1: Valid" is set to the observed axis specification (in the observed axis option of the other axes start condition), the other axes content is not operated until both the axis judgment condition and the observed axis judgment condition are satisfied.
6. APPLICATION FUNCTIONS (3) When other axes start fails When the other axes start fails due to, for example, an operation alarm on the axis preceding the satisfaction of other axes start condition, the other axes start incomplete (OSERR) turns on. The other axes start incomplete (OSERR) turns on when: (a) The axis set in the start axis designation 1 is being operated when the other axes start condition is satisfied.
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6. APPLICATION FUNCTIONS 6.24 High response I/F 6.24.1 Summary The high response I/F function is a function for shortening time required to check commands and statuses by simplifying the process between the position board and the host controller. The high response I/F function is always valid. This function simplifies the following processes.
6. APPLICATION FUNCTIONS 6.24.
6. APPLICATION FUNCTIONS 6.24.3 Fast start operation Using the fast start operation signal (FST) as a substitute of the start operation signal (ST) shortens the time required for the second and subsequent start operations. POINT The fast start operation cannot be used in JOG operation. Use the start operation signal (ST).
6. APPLICATION FUNCTIONS 6.24.4 Interrupt processing high speed completion Using the interrupt processing high speed complete signal (ITFE) as a substitute of the interrupt processing complete signal (ITE) shortens the time for interrupt processing completion.
6. APPLICATION FUNCTIONS 6.25 In-position signal For the in-position signal (INP), the position board checks the in-position range and controls turning on or off the signal. The in-position signal controlled by the servo amplifier is displayed as the servo amplifier in-position signal (SINP).
6. APPLICATION FUNCTIONS 6.26 Digital input/output 6.26.1 Summary The digital input/output function is a function that controls the general input/output signal of the servo amplifier assigned to the digital input/output table. The user program can check whether the digital input/output signals are on/off by using the digital input/output table. The points for the each input/output signal can be assigned up to 1024.
6. APPLICATION FUNCTIONS 6.26.2 Interface The following shows the interfaces related to the digital input/output. (1) Digital input table Digital input area number Digital input number Abbreviation B000 Digital input area 0 (2 bytes) Digital input 0 to digital input 15 DI_000 to DI_00F Notifies the status of the digital input signal. The bits are DI_000 (bit0) to DI_00F (bit15).
6. APPLICATION FUNCTIONS 6.27 Servo amplifier general input/output 6.27.1 Summary The servo amplifier general input/output function is a function that controls the input/output signal connected to the servo amplifier via SSCNET. The user program can control the input/output signal with the digital input/output table, by assigning the servo amplifier general input/output signal to the digital input/output table. The points of the input/output signal differ depending on the servo amplifier model.
6. APPLICATION FUNCTIONS The following shows the connectors of the servo amplifier to be connected to the general input/output signals. ) and digital output signal Each general input/output signal is assigned to the digital input signal (DI_ ). For details, refer to Section 6.27.2. (DO_ (1) For servo amplifier MR-J4- B (a) General input Signal name Destination connector pin No.
6. APPLICATION FUNCTIONS 6.27.2 Settings (1) Servo parameters When using the general output function of the servo amplifier, set the parameter of the output device selection as shown below. (a) For servo amplifier MR-J4- B Parameter No. MR-J4-B parameter No. Abbreviation 11C6 PD07 *DO1 Output device selection 1 Name Setting value 0021h 11C7 PD08 *DO2 Output device selection 2 0022h 11C8 PD09 *DO3 Output device selection 3 0023h (b) For servo amplifier MR-J4W - B Parameter No.
6. APPLICATION FUNCTIONS (2) Control parameter The control parameters are used to set the general input/output and to assign to the digital input/output number. When the sensor input method (parameter No.0219) is "Driver input", the input signal of the servo amplifier is used for the sensor (LSP/LSN/DOG). Therefore, the input signal cannot be used as the general input. To use the general input signal of the servo amplifier, set other than "Driver input" to the sensor input method (parameter No.0219).
6. APPLICATION FUNCTIONS POINT Assign the digital input/output table not to overlap other settings. If the assignment is overlapped or exceeds the maximum points of the digital input/output table, the input/output number assignment error (system error E510) and input/output number assignment setting error (operation alarm 39, detail 01 and 02) occur.
6. APPLICATION FUNCTIONS 6.28 Dual port memory exclusive control 6.28.1 Summary The dual port memory exclusive control function is a function that keeps the consistency of the memory data by temporarily limiting the system program and user program to read/write data to the limited area of the dual port memory. 6.28.
6. APPLICATION FUNCTIONS (2) Exclusive control procedure on user program side The following shows the procedure to control the digital output signal exclusively. (a) Exclusive control procedure START Pre-processing of exclusive control Set "1: Request" to the digital output signal host occupy request (DORH). Set "1: User program" to the digital output signal occupy selection (DOCS).
6. APPLICATION FUNCTIONS 6.29 Pass position interrupt 6.29.1 Summary The pass position interrupt function is a function that outputs an interrupt at when the pass position condition set in the interrupt table is satisfied. The pass position condition can be specified up to 64 conditions (total for all axes) per operation. To use this function, set the pass position interrupt valid to the auxiliary command of the point table.
6. APPLICATION FUNCTIONS 6.29.2 Pass position interrupt setting method The pass position interrupt setting procedure is as follows. (1) Set the pass position conditions. (2) Validate the pass position interrupt specifications of the point data. (3) Set the pass position condition start number and end number. (4) Start automatic operation or linear interpolation operation.. (5) Wait until the conditions of the pass position interrupt are fulfilled.
6. APPLICATION FUNCTIONS 6.29.3 Interface (1) Pass position interrupt table The pass position condition (pass position option and pass position data) is set to the pass position interrupt table. The pass position condition is imported when the corresponding pass position condition number is started to be judged. POINT When the pass position condition setting is incorrect, a pass position interrupt error (operation alarm 5C, detail 04) occurs and the operation is stopped.
6. APPLICATION FUNCTIONS (a) Details on pass position option Address A640 Name Unit Pass position option (4 bytes) Setting range Initial value Remarks 00000000h 00000000h to 00000011h 0 0 0 0 0 0 Pass direction Set the pass direction for the pass position data. 0: + direction pass position interrupt output 1: - direction pass position interrupt output Judgment condition Set the judgment condition for the pass position data. 0: Current command position 1: Current feedback position Note.
6. APPLICATION FUNCTIONS (2) Point table and auxiliary command To use the pass position interrupt, set the pass position interrupt valid to the auxiliary command of the point table.
6. APPLICATION FUNCTIONS (3) Axis command data/axis status data The pass position is judged according to the pass position condition specified in the start number and end number of the pass position condition. (a) Axis command data Address Name Setting range Remarks 1034 Pass position condition start number (2 bytes) 1 to 64 Set the start number of the pass position condition for the pass position interrupt.
6. APPLICATION FUNCTIONS (4) Axis command/axis status bit The axis status bits related to the pass position interrupt function are shown below. (a) Axis command bit Address Bit Abbreviation 1007 0 PPISTP Signal name Pass position interrupt cancel 1 2 3 4 Reserved 5 6 7 Note. The above address is the address for the axis 1. For the axis 2 and above, increase in units of C0h for each axis.
6. APPLICATION FUNCTIONS (d) Details on axis status bit Abbreviation Signal name Function details PPIOP Pass position interrupt [Function] Notifies the pass position interrupt is being performed. [Operation] The start and end number of the pass position interrupt are specified and the pass position interrupt is performed.
6. APPLICATION FUNCTIONS (5) Interrupt conditions (system parameters) Set the values that designate ON for the bits that correspond to the factor of pass position interrupt outputting to the parameter interrupt conditions (parameter No.0004) to validate the interrupt output of the pass position interrupt. Parameter No.
6. APPLICATION FUNCTIONS (6) Factor of system interrupt API LIBRARY Use the sscResetIntPassPosition/sscSetIntPassPosition/ sscWaitIntPassPosition functions for reset/set/wait of pass position interrupt events.
6. APPLICATION FUNCTIONS (b) Details on factor of system interrupt When the pass position data is passed, the factor of outputting with factor of pass position interrupt (iPPI) of the details on factor of system interrupt is turned on. For details on the factor of interrupt according to the pass position condition, refer to Section 6.29.3 (7).
6. APPLICATION FUNCTIONS (7) Factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI) is on, the bit corresponding to the pass position condition number of the factor of the pass position interrupt turns on.
6. APPLICATION FUNCTIONS (8) Details on factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number (1 to 64) turns on.
6. APPLICATION FUNCTIONS 6.29.4 Operation example (1) When the pass position interrupt is complete The pass position interrupt (PPIOP) turns on between the operation start and the completion of all pass position interrupt outputs. When the pass position condition is satisfied, the factor of interrupt of the "pass position interrupt complete " ( : pass position condition number) turns on and the interrupts are output.
6. APPLICATION FUNCTIONS (2) When the pass position interrupt fails When the operation is canceled due to an operation alarm preceding the satisfaction of the pass position condition, the pass position interrupt incomplete (PPIERR) turns on. The pass position interrupt incomplete (PPIERR) turns on under the following conditions.
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6. APPLICATION FUNCTIONS (3) When the pass position interrupt is canceled When the pass position interrupt cancel (PPISTP) is turned on preceding the satisfaction of the pass position condition, the pass position interrupt incomplete (PPIERR) turns on. At this time, the factor of interrupt of the "pass position interrupt error condition " ( : pass position condition number) turns on to the running and unexecuted pass position interrupt conditions and the interrupt is output.
6. APPLICATION FUNCTIONS 6.30 Mark detection 6.30.1 Summary Mark detection is a function that gets the positioning data at the timing of when a mark detection signal is input to the servo amplifier, and outputs to the dual port memory. This function is compatible with SSCNET /H communication method only.
6. APPLICATION FUNCTIONS The following shows the update timing of mark detection positioning data and mark detection edge data when a mark detection signal is detected and both ON/OFF edges are enabled in the mark detection data settings. Position board side Mark detection edge data 0: Not detected 1: OFF edge 2: ON edge 0 Mark detection position data 0 2 0 1 100 0 150 2 190 0.
6. APPLICATION FUNCTIONS POINT • For communication methods other than SSCNET /H, a mark detection setting error (operation alarm 3B, detail No.01) occurs. • When a servo amplifier that does not support mark detection is used, a mark detection setting error (operation alarm 3B, detail No.02) occurs. • Check that the user program does not omit any detections to avoid cases where mark detection signals are not properly detected, and communication errors occurrences etc.
6. APPLICATION FUNCTIONS (1) Continuous detection mode Mark detection data is stored in the mark detection data storage area (one buffer) for every mark detection. Mark detection signal Mark detection data storage area (When ON edge detection is enabled) (2) Specified number of detection mode Only the mark detection data for a set number of detections is stored. When the mark detection signal is continuously input at a high frequency, positions for a set number of mark detections can be collected.
6. APPLICATION FUNCTIONS 6.30.2 Interface (1) Servo parameter (MR-J4- B (-RJ)) Parameter No. MR-J4-B Parameter No. Abbreviation 11CA PD11 *DIF Name Setting value Input filter setting Mark detection input signal filter selection Set the mark detection input signal filter selection. 0: No setting 1: 0.111[ms] 2: 0.222[ms] 3: 0.444[ms] (2) Control parameter Parameter Abbreviation No.
6. APPLICATION FUNCTIONS Parameter Abbreviation No.
6. APPLICATION FUNCTIONS (3) Mark detection command/status data (a) Mark detection command table Address Name Setting range Remarks When in tandem drive B4F0 Read complete buffer number 1 0 to 255 Set the mark detection data table number that was read after reading the mark detection edge data and mark detection positioning data of mark detection 1. Each axis B4F1 Read complete buffer number 2 0 to 255 Same as read complete buffer number 1. Each axis B4F2 to B4FF Reserved Note.
6. APPLICATION FUNCTIONS Address Name Output limits Remarks When in tandem drive B504 Start data storage area 2 0 to 63 Same as start data storage area 1. Each axis B505 Number of continuous latch data storages 2 0 to 64 Same as number of continuous latch data storages 1. Each axis B506 Mark detection counter 2 Same as mark detection counter 1. Each axis B507 Mark detection mode 2 Same as mark detection mode 1.
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6. APPLICATION FUNCTIONS POINT • The mark detection data table allocates continuous latch data storage area automatically from the lowest axis to the highest axis. • When the current feedback position set in mark detection data settings is specified in command units, the fraction that comes about when converting from pulse units is round down then stored. • The lower 32 bits of data are latched for data in pulse units that exceeds 32 bits.
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6. APPLICATION FUNCTIONS (b) Details on axis status bit Abbreviation Signal name Remarks MKIF Mark detection compatible information [Function] Notifies that mark detection function can be used. [Operation] The following conditions are satisfied. • Servo amplifier supports mark detection function. • Mark detections settings are enabled. One of the following conditions is satisfied. • Servo amplifier does not support mark detection function.
6. APPLICATION FUNCTIONS 6.30.3 Function details (1) Combinations with sensor input method By setting the sensor input method to driver input, and setting the mark detection signal numbers (DI1 to DI3), sensors (LSP/LSN/DOG) can be used in combination with the mark detection function.
6. APPLICATION FUNCTIONS (3) Latch data range When data at mark detection is within the latch data range, the data is stored in the mark detection storage device and the mark detection counter increases by one. When the data is outside of the range the mark detection is not processed. The following explains the upper limit value and lower limit value.
6. APPLICATION FUNCTIONS 6.30.4 Operation example (1) Continuous detection mode The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer number. When mark detection data is not read before the next mark detection, a mark detection write/read error (operation alarm A6, detail No.01) occurs, followed by a rapid stop. Example: When both ON/OFF edges are enabled.
6. APPLICATION FUNCTIONS (2) Specified number of detection mode The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer number. If performing mark detection again after the specified number of mark detections, conduct a mark detection clear. The mark detection data that is detected after the mark detection clear is latched. Example: When both ON/OFF edges are enabled and specified number of mark detections is three.
6. APPLICATION FUNCTIONS (3) Ring buffer mode When using ring buffer mode, the mark detection count is started again from 1 if the number of mark detections exceeds the number of continuous latch data storages. When mark detection data is not read before the next mark detection, a mark detection write/read error (operation alarm A6, detail No.01) occurs with a rapid stop. Example: When both ON/OFF edges are enabled.
6. APPLICATION FUNCTIONS 6.31 Continuous operation to torque control 6.31.1 Summary Continuous operation to torque control is a control method that achieves torque control during positioning control without stopping. To perform continuous operation to torque control, the servo amplifier control mode must be switched to "continuous operation to torque control mode".
6. APPLICATION FUNCTIONS (1) Operation example Two-point operation (deceleration check system: In-position stop) including continuous operation to torque control point.
6. APPLICATION FUNCTIONS 6.31.2 Interface Set the following data when using continuous operation to torque control. (1) Parameter (a) Servo parameter Parameter Abbreviation No. Name Initial value 110D *POL Rotation direction selection/travel direction selection 0 1142 TFBGN Torque feedback loop gain 18000 Units Setting range 0 to 1 Function Select the rotation direction or travel direction for the command input pulse.
6. APPLICATION FUNCTIONS (2) Point table Set the points where continuous operation to torque control is performed in "continuous operation to torque control specification" in the auxiliary command.
6. APPLICATION FUNCTIONS POINT • Position data is the stopping position when switching to continuous operation to torque control could not be made. Set the position data after the continuous operation to torque control switching position (PRCPS) and before the pressing position in continuous operation to torque control. • When switching to continuous operation to torque control could not be made, a continuous operation to torque control error (operation alarm 5D, detail No.
6. APPLICATION FUNCTIONS (3) Continuous operation to torque control data Set the conditions for performing continuous operation to torque control in the continuous operation to torque control data. (a) Continuous operation to torque control data Address Abbreviation Name Units Setting range Function Continuous operation Command -2147483648 Set the position for switching to continuous operation to torque control.
6. APPLICATION FUNCTIONS Address Abbreviation A858 A85A to A85F PRCOP Name Continuous operation to torque control operating conditions (2 bytes) Units Setting range 0000h to 0012h Function Valid 0 0 Start switch to continuous operation to torque control condition Set the condition for determining the continuous operation to torque control switching position.
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6. APPLICATION FUNCTIONS POINT • The value for continuous operation to control data at the start of operation at the continuous operation to torque control point is valid. • Continuous operation to torque control data that is changed during the operation of a continuous operation to torque control point becomes valid at the operation of the next continuous operation to torque control point.
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6. APPLICATION FUNCTIONS (5) Axis command/status bit The axis command/status bits for continuous operation to torque control are shown below.
6. APPLICATION FUNCTIONS (b) Details on axis status bit Abbreviation Signal name Remarks PRSMO During continuous operation [Function] to torque control Notifies that torque within the torque settle width of the target torque has been output during the torque settle waiting time of continuous operation to torque control.
6. APPLICATION FUNCTIONS (6) Axis command/status data The axis command/status data for continuous operation to torque control are shown below. (a) Axis command table Address 1032 Name Control mode command 1033 Setting range Refer to remarks Remarks Set the mode to switch to.
6. APPLICATION FUNCTIONS 6.31.3 Control mode switch For control mode switch, there are the two following methods that can be selected for both "switching from position control mode to continuous operation to torque control mode" and "switching from continuous operation to torque control to position control mode" • Automatic switch • Manual switch (1) Control mode switch setting The setting contents and setting values required for each switch pattern are shown in the following table.
6. APPLICATION FUNCTIONS POINT • Operation is completed with the switching completion to position control mode. • When operation is stopped by forced stop, operation alarms etc., the position board automatically switches to position control mode regardless of "start continuous operation to torque control switch conditions".
6. APPLICATION FUNCTIONS 6.31.
6. APPLICATION FUNCTIONS POINT • It takes approximately 6 to 11ms for the servo amplifier to switch modes after reaching the continuous operation to torque control switching position and press time has passed. • The rough match (CPO) turns ON based on the distance remaining to the position data of the point table. • Positioning complete (PF), during smoothing of stopping (SMZ), turn ON at completion of operation.
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6. APPLICATION FUNCTIONS API LIBRARY • Use the sscAutoStart function for operation startup. • Refer to the sample program "InterruptPressDrive" contained in the utility software for a more specific procedure on continuous operation to torque control. Operate by manual switch by setting chg_ctrl_mode_condition to CHG_CTRL_MODE_MANUAL. • Use the sscChangeControlMode function for switching the control mode of the servo amplifier.
6. APPLICATION FUNCTIONS 6.31.5 Operation during continuous operation to torque control mode When switching to continuous operation to torque control mode, torque is controlled so that it becomes the torque set as "target torque", while speed is accelerated/decelerated from the current speed to the speed set in "continuous operation to torque control speed limit value". During this time, the command speed immediately after the switch is a value converted from the position command.
6. APPLICATION FUNCTIONS 6.31.6 Stop factors during continuous operation to torque control Operation Stop factor Stop method The press limit position was reached. Control mode was changed to position control mode during travel in continuous operation to torque control mode (before target torque is reached). Interference check conditions were satisfied. (Including interference check standby) Alarm/Error Immediate stop Operation alarm 5D, detail No.03 Deceleration stop Operation alarm 5D, detail No.
6. APPLICATION FUNCTIONS POINT • For all patterns, the control mode is automatically changed to position control by the position board after zero speed (ZSP) turns ON. • The stopping process for each stop factor is a deceleration process in continuous operation to torque control mode. (For immediate stops, control mode switches to position control mode at the current position and stops immediately.) • The time constant at a rapid stop is that of rapid stop time constant (control parameter No.0227).
6. APPLICATION FUNCTIONS 6.31.7 Combinations of continuous operation to torque control and other functions The following shows the combinations of continuous operation to torque control with each function. Classification System function Function SSCNET communication method Control mode Compatibility Remarks SSCNET /H SSCNET Standard mode Interface mode Operation function Application function JOG operation — Incremental feed — Automatic operation Automatic switch/Manual switch can be selected.
6. APPLICATION FUNCTIONS Classification Application function Function Command change Compatibility Remarks Speed change Speed change error signal (SCE) turns ON. Change of time constants Acceleration time constant change error signal (TACE), or deceleration time constant change error signal (TDCE) turns ON. Position change Position change error signal turns ON. Backlash When following up by current feedback position, a position that takes into account the backlash is is followed up.
6. APPLICATION FUNCTIONS Classification Auxiliary function Function Compatibility Test mode Remarks — Reconnect/disconnect function When reconnecting, startup is in position control mode. Sampling — Log Operation cycle monitor function — Amplifier-less axis function After reaching the continuous operation to torque control speed limit value, it is regarded that the torque settle width has been reached, and operation is completed after the continuous operation to torque control time has passed.
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7. AUXILIARY FUNCTION 7. AUXILIARY FUNCTION 7.1 Reading/writing parameters The parameter data in the position board is accessed using the parameter read/write function. Types of parameters include: system parameters, control parameters, and servo parameters. The parameter read/write function can be used after system preparation completion (system status code: 0001h). 7.1.1 Writing parameters Position board Host controller 1) Dual port memory Wait until the parameter write command signal (PWRT) turns on.
7. AUXILIARY FUNCTION POINT In some parameters, changing the settings after the system has started is invalid. Refer to "Chapter 11 PARAMETERS", concerning which parameters this applies to. 32 bit length parameters are separated into upper and lower items, therefore change them simultaneously. Changing of 32 bit length parameters separately can lead to erroneous operation. Two parameters can be written at a time. When writing one parameter, set 0 to the other parameter. If an erroneous parameter No.
7. AUXILIARY FUNCTION 7.1.2 Reading parameters Position board Host controller 2) Dual port memory Wait until the parameter read command signal (PRD) turns on. Position board processing 1) Servo amplifier Parameter data (internal memory) The parameters are read from the internal memory area into the 2 port memory (1) in Fig. 7.2). The Number for the parameter received is set in the dual port memory. Parameter read complete signal (PRFIN) is turned on.
7. AUXILIARY FUNCTION 7.2 Changing parameters at the servo The position board has a function of reflecting the results of changes made to parameters on the servo amplifier to the host controller. When parameters are changed on the servo amplifier, the position board changes the parameter data area (internal memory), and notifies the host controller using the "changes to servo parameters exist" (PSCHG) signal.
7. AUXILIARY FUNCTION The sequence for when servo parameters are changed is as follows. Position board Host controller 2) Dual port memory Servo parameters that were changed are set in the parameter data area of the internal memory (1) in Fig. 7.3). The parameter number for the parameter that was changed is set in the servo parameter change number (Note).
7. AUXILIARY FUNCTION 7.3 Alarm and system error When an incorrect setting or incorrect operation is done, the position board raises an alarm, so make user program monitor the alarm periodically. The position board can raise the following four alarms: system alarm, servo alarm, operation alarm, and system error. For the cause of occurrence and treatment for each alarm, refer to Chapter 13. API LIBRARY Use the sscGetAlarm/sscResetAlarm functions to get/reset the alarm number.
7. AUXILIARY FUNCTION (3) Operation alarm Operation alarm is an alarm a position board raises in each axis by incorrect setting of a system parameter or each function. When an operation alarm occurs, during operation alarm signal (OALM) turns on and the alarm number and the detail number are stored in Operation alarm number and Specific operation alarm number. To reset the operation alarm, turn on the operation alarm reset signal (ORST).
7. AUXILIARY FUNCTION 7.4 Monitor function 7.4.1 Summary The monitor function is for referencing servo information such as current command position, speed Feedback etc. and operation information and system information. When monitoring system information, the monitor area in the system command/status table is used. Also, when monitoring servo information and operational information, the monitor area of the command/status table for each axis is used.
7. AUXILIARY FUNCTION POINT If an erroneous monitor number is commanded, a monitor number error (MERn (n 1 to 4)) is turned on. Data for a correct monitor number can be monitored at this time (monitor output is turned on). However, if the monitor number is set to 0, a monitor number error is not set and monitor data is continually set to 0. Servo information can not be referenced if the servo amplifier is not connected.
7. AUXILIARY FUNCTION 7.4.2 Monitor latch function Monitor data is not updated while the monitor latch command signal (MONR) is on.
7. AUXILIARY FUNCTION 7.5 High speed monitor function 7.5.1 Summary High speed monitor function is a function for monitoring current command position and current feedback position etc. It becomes valid after system is started up, and monitor data is updated every control cycle. The data that can be referenced with the high speed monitor function are the following 6 items. Data item Units Data size Current command position Command units 4 byte A000h 20h (n 1) Same as monitor No.
7. AUXILIARY FUNCTION 7.5.2 Monitor latch function Monitor data is not updated while the high speed monitor latch command signal (RMONR) is on. sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_RMONR) High speed monitor latch ON command (RMONR) OFF High speed monitor is latched (RMRCH) ON OFF sscGetCurrentCmdPositionFast function etc.
7. AUXILIARY FUNCTION 7.6 Interrupt 7.6.1 Interrupt sequence If the interrupt output valid signal (ITS) is on and interrupt conditions are satisfied (Note1), the position board sets the interrupt trigger on the dual port memory and generates an interrupt. For cancellation of the interrupt, write 1 to an interrupt signal clear register (Note 2) using a host controller. After cancellation of the interrupt, turn on the interrupt processing complete signal (ITE).
7. AUXILIARY FUNCTION If another interrupt condition is satisfied while the outputting with factor of interrupt (ITO is on), the factor of interrupt will be put on hold until the interrupt processing complete signal (ITE) turns off from on.
7. AUXILIARY FUNCTION 7.6.2 Interrupt conditions (1) Interrupt conditions (system parameters) When interrupts the system are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to the parameter interrupt conditions (parameter No.0004). API LIBRARY Use sscChangeParameter to set interrupt conditions. Parameter No.
7. AUXILIARY FUNCTION 7.6.3 Factor of interrupt API LIBRARY The factor of interrupt check is processed by the interrupt thread that is created when calling the sscIntStart function. Thus processing by user program is unnecessary. Use the following functions for wait of factor of interrupt.
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7. AUXILIARY FUNCTION (b) Details on factor of interrupt on axis n The addresses in the table are the addresses for the axis 1. For the axis 2 and above, increase in units of 04h for each axis.
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7. AUXILIARY FUNCTION (c) Factor of other axes start interrupt When the outputting with factor of other axes start interrupt (iOASF) is on, the bit corresponding to other axes start data No. (1 to 32) turns on.
7. AUXILIARY FUNCTION (d) Details on factor of other axes start interrupt When the factor of other axes start interrupt (iOAS ) is on, the interrupt factor of other axes start status bit corresponding to other axes start data No. (1 to 32) turns on.
7. AUXILIARY FUNCTION (e) Factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI) is on, the bit corresponding to the pass position condition number of the factor of the pass position interrupt turns on.
7. AUXILIARY FUNCTION (f) Details on factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number (1 to 64) turns on.
7. AUXILIARY FUNCTION 7.6.
7. AUXILIARY FUNCTION 7.7 User watchdog function User watchdog function is a function that checks for errors of the user program. Reset the value of watchdog check counter on the dual port memory using a host controller on a periodic basis. If the watchdog check counter value is not reset at the designated time (watchdog timer counts down to zero), it is determined that the host controller error and a forced stop status is entered.
7. AUXILIARY FUNCTION 7.8 Software reboot function Through using the software reboot function, the host controller can restart the position board using software. Perform the software reboot according to the following procedure. (Refer to the system data table for the command/status signal.) sscReboot function Start * Set reboot ID to 1EA5.
7. AUXILIARY FUNCTION 7.9 Parameter backup POINT When there are a lot of changing parameters of the position board and servo amplifier and the parameter changing time effects the system startup, saving parameters in the flash ROM of the position board by this function can shorten the time of system startup. (1) Flash ROM parameter backup The contents of the parameter data area in the position board can be backed up to the flash ROM.
7. AUXILIARY FUNCTION Note 1. The flash ROM parameter backup function becomes available after the system preparation completion (system status code: 0001h). 2. When the flash ROM transfer preparation error (FRNG) or the flash ROM transfer error (FSNG) occurs, check the procedure and restart the process from the beginning. 3. Do not turn off the power supply of the position board during the parameter backup in the flash ROM.
7. AUXILIARY FUNCTION (2) Flash ROM parameter initialization The contents of the parameters which is backed up in the flash ROM is changed to the initial value. Start Flash ROM transfer ID setting * Set A55A to flash ROM transfer ID. Turn on flash ROM initialization preparation (FIR). Flash ROM initialization preparation complete? (FIROK=ON?) No Yes Turn on flash ROM initialization execution (FIS). * Transfer parameter the initial values to the flash ROM.
7. AUXILIARY FUNCTION API LIBRARY For flash ROM parameter initialization, save the flash ROM parameters with the sscSaveAllParameterToFlashROM function after initializing the parameters with the sscResetAllParameter function. (3) Flash ROM parameter reading The parameters backed up in the flash ROM is read when the system preparation is completed (system status code: 0001h).
7. AUXILIARY FUNCTION 7.10 Test mode Servo amplifier can be adjusted using test operation function (JOG, test positioning, machine analyzer etc.) of the MR Configurator2 attached to the position board using a USB connection. This sets the position board to test mode signal (TSTO) and operation (such as automatic operation) from the position board can not be performed. In order to perform operations using the position board, the system must be restarted.
7. AUXILIARY FUNCTION 7.10.2 Test operation mode (1) Limitations (a) If operation is started using the position board, an in test mode error (operation alarm 1A, detail 01) occurs and operation can not be performed. (b) The commands to servo amplifier (servo-on/off, servo alarm reset, torque limit command etc.) are invalid. Monitoring and reading and writing of parameters can be performed as normal. (2) Transition to test mode In the following cases, it is not possible to transit to test mode.
7. AUXILIARY FUNCTION 7.11 Reconnect/disconnect function 7.11.1 Disconnection function summary By turning on the disconnection command, SSCNET communication with selected axis and later can be disconnected. To use this function, set the consistency check selection at system startup of the control cycle (parameter No.0002) to invalid. This function becomes available after the system is started.
7. AUXILIARY FUNCTION 7.11.2 Reconnect function summary This function is a function that searches for controlled and non-communicating axes from all connected axes and starts SSCNET communication with them by turning on the reconnection command (RCC). To use this function, set the consistency check selection at system startup of the control cycle (parameter No.0002) to invalid. This function becomes available after the system is started.
7. AUXILIARY FUNCTION 7.11.3 Interface (1) System command/system status Address Content 0434 Address 04A4 Disconnection axis number 0435 04A5 Content Error code of reconnection/disconnection [Error code of reconnection/disconnection] No. Content Detail 0001h Disconnected axis specification error The axis specified as the disconnecting axis is not in communication. 0002h Reconnected axis No. duplication error The axis number of the reconnected axis is already used.
7. AUXILIARY FUNCTION 7.11.4 Disconnection method SSCNET communication disconnection is executed by turning on the disconnection command after the axis number of the axis to be disconnected is specified. The flowchart of the disconnection is shown below. sscDisconnectSSCNET function START Set the axis number to be disconnected to the disconnection axis number (Note 1). Turn on the disconnection command (CCC).
7. AUXILIARY FUNCTION 7.11.5 Reconnection method SSCNET communication reconnection is executed by turning on the reconnection command. The axis number to be connected axis is not needed to be specified. The flowchart of the reconnection is shown below. sscReconnectSSCNET function START Turn on the reconnection command (RCC). No Reconnection complete (RCF) ON? No Yes Reconnection error (RCE) ON? Yes Turn off the reconnection command (RCC).
7. AUXILIARY FUNCTION 7.11.6 Restrictions The restrictions for SSCNET reconnect/disconnect function are shown below. (1) Linear interpolation startup When the axis allocated to the same linear interpolation group is not connected, a primary axis linear interpolation startup error (operation alarm 40, detail 01) occurs. (2) Tandem drive When the axis allocated to the same tandem drive group is not connected, servo cannot be turned on during in the synchronous mode.
7. AUXILIARY FUNCTION 7.12 Sampling 7.12.1 Summary The sampling function is a function that monitors the servo amplifier status and samples this data. After sending the sampling start signal (SMPS), the following data is sampled every sampling period. The data is sampled in the sampling data buffer area in the position board up to 8192 points. In sampling with the sampling points exceeding 8192, the user program always needs to read sampling data during sampling. Data can be sampled up to 65536 points.
7. AUXILIARY FUNCTION 7.12.2 Command/status bit System command/status bits related to sampling function are shown below.
7. AUXILIARY FUNCTION (2) Details concerning system status bits Symbol Signal name SMPW Waiting for sampling trigger [Function] Notifies concerning the status of waiting for sampling trigger. [Operation] Turning on of sampling start signal (SMPS), and waiting for the sample trigger. • The sampling start signal (SMPS) is turned off. • The trigger for the start sampling trigger axis is met.
7. AUXILIARY FUNCTION Symbol Signal name Function details SWED Sampling setting data out of bounds [Function] Notifies that the sampling setting value is outside the setting range. [Operation] The sampling setting value which is outside the setting range is set and the sampling setting write command (SMPSW) is turned on. The sampling setting write command signal (SMPSW) is turned off.
7. AUXILIARY FUNCTION 7.12.3 Command/status data The system command/status data related to the sampling function are shown below. (1) Sampling setting write (command) Address BDA0 Name BDA1 Sampling setting write number BDA2 Reserved Setting range 0000h to 00AFh Remarks Set the sampling setting number to be written. Note. For 0000h, sampling setting number error does not occur. BDA3 BDA4 BDA5 Sampling setting write data 00000000h to Set the data of the sampling setting number to be written.
7. AUXILIARY FUNCTION (5) Sampling error information Address BDC0 BDC1 Name Sampling axis error information 1 Output limits Remarks 100000000h to Turns on the bit of the axis which cannot be controlled. FFFFFFFFh Axis number 1 (bit 0) to 32 (bit 31) BDC2 BDC3 BDC4 Reserved BDC5 BDC6 BDC7 BDC8 BDC9 BDCA BDCB BDCC BDCD BDCE BDCF BDD0 BDD1 Sampling data error information 00000000h to Turns on the bit of the sampling data which became sampling error.
7. AUXILIARY FUNCTION (6) Sampled data read command Address BDE0 BDE1 BDE2 Name Sampling read page number Setting range Remarks 0 to 256 Set the page number which is read in the sampling data read area. 12 points of sampled data are read per page. Note. When start sampling, set 0.
7. AUXILIARY FUNCTION 7.12.4 Sampling setting write/read The conditions for sampling and contents of sampling can be set. Also, the current sampling setting can be read. The sampling setting write/read is valid after executing parameter initialization (system command code: 0003h).
7. AUXILIARY FUNCTION 7.12.5 Details for sampling function settings Settings related to sampling function are shown below. Each setting is imported when the sampling is started (SMPS: ON). The sampling setting cannot be changed while Waiting for sampling trigger (SMPW) is on and Sampling is being performed (SMPO) is on. (1) Sampling setting Setting No. 0001 Name Initial value Setting range Sampling option 00000000h 00000000h to 000029FFh Remarks 0 0 0 0 Sampling cycle Set the sampling cycle.
7. AUXILIARY FUNCTION Setting No. 0010 Name Sampling trigger 1 setting Initial value Setting range 00000000h 00000000h to 10041F01h Remarks 0 0 0 0 0 0 0 Trigger 1 sampling items Selects the sampling items referred by trigger 1. 0: Sampling data 1: Sampling bit information The following settings differ up to Trigger 1 sampling items. When Sampling data is selected 0 0 0 0 Trigger 1 sampling data number Set the sampling data number referred by trigger 1 in hexadecimal.
7. AUXILIARY FUNCTION Setting No. Name Initial value Setting range Remarks 0015 Sampling trigger 6 setting 00000000h 00000000h Same as the sampling trigger 1 setting. to 10041F01h 0016 Sampling trigger 7 setting 00000000h 00000000h Same as the sampling trigger 1 setting. to 10041F01h 0017 Sampling trigger 8 setting 00000000h 00000000h Same as the sampling trigger 1 setting.
7. AUXILIARY FUNCTION Setting No. 0030 Name Initial value Setting range Sampling data 1 setting 00000000h 00000000h to 00FF14FFh Remarks 0 0 Monitor No. Specify the monitor number to be sampled. 0000h: Not selected 0100h to 01FFh: servo information (1) 0200h to 02FFh: servo information (2) 0300h to 03FFh: operation information 1300h to 13FFh: operation information (double word) 0400h to 04FFh: system information 1400h to 14FFh: system information (double word) Note. Axis No.
7. AUXILIARY FUNCTION Setting No. Name Initial value Setting range Remarks 0040 Sampling data 17 setting 00000000h 00000000h to Same as the sampling data 1 setting. 00FF14FFh 0041 Sampling data 18 setting 00000000h 00000000h to Same as the sampling data 1 setting. 00FF14FFh 0042 Sampling data 19 setting 00000000h 00000000h to Same as the sampling data 1 setting. 00FF14FFh 0043 Sampling data 20 setting 00000000h 00000000h to Same as the sampling data 1 setting.
7. AUXILIARY FUNCTION Setting No. 0070 Name Initial value Setting range Sampling bit information 00000000h 00000000h to setting 1 (Note) 0FFF03FFh Remarks 0 Monitor No. Set the monitor number including the bit information to be sampled. 0000h: Not selected 0300h to 03FFh: operation information Axis No. Set the axis No. of sampling data 1. 00h to 13h: Axis No.-1 Example: 00h: Axis No.1 Bit No. Set the bit number of the sampling bit information 1. 0h to Fh: Bit No.
7. AUXILIARY FUNCTION 7.12.6 Number of sampled points By setting the number of sampled points (sampling setting No.0002), points to be sampled can be changed. Number of data which is sampled before the trigger conditions are met (set with pre-trigger) is specified by percentage to the number of sampled points. However, when the number of sampled points exceeds 8192, the percentage is to 8192. For when the number of sampled points is 8192 or less, and 8193 or more, the characteristics are shown below.
7. AUXILIARY FUNCTION 7.12.7 Sampling items Sampling items are sampling data and sampling bit information. By setting axis number and monitor number to be sampled in sampling data, arbitrary monitor data can be sampled. Up to 32 items of monitor data can be specified. Axis data command/status bit (address 1000h to 100Fh, 1060h to 106Fh) can be sampled as sampling bit information. Up to 16 items of bit information can be specified. Examples of the sampling items are shown below.
7. AUXILIARY FUNCTION (a) Axis data command bit Monitor No. Content 0380 Bit No. Abbreviation 0 SON Signal name Bit No. Abbreviation 8 9 DIR Movement direction Reserved 10 STP Stop operation 11 RSTP 1 2 3 4 TL 5 SRST 6 Torque limit 12 Servo alarm reset 13 Start operation Rapid stop Reserved ORST 14 Reserved 7 ST Signal name Servo on Operation alarm reset Reserved 15 0381 Bit No. Abbreviation Signal name Bit No.
7. AUXILIARY FUNCTION Monitor No. Content 0384 Bit No. Abbreviation 0 1 Bit No. Abbreviation GAIN Gain switching command 8 FCLS Fully closed loop control change command 9 Reserved 10 PID control command 11 2 3 Signal name CPC Signal name Reserved 12 4 5 13 Reserved 6 14 7 15 0385 Bit No. Abbreviation Signal name Bit No.
7. AUXILIARY FUNCTION (b) Axis data status bit Monitor No. Content 03A0 Bit No. Abbreviation 0 RDY Signal name Bit No.
7. AUXILIARY FUNCTION Monitor No. Content 03A4 Bit No. Abbreviation Signal name Bit No. Abbreviation Signal name 0 GAINO During gain switching 8 IWT Interference check standby 1 FCLSO Fully closed loop control changing 9 SINP Servo amplifier in-position 2 TLSO Selecting torque limit 10 3 SPC During PID control 11 12 4 5 Reserved 7 Reserved 13 6 14 PRSMO During continuous operation to torque control 15 03A5 Bit No. Abbreviation Signal name Bit No.
7. AUXILIARY FUNCTION POINT Up to 3 items (total of sampling data and sampling bit information) can be specified for the servo information. If more than 4 items are set, sampling error (SMPE: ON) occurs when sampling is started and the bit of the sampling error information corresponding to the fourth item turns on. However, there is no restriction for the number of the items in the following servo information. Monitor No.0200 (position feedback (lower)) Monitor No.
7. AUXILIARY FUNCTION 7.12.8 Sampling trigger As a trigger for start of sampling, up to 8 conditions can be set. The case when one of the trigger conditions is met or when all of the trigger conditions are met can be set as a trigger. The data or the bit information trigger refers to are selected from set sampling items. There are 4 types of trigger conditions for each of the contents the trigger refers to. (Refer to the following.
7. AUXILIARY FUNCTION (c) Fulfilled when the data is the same as trigger value or higher When the data is the same as the trigger value or higher, the trigger condition is met. Example 1 Data Example 2 Sampling starts Data Trigger value Sampling starts Trigger value Time Time Trigger condition is met Trigger condition is met (d) Fulfilled when the data is the same as trigger value or lower When the data is the same as the trigger value or lower, the trigger condition is met.
7. AUXILIARY FUNCTION (2) When the trigger content is bit information (a) Fulfilled by leading edge of bit When the bit turns on from off, the trigger conditions are met. Example 1 Sampling starts Example 2 Trigger condition is met Sampling starts Bit Trigger condition is met Bit ON ON OFF OFF Time Time (b) Fulfilled by trailing edge of bit When the bit turns off from on, the trigger conditions are met.
7. AUXILIARY FUNCTION 7.12.9 Sampling data read Sampled data of 8192 points is stored in the sampling data buffer area of the position board internal memory. Sampled data is transferred to the sampling data read area divided in units of a page (32 points/page). For the sampling data read during the sampling, refer to the Section 7.12.10.
7. AUXILIARY FUNCTION (2) A timing chart of reading of sampled data To read the sampled data, set the page number to be transferred to the sample read page number. When detecting the change of the sampling read page number, the position board transfers the sampled data corresponding to the page number to the sampling data read area and stores the points of data which are sampled in the page in the valid read sampled points.
7. AUXILIARY FUNCTION 7.12.10 Timing chart for sampling function A timing chart for the sampling function is shown below. (1) When the number of sampled points is 8192 or less 1) When setting 8192 to the sampling points and starting sampling of 8192 points To start the sampling, write the sampling setting previously and turn on the start sampling command (SMPS). When the start sampling command (SMPS) is accepted, the waiting for sampling trigger (SMPW) turns on.
7. AUXILIARY FUNCTION 2) When setting 8192 to the sampling points and sampling of 8192 points is completed When the sampling of specified sampling points is completed, the sampling is completed (SMPF) turns on.
7. AUXILIARY FUNCTION 4) When reading sampled data After confirming the sampling is being performed (SMPO) is turned off, read the sampled data and valid read sampled points from the page 1 to the page of the sampling completion page number. Sampled data points in the page where the sampling read is completed is stored in the valid read sampled points.
7. AUXILIARY FUNCTION (2) When the number of sampled points is 8193 or more 1) When starting the sampling To start the sampling, write the sampling setting previously and turn on the start sampling command (SMPS). When the start sampling command (SMPS) is accepted, the waiting for sampling trigger (SMPW) turns on. Then, after trigger conditions are met, the sampling is being performed (SMPO) turns on.
7. AUXILIARY FUNCTION 2) Sampling is being performed The user program reads the sampled data sequentially according to the sampling completion page number. The user program can read the page from the page of the sampling read page number to the page of the sampling completion page number in numerical order. The sampling data buffer area is a ring buffer of 256 pages.
7. AUXILIARY FUNCTION POINT In the timing chart above, the sampling read page number differs from the sampling completion page number by 1 page, unless the next page number of the sampling completion page number becomes the sampling read page number, reading sampled data can be delayed. In the following cases, the sampling read error (Read sampled data completion page number is -2) occurs. When the setting for the sampling read page number is outside of the setting range.
7. AUXILIARY FUNCTION 3) When the sampling is completed When the sampling of specified points is completed, the sampling is complete (SMPF) turns on. After confirming the sampling is complete (SMPF) turns on, read until the sampling completion page number.
7. AUXILIARY FUNCTION 4) Sampling stopped prior to full completion When the start sampling command (SMPS) is turned on during the sampling (SMPO: ON), the sampling is being performed (SMPO) turns off and the sampling finishes. After confirming the sampling is being performed (SMPO) turns off, read until the sampling completion page number.
7. AUXILIARY FUNCTION 5) When the reading of sampled data is not finished in time When the next page number of the sampling completion page number matches the sampling read page number during the sampling (SMPO: ON), the position board judges that the reading of sampled data is not finished in time and the sampling is finished (the sampling error (SMPE) turns on).
7. AUXILIARY FUNCTION 7.13 Log 7.13.1 Summary The log function is a function that stores the status when an event occurs (start operation, completion, alarm occurs etc.) on the position board. The log data is stored in the log data buffer area (internal memory of the position board). When a reading of log data command is generated at a host controller, the log data stored in the log data buffer area is transferred to the dual port memory.
7. AUXILIARY FUNCTION 7.13.2 Log data details The log data for 1 event is 16 bytes. The details of the data are shown in the following. Offset Content 0000h Axis number 0002h Event code 0004h Time stamp 0006h 0008h Information for each event 000Ah 000Ch 000Eh (1) Axis number Axis number [0: for events that are common to axes] [1 to 32: for events for separate axes] (2) Event code Refer to Section 7.13.3. (3) Time stamp Sets the value of the 32 bit free run counter added to each control cycle.
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7. AUXILIARY FUNCTION 7.13.4 Information for each event Log data set per event is as follows. Also, details concerning the operation mode noted in the information per event is as follows.
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7. AUXILIARY FUNCTION (39) Rough match output Offset Content 0000h Axis number 0002h Event code (0603h) 0004h Time stamp 0006h 0008h Operation mode 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) (40) Other axes start complete Offset (41) Other axes start incomplete Content Offset Content 0000h Axis number 0000h Axis number 0002h Event code (0800h) 0002h Event code (0801h) 0004h Time stamp 0004h Time stamp 0006h 0006h 0008h Other axes start data No.
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7. AUXILIARY FUNCTION (59) Mark detection setting enable Offset Content 0000h Axis number 0002h Event code (0B04h) 0004h Time stamp 0006h 0008h Mark detection setting number 000Ah 0 (fixed value) 000Ch 0 (fixed value) 000Eh 0 (fixed value) POINT For change of parameters (event code 0202h), the parameter value prior to change and parameter value after change are compared and only if the setting is different is the parameter change recorded in the log data.
7. AUXILIARY FUNCTION 7.13.5 Log function interface (1) Command/status bit System command/status bits related to log function are shown below.
7. AUXILIARY FUNCTION (b) Details concerning system status bits Abbreviation Signal name Function details LOGO Log operation being performed [Function] Notifies that log is now being taken. [Operation] The log command signal (LOGC) was turned on. The log command signal (LOGC) was turned off. LOGRF Reading of log data complete [Function] Notifies that reading of log data was completed normally.
7. AUXILIARY FUNCTION (2) System Command/Status Data (a) System Commands Address 01B0 Name Reading of log data Page number Setting range 1 to 256 01B1 Remarks Sets the page number for the log data area for logged data to be read to. Data for 16 events of log data are read for each page. Example. When the number of valid events is 345 events 345/16 21 9 In other words, pages 1 to 22 are read.
7. AUXILIARY FUNCTION 7.13.6 Timing chart for reading of log data A method for reading log data stored in the log data buffer area is shown below. sscReadLogData function Reading of log data command (LOGR) ON OFF Log data read page number Reading of log data complete (LOGRF) Page 1 Page 2 Page 3 ON OFF POINT For reading of log data, turn off the log command signal (LOGC).
7. AUXILIARY FUNCTION 7.14 Operation cycle monitor function 7.14.1 Summary The operation cycle monitor function is a function that monitors the operation cycle current time, operation cycle maximum time, and operation cycle over time. The operation cycle monitor function becomes valid after the system starts. motion operation The operation cycle is the position board processing (SSCNET communication process process) time.
7. AUXILIARY FUNCTION 7.14.3 Operation timing (1) Operation cycle alarm, operation cycle warning occurrence timing A timing chart for when the operation cycle exceeds the warning level (95% of the control cycle) and alarm level (100% of the control cycle) is shown below.
7. AUXILIARY FUNCTION API LIBRARY • Use the sscGetOperationCycleMonitor function to get the operation cycle current time/operation cycle maximum time/operation cycle over time.
7. AUXILIARY FUNCTION 7.15 External forced stop disabled 7.15.1 Summary The external forced stop disabled function disables the external forced stop by input signal (EMI) from the I/O connector. Note. Software forced stop by system command bit and forced stops due to system errors such as SSCNET communication errors (system status code E h) are not disabled. 7.15.2 Interface The interface added for the external forced stop disabled function is as follows.
7. AUXILIARY FUNCTION 7.16 Amplifier-less axis function 7.16.1 Summary The amplifier-less axis function is a function that enables to operate the position board without connecting a servo amplifier. This function enables to debug the user program at the start-up of the device and to simulate the positioning operation. 7.16.2 Interface To use the amplifier-less axis function, set Valid in the amplifier-less axis function (parameter No.0200). Parameter No.
7. AUXILIARY FUNCTION 7.16.3 Control details The operation details related to the amplifier-less axis function are shown below. Item Servo amplifier Operation The specification of a supposedly connected servo amplifier is shown below. SSCNET communication method SSCNET /H Number of encoder pulses per revolution [pulse] Maximum motor speed [r/min] 4194304 6000 Note. The servo amplifier operates as a servo amplifier compatible with a rotary servo motor.
7. AUXILIARY FUNCTION 7.17 Alarm history function 7.17.1 Summary The alarm history function is a function that records the history of system errors and alarms (system, operation, and servo alarms) when they occur. The alarm history data is stored in the alarm history area of the flash ROM. Alarm history can also be checked after the power is turned off.
7. AUXILIARY FUNCTION 7.17.2 Alarm history data details There are three types of history data, system startup command data and completion of system startup data, and alarm history data. One history data is 64 bytes. The details of the data are shown in the following.
7. AUXILIARY FUNCTION (c) Control cycle Stores the control cycle. 00h: 0.88ms 01h: 0.44ms 02h: 0.22ms (d) Event code Stores the type of history content. 00h: System startup command 02h: Completion of system startup 10h: System error 11h: System alarm 12h: Servo alarm 13h: Operation alarm (e) Communication mode Stores the communication mode. 00h: SSCNET /H mode (f) Control mode Stores the control mode.
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7. AUXILIARY FUNCTION (d) Operation mode Stores the operation mode. 00h: Automatic operation 01h: Home position return 02h: JOG operation 03h: Incremental feed 04h: Mode not selected 05h: Mode error 06h: Home position reset 08h: Linear interpolation operation (e) Current command position Stores the signed current command position [command units] when the error axis number is an axis number. Stores 0 when the error axis number is not an axis number.
7. AUXILIARY FUNCTION 7.17.3 Interface (1) System Command/Status Bit System command/status bits related to alarm history function are shown below.
7. AUXILIARY FUNCTION (b) Details concerning system status bits Abbreviation Signal name Function details MINFC Machine type information (CCF) [Function] Shows that the controller connected is a position board. [Operation] Position board is connected. A controller other than position board is connected. AHINF Alarm history information [Function] Shows that position board is alarm history compatible.
7. AUXILIARY FUNCTION (2) System Command/Status Data (a) System Commands Setting range Address Name 0444 Alarm history read page number 1 to 512 Sets the page number for the alarm history area for alarm history to be read to. Data for 4 events of alarm history are read for each page. Example. When the number of valid events is 1250 events 1250/4 = 312 2 In other words, pages 1 to 313 are read.
7. AUXILIARY FUNCTION 7.17.4 Timing chart for alarm history read A method for reading alarm history stored in the alarm history area is shown below. sscGetAlarmHistoryData function Host controller Position board Alarm history read page number Page 1 Alarm history read command (ALHR) ON OFF Alarm history read complete (ALHRF) ON OFF Page 2 Page 3 POINT The alarm history is stored in the alarm history area of the position board flash ROM in ring buffer format.
7. AUXILIARY FUNCTION 7.17.5 Alarm history initialization procedure The procedure for initialization of parameters are as follows. sscClearAlarmHistoryData function Start Alarm history initialization ID setting Note. Set E15A to the alarm history initialization ID.
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8. TANDEM DRIVE 8. TANDEM DRIVE Tandem drive is that 1 axis is physically connected to and driven by 2 motors. The position board provides the same position command to the 2 axes set up for tandem drive. Tandem drive can be set up for a maximum of 8 sets (16 axes). 8.1 Drive modes For tandem drive there are 2 drive modes; synchronous mode and non-synchronous micro-adjustment control mode. Types of operation that can be performed for each mode are as follows.
8. TANDEM DRIVE 8.1.1 Synchronous mode Through providing the master and slave axes the same position command, they move together. Each axis uses a feedback signal position loop, speed loop, and current loop for control. 8.1.2 Non-synchronous micro-adjustment control mode Non-synchronous micro-adjustment control mode temporarily cancels synchronizing in order to adjust the position balance between the master axis and the slave axis. This enables submitting different position commands to each of the axes.
8. TANDEM DRIVE 8.1.3 Changing of drive mode The changing of modes is performed using ON/OFF of the non-synchronous command signal (ASYN : the group number). Changing of mode can be performed on a group basis. Changing of drive mode can only be performed when all of the following conditions are satisfied. • The during smoothing of stopping (SMZ) is on for both the master axis and the slave axis. • The in-position signal (INP) is ON for both the master axis and slave axis.
8. TANDEM DRIVE 8.2 Parameter settings 8.2.1 Designation of tandem drive axes Setting the group number in the tandem drive group (parameter No.0264) defines the tandem drive axis. The 2 axes that are set to the same group No. can be driven in parallel. The maximum number of groups that can be driven in parallel is 8 (groups 1 to 8).
8. TANDEM DRIVE 8.3 Axis data classifications Axis data for tandem drive axes have 2 data type settings: "only master axis data is valid" and "master axis/slave axis data are separate". POINT Refer to Section 10.6 concerning axis data classifications for tandem drive axes. In this table, "only master axis data is valid" is designated as "master" while "master axis/slave axis data are separate" is designated as "axes separate". It is possible to review monitor data for each axis individually. 8.3.
8. TANDEM DRIVE 8.4 Tandem drive axis operation POINT Only have the master axis call the start operation functions of each axis when in synchronous mode. 8.4.1 Home position return during tandem drive Methods for returning to home position while using tandem drive axes include: dog method, dog cradle method, data set method, Z-phase detection method, scale home position signal detection method, and scale home position signal detection method 2.
8. TANDEM DRIVE (1) Home position return using a dog method Home position return speed Home position Speed (master axis) Creep speed (Note 2) Amount of home position shift (Master axis) Proximity dog Z-phase pulse (master axis) Home position return speed Speed (slave axis) Start operation (ST) (master axis) Creep speed (Note 2) Amount of home position shift ON OFF Proximity dog input ON signal (DOG) (master axis) (Note 1) OFF Home position return ON complete (ZP) OFF (master axis) Note 1.
8. TANDEM DRIVE (2) Home position return using the dog cradle method Home position return speed Home position Speed (master axis) Creep speed Amount of home position shift (Note 2) Proximity dog Z-phase pulse (master axis) Home position return speed Creep speed Speed (slave axis) Amount of home position shift (Note 2) Start operation (ST) (master axis) Proximity dog input signal (DOG) (master axis) (Note 1) Home position return complete (ZP) (master axis) ON OFF ON OFF ON OFF Note 1.
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8. TANDEM DRIVE (4) Home position return using a dog front end method Home position return using a dog front end method uses the proximity dog front end as the home position.
8. TANDEM DRIVE (a) Deviation compensation invalid The motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. When deviation compensation is invalid, only the proximity dog signal for the master axis is used.
8. TANDEM DRIVE (b) Deviation compensation valid The motion detected by the proximity dog slows down to stop, and return to the proximity dog front end, setting there to the home position. When deviation compensation is valid, the proximity dog signals for the master axis and for the slave axis are used to calculate the amount of deviation between each dog front end position or to compensate the deviation between the master axis and the slave axis.
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8. TANDEM DRIVE b) Start operation method 1. Set the home position return method (parameter No.0240) to "Dog front end method" and tandem drive option (parameter No.0265) to "Normal mode". 2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start home position return operation. Note. Through setting the amount of home position shift (parameter No.0248, 0249), the position shifted from dog front end position can be defined as the home position.
8. TANDEM DRIVE (5) Home position return using a Z-phase detection method The positions of the master axis: PM1 and slave axis: PS3 become the home position for each axis.
8. TANDEM DRIVE (6) Home position return using a scale home position signal detection method Home position return is performed using a home position signal (Z-phase) on a linear scale. After detecting the proximity dog, move in the direction of the home position and in the opposite direction and the position where a home position signal is detected is defined to be the home position.
8. TANDEM DRIVE 2) Operation example for normal mode a) Start operation method 1. Adjust the axis linking the master axis and slave axis mechanically at a right angle to the movement direction. 2. Set the home position return method (parameter No.0240) to scale home position signal detection method and tandem drive option (parameter No.0265) to normal mode. 3. Start home position return operation. 4. After home position return is complete, read the tandem drive home position signal offset (parameter No.
8. TANDEM DRIVE (b) Normal mode 1) Summary In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.
8. TANDEM DRIVE 2) Operation example for normal mode a) Startup method 1. Set the home position return method (parameter No.0240) to scale home position signal detection method and tandem drive option (parameter No.0265) to normal mode. 2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start home position return operation.
8. TANDEM DRIVE (7) Home position return using a scale home position signal detection method 2 Home position return is performed using a home position signal (Z-phase) on a linear scale. After the start operation is performed, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position.
8. TANDEM DRIVE 2) Operation example for adjustment mode a) Start operation method 1. Adjust the axis linking the master axis and slave axis mechanically at a right angle to the movement direction. 2. Set the home position return method (parameter No.0240) to scale home position signal detection method and tandem drive option (parameter No.0265) to adjustment mode. 3. Start home position return operation. 4.
8. TANDEM DRIVE (b) Normal mode 1) Summary In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.
8. TANDEM DRIVE 2) Operation example for normal mode a) Start operation method 1. Set the home position return method (parameter No.0240) to scale home position signal detection method and tandem drive option (parameter No.0265) to normal mode. 2. Set the tandem drive home position signal offset (parameter No.026C, 026D). 3. Start home position return operation.
8. TANDEM DRIVE 8.4.2 JOG operation during tandem drive (1) Synchronous mode When JOG operation is performed while in synchronous mode, master axis data and signals are used. An example is shown below.
8. TANDEM DRIVE 8.4.3 Incremental feed while using tandem drive (1) Synchronous mode When incremental feed operation is performed while in synchronous mode, master axis data and signals are used. An example is shown below.
8. TANDEM DRIVE 8.4.4 Automatic operation during tandem drive (1) Synchronous mode When automatic operation is entered while in synchronous mode, master axis data and signals are used. Also, the master axis table is used for the point table. An example is shown below. Rough match output limits (parameter No.0230, 0231) Speed (master axis) Stops after moving to the end point.
8. TANDEM DRIVE 8.4.5 Linear interpolation during tandem drive When performing linear interpolation operation, it is necessary to group the axes for which linear interpolation is to be set up. The groups are set up using linear interpolation group (parameter No.0260) and the master axis is the only one set up when in tandem drive axis operation. For other types of movement, normal axis movement is followed. (Refer to Section 5.
8. TANDEM DRIVE The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and in-position signals are being used, check the in-position signal for both the master axis and the slave axis. For other types of movement, normal axis movement is followed. (Refer to Section 5.4) The following shows an example where start operation is performed for the linear interpolation group 1 from the configuration example on the previous page.
8. TANDEM DRIVE 8.5 Servo on and servo off during tandem drive axis operation (1) Synchronous mode When the master axis servo on signal (SON) and slave axis servo on signal (SON) are turned on, the both axes are turned on. Also, when the servo on signal (SON) for either the master axis or the slave axis is turned off, both axes are turned servo off.
8. TANDEM DRIVE POINT Synchronization is validated after home position return complete (after home position is established). When the home position return request (ZREQ) is ON, synchronization is not performed. Set the speed at synchronization using the tandem drive synchronous alignment speed (parameter No.0267) and the speed units multiplication factor (parameter No.020E, 020F).
8. TANDEM DRIVE 8.7 Tandem drive axis software limit Software limits become valid after completing home position return (home position return request (ZREQ) is off). Software limits are checked for both the master axis and the slave axis. In this case, the software limit boundaries for the master axis become valid. The following shows an example where the software limit is reached during JOG operation when the synchronization setting (parameter No.
8. TANDEM DRIVE 8.9 Tandem drive axis servo alarms If an alarm occurs on the master axis or slave axis, dynamic braking and stoppage is implemented for the axis for which the servo alarm did not occur as well. When the cause for an alarm on an axis is cancelled such as through a servo alarm reset, the dynamic brake is cancelled. This is the same for a servo forced stop warning (E6) or a main circuit off warning (E9) status on either the master axis or the slave axis.
9. INTERFACE MODE 9. INTERFACE MODE 9.1 Summary Interface mode is a function for sending the commands for every operation cycle (position commands, speed commands and torque commands) straight to the servo amplifier. By using this function, any given acceleration/deceleration pattern, speed pattern, or torque pattern is possible. To use interface mode, designate "1: Interface mode" with system option 2 (parameter No.0002), and perform system startup after setting Interface mode option (parameter No.000F).
9. INTERFACE MODE 9.2 Combinations with functions The following shows the combinations of interface mode with each function. Control mode Classification Operational function Function Position Speed control control Remarks Torque control JOG operation Incremental feed Automatic operation Linear interpolation Home position return The normal home position return function is invalid. After moving to the home position, use the home position set command.
9. INTERFACE MODE Control mode Classification Application function Function Position Speed control control Remarks Torque control PI-PID switching Home position set If home position set request is turned ON at speed control/torque control, home position set error (ZSE) turns ON.
9. INTERFACE MODE 9.3 Parameters For interface mode, the parameters used and some of the parameter functions change. The following are parameters used in interface mode. (1) System parameters (a) System parameters used Parameter No.
9. INTERFACE MODE (3) Control parameters (a) Control parameters used Parameter No. Abbreviation Name Remarks 0200 *OPC1 Control option 1 0203 *AXALC Axis No. assignment Speed units relates to the units during monitor output.
9. INTERFACE MODE 9.4 Interface (1) System information Address Content 0010 Interrupt output cycle 0011 0012 Command data update cycle 0013 (a) Interrupt output cycle The interrupt output cycle (control cycle × N) outputs the value of N. (b) Command data update cycle The command data update cycle (control cycle × N) outputs the value of N.
9. INTERFACE MODE (b) Details on status bit Abbreviation Signal name Function details IITO During interface mode interrupt valid [Function] Notifies the interrupt during interface mode is valid. [Operation] • Interrupt output valid (ITS) is turned on. • Interrupt output valid (ITS) is turned off. BMA During system program memory access [Function] Notifies the system program is accessing the command buffer.
9. INTERFACE MODE (4) Axis command/status (a) Axis command Address 1030 Name Setting range Remarks Latest command buffer number 0 to 63 Set the latest command buffer number after updating. Control mode command Refer to remarks Set the mode to switch to. 0000h: Position control mode 0001h: Speed control mode 0002h: Torque control mode 1031 1032 1033 1048 1049 Torque control speed limit value (0.01r/min) 104A 104B 0 to Set the speed limit value when in torque control mode.
9. INTERFACE MODE (5) Position command buffer The number of buffers and the addresses that are used differ for each control mode. The buffers for each control mode are shown below.
9. INTERFACE MODE (b) Speed control mode Address Content 7800 7801 7802 Speed command buffer 0 (0.01r/min) 7803 Note 1. Setting range: -1000000000 (-10000000r/min) to 1000000000 (10000000r/min) 2. The addresses above are the addresses for the first axis. For the second axis and after, increase by 80h for each axis. (c) Torque control mode Address 8C00 8C01 8C02 8C03 Content Torque command buffer 0 (0.1%) (When parameter No.010D is 0, positive: CCW, negative: CW) Note 1. Setting range: -32768 (-3276.
9. INTERFACE MODE 9.5 Control method 9.5.1 Control mode The control mode is switched by specifying the control mode in the "control mode command". Switching to/from position control mode to/from speed control mode/torque control mode is performed while the motor is stopped, and switching between speed control mode and torque control mode is possible at any given time.
9. INTERFACE MODE 9.5.2 Position control mode Position control mode is where position commands (absolute position in pulse units) generated by the user program can be sent to the servo amplifier. The position command buffer is made up of position data × a maximum of 64 ring buffers, and is controlled with the latest position command buffer number and the transmitting position buffer number. Refer to Section 9.5.5 or Section 9.5.6 for the update method of the buffer.
9. INTERFACE MODE (2) Axis data command/status table Axis data command table Address 1030 1031 Axis data status table Setting range Content Latest position command buffer number Address 108E 0 to 63 108F 1090 1091 Content Output range Maximum position command buffer number 1 to 64 Transmit position command buffer number 0 to 63 Note. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
9. INTERFACE MODE 9.5.3 Speed control mode Speed control mode is where speed commands (speed in units of 0.01r/min) generated by the user program can be sent to the servo amplifier. The speed command buffer is made up of speed command data × a maximum of 1 buffer. Refer to Section 9.5.6 for the update method of the buffer. POINT • If a value outside of the range is input to the speed command buffer, command data error (operation alarm A7, detail No.01) occurs. The speed command value becomes 0[0.
9. INTERFACE MODE (2) Speed command buffer Address 7800 Name Initial value Units 0 0.01r/min Speed command buffer 0 7801 7802 Setting range Remarks -1000000000 Input the target speed for every command data update cycle. to 1000000000 7803 Note. The addresses in the table are the addresses for the first axis. For the second axis and after, increase by 80h for each axis.
9. INTERFACE MODE 9.5.4 Torque control mode Torque control mode is where torque commands (torque in units of 0.1%) generated by the user program of the host controller can be sent to the servo amplifier. The torque command buffer is made up of torque command data × a maximum of 1 buffer. Refer to Section 9.5.6 for the update method of the buffer.
9. INTERFACE MODE (1) Parameter (a) System parameter Parameter No. Abbreviation 000F *IFMO Name Remarks Interface mode option Specify the interrupt output cycle and command data update cycle. (2) Axis data command/status table Axis data command table Address Content Setting range 1048 1049 104A Torque control speed limit value (0.01r/min) 0 to 1000000000 104B Note. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
9. INTERFACE MODE 9.5.5 Control method for interrupt output invalid Interrupt output invalid is compatible with position control mode only. POINT When the update of the latest position command buffer number is delayed etc. due to the load, etc.
9. INTERFACE MODE The following is an example of when the maximum buffer number is 11. When the buffer status resembles "Example 1: Before buffer set", and there are 5 cycles of position command data that have been calculated by the user program, set the latest position command buffer number to 1 after setting position command data to empty buffers 9 to 11, and buffers 0 to 1. After processing, the buffer status resembles "Example 2: After buffer set (5 cycles)".
9. INTERFACE MODE (1) Procedure for updating position command data The procedure for updating position command data when interrupt output is invalid is shown below.
9. INTERFACE MODE 9.5.6 Control method for interrupt output valid There is no difference in control method for position control mode, speed control mode and torque control mode when control method for interrupt output is valid. The control method is as follows. The following is the control method for when interrupt output is validated (ITS is turned on), and the number of command buffers used is 0.
9. INTERFACE MODE The timing of control differs depending on the settings of the command data update cycle and interrupt output cycle. Use the table below when referring to the timing charts.
9. INTERFACE MODE (1) Procedure for updating command data The procedure for storing command data is shown below. There is no difference in the procedure for position control mode, speed control mode, or torque control mode.
9. INTERFACE MODE (2) When command data update cycle = interrupt output cycle (a) When command data update cycle is control cycle × 1, and interrupt out cycle is control cycle × 1.
9. INTERFACE MODE (3) When command data update cycle > interrupt output cycle The following is an example of when command data update cycle is control cycle × 2, and interrupt output cycle is control cycle × 1. Using the interrupt output cycle as a reference, the user program updates the command buffer during the command data update cycle once only. Make sure the user program occupy period is within (interrupt output cycle) – (control cycle/2).
9. INTERFACE MODE 9.5.7 Procedure for switching control mode The procedure when switching control mode is as follows. (1) Position control mode Switch to position control mode is performed with the following procedure. (a) Check that zero speed (ZSP) is turned ON. (b) Perform a follow up to update the position command to match the current feedback position. (c) Input "0: Position control mode" to the control mode command. (d) Check that control mode status is "0: Position control mode". (e) Stop follow up.
9. INTERFACE MODE (3) Torque control mode Switch to torque control mode is performed with the following procedure. (a) Check that zero speed (ZSP) is turned ON. (Not required when switching from speed control mode) (b) Input the speed limit value during torque control mode to the torque control speed limit value. (c) Input "2: Torque control mode" to the control mode command. (d) Check that control mode status is "2: Torque control mode".
9. INTERFACE MODE 9.5.8 Examples of switching control mode The switch timing for every setting of position control mode, speed control mode, and torque control mode when using interface mode is as follows. (1) Position control mode speed control mode Speed 300.00r/min Zero speed (ZSP) Speed command data sscIfmRenewLatestBufferEx function 0 0...30000...
9. INTERFACE MODE (2) Position control mode torque control mode Torque 30.0% Zero speed (ZSP) Torque command data Torque control speed limit value sscIfmRenewLatestBufferEx function 0 0...300...
9. INTERFACE MODE (3) Speed control mode torque control mode Speed 200.00r/min -100.00r/min Torque 30.0% Speed command data Torque command data Torque control speed limit value sscIfmRenewLatestBufferEx function 20000...0 0 sscIfmRenewLatestBufferEx function 0 0...-10000 0...300...
9. INTERFACE MODE 9.6 Interrupt output cycle When several buffer are used in interrupt valid, and interrupt output for every control cycle is not needed, the cycle of interrupt output can be changed by the interrupt output cycle of Interface mode option (parameter No.000F). (1) System parameters Parameter Abbreviation No.
9. INTERFACE MODE 9.7 Command data update cycle The update cycle of command can be changed by command data update cycle of Interface mode option (parameter No.000F). Have the user program generate the command for every command data update cycle, and set to command buffer. Note. Because communication with the servo amplifier is performed every control cycle, the current feedback position and other high speed monitors are updated every control cycle. (1) System parameters Parameter Abbreviation No.
9. INTERFACE MODE 9.8 Servo off When axes are moved by an external force during servo off, perform a follow up (refer to the formula below) that updates the position command to align with the movement (feedback position). CAUTION If a follow up is not performed, the servo amplifiers will align the current command position with the position command at servo on, and the motors may operate at a very high speed.
9. INTERFACE MODE 9.9 Home position return When startup is performed in interface mode, the operational function home position return cannot be used. Therefore, for an absolute position detection system, use the following method to perform a home position return. For an incremental system, home position set is not necessary. (The position at power supply ON is treated as 0). 1) Update the position command buffer and move to the home position. 2) Check that the in-position signal (INP) is on.
9. INTERFACE MODE (1) Axis data command/status bit Command bit Address Bit 100A 0 Status Bit Symbol 1 Signal name When in auxiliary drive 0451 0 Symbol Signal name When in auxiliary drive Reserved 2 3 4 Bit 1 Reserved 2 Address 3 ZSC Home position set command 5 Reserved 6 4 ZSF Home position set complete 5 ZSE Home position set error 6 7 7 Reserved Note. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
9. INTERFACE MODE 9.10 Coordinate management This section shows an example of how to approach coordination management. 9.10.1 Incremental system When using servo amplifiers with incremental system setting, the current command position (position command) when SSCNET connection is restored is 0. Afterwards, a coordinate system value for a position of 0 when the SSCNET is connected needs to be used for the position command that the user program applies to position board until connecting to SSCNET again.
9. INTERFACE MODE (3) After home position return Calculate the position command (=machinery command position + home position offset) by using the home position offset determined at home position return.
9. INTERFACE MODE 9.10.2 Absolute position system When using servo amplifiers with absolute position system setting, the absolute position restored when connected to SSCNET is a position calculated from the "home position coordinates", "home position within 1 revolution", and "home position multiple revolution data" set to the parameters.
9. INTERFACE MODE (3) After home position return Position board also operates with the same coordinate system as when connected to SSCNET after home position return. As a result, the machinery command position and position command deviate by the difference between the new coordinate system and the coordinate system when connected to SSCNET. Set the amount of deviation to the home position offset.
9. INTERFACE MODE 9.11 Precautions When performing interface mode the following precautions apply. (1) For the setting value of the position command buffer, ensure that the difference between the previous command value and the current command value is no more than 20000000. When the difference between the previous command value and the current command value exceeds 20000000, command data error (operation alarm A7, detail No.03) occurs, followed by an immediate stop.
10. TABLE MAP 10. TABLE MAP 10.1 Table list POINT Do not write to reserved areas. The first number in the point table for each axis can be designated using point number offset.
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10. TABLE MAP 10.2 System information Address 0000 0001 0002 Content Address CH number 0031 0032 Number of lines 0003 0004 0005 0006 0007 0008 0009 0033 0001h: 0.88ms Control cycle status 0002h: 0.44ms 0003h: 0.
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10. TABLE MAP 10.
10. TABLE MAP Address Content 0448 0449 044A 044B 044C System startup time 044D 044E 044F (a) System command code System command code Content 0000 Initial value 0003 Parameter initialization 0004 Flash ROM parameter reading 000A Start system startup (b) Reboot ID Reboot ID 1EA5 Remarks Set when rebooting software. (c) Flash ROM transfer ID (Flash ROM initialization ID) Flash ROM transfer ID (Flash ROM initialization ID) Remarks A51E Set when transferring data to flash ROM.
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10. TABLE MAP (a) System status code System status code Content 0000 During system preparation 0001 System preparation completion 0003 Parameter initialization completion 0004 Flash ROM parameter read completion 0005 Flash ROM parameter read error 0009 Waiting for SSCNET response 000A During system running 000F Rebooting E System error Note. Notification items when a system error (E to) occurs. • Forced stop is executed for servo amplifier.
10. TABLE MAP (3) Command bit For each bit, 0 stands for invalid and 1 stands for valid.
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10. TABLE MAP (4) Status bit For each bit, 0 stands for invalid and 1 stands for valid.
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10. TABLE MAP 10.4 Factor of interrupt (1) Information of outputting with factor of interrupt When an interrupt occurs, the bit corresponding to the axis No. or system which is the factor of the interrupt turns on.
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10. TABLE MAP (b) Details on factor of interrupt on axis n For each bit, 0 means that there is not a factor for interrupt, and 1 means that there is a factor for interrupt. The addresses in the table are the addresses for the axis 1. For the axis 2 and above, add 04h for each axis.
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10. TABLE MAP (c) Factor of other axes start interrupt When the outputting with factor of other axes start interrupt (iOASF) is on, the bit corresponding to other axes start data No. (1 to 32) turns on.
10. TABLE MAP (d) Details on factor of other axes start interrupt When the factor of other axes start interrupt (iOAS ) is on, the interrupt factor of other axes start status bit corresponding to other axes start data No. (1 to 32) turns on.
10. TABLE MAP (e) Factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI) is on, the bit corresponding to the pass position condition number of the factor of the pass position interrupt turns on.
10. TABLE MAP (f) Details on factor of pass position interrupt When the outputting with factor of pass position interrupt (iPPI ) is on, the pass position status bit corresponding to the pass position condition number (1 to 64) turns on.
10. TABLE MAP 10.5 System configuration information table (1) System configuration information table Address 06D0 Content Remarks Reserved (16 bytes) Controlling axis information (lower) (4 bytes) The bit corresponding to the axis which is currently controllable (SSCNET communicating axis or amplifier-less axis) turns on. The bit is the axis 1 (bit 0) to the axis 32 (bit 31). 06E4 Controlling axis information (upper) (4 bytes) Fixed to 0.
10. TABLE MAP 10.6 Axis data 10.6.1 Axis data command table (1) Table list The addresses in the table are the addresses for the axis 1. For the axis 2 and above, increase in units of C0 for each axis. The column in the table for when tandem drive (synchronous) is being used is for axis data classification for when using tandem drive. Master : The data only valid for the master axis (refer to Section 8.3) Each axis: The data valid for both the master axis and slave axis (refer to Section 8.
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10. TABLE MAP (2) Command bit The addresses in the table are the addresses for the axis 1. For the axis 2 and above, increase in units of C0h for each axis. The column in the table for when tandem drive is being used is for axis data classification for when using tandem drive synchronous mode. Master : The data only valid for the master axis (refer to Section 8.3) Each axis : The data valid for both the master axis and slave axis (refer to Section 8.3) Special : Refer to Section 8.5 for details.
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10. TABLE MAP 10.6.2 Axis data status table (1) Table list The addresses in the table are the addresses for the first axis. For the axis 2 and above, increase in units of C0h for each axis. The column in the table for when tandem drive (synchronous) is being used is for axis data classification for when using tandem drive. Master : The data only valid for the master axis (refer to Section 8.3) Each axis: The data valid for both the master axis and slave axis (refer to Section 8.
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10. TABLE MAP (2) Status bit For each bit, 0 stands for invalid and 1 stands for valid. The column in the table for when tandem drive is being used is for axis data classification for when using tandem drive synchronous mode. Master : The data only valid for the master axis (refer to Section 8.3) Each axis : The data valid for both the master axis and slave axis (refer to Section 8.
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10. TABLE MAP 10.7 Servo parameter change number When parameter settings within the servo amplifier are changed using the auto tuning function or parameter changes using MR Configurator2 (set up software), the bit corresponding to the servo parameter number that was changed is turned on to notify concerning which parameter number was changed (in units of 16). To identify the changed parameter, check the servo parameter change number (monitor No.0590 to 05B7) corresponding to the bit which is turned on.
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10. TABLE MAP (2) Details on servo amplifier change number on axis n (SSCNET /H) Address 3870 3871 3872 3873 3874 3875 3876 3877 Name Abbreviation Remarks Servo parameter change number 11 PSN11 bit0: Parameter No.1100 to 111F to bit15: Parameter No.11F0 to 11FF Servo parameter change number 12 PSN12 bit0: Parameter No.1200 to 121F to bit15: Parameter No.12F0 to 12FF Servo parameter change number 13 PSN13 bit0: Parameter No.1300 to 131F to bit7: Parameter No.1370 to 137F Reserved Note.
10. TABLE MAP 10.8 Point number offset The first number in the point table for each axis can be designated using point number offset. The amount of offset from the first point in the point table is set by the point number for the point number offset. When setting up the point table, use the following equation to derive the 2-point memory address.
10. TABLE MAP 10.
10. TABLE MAP (2) Speed command buffer Address Content 7800 7801 7802 Speed command buffer 0 (0.01r/min) 7803 Note 1. Setting range: -1000000000 (-10000000r/min) to 1000000000 (10000000r/min) 2. The addresses above are the addresses for the first axis. For the second axis and after, increase by 80h for each axis. (3) Torque command buffer Address 8C00 8C01 8C02 8C03 Content Torque command buffer 0 (0.1%) (When parameter No.010D is 0, positive: CCW negative: CW) Note 1. Setting range: -32768 (-3276.
10. TABLE MAP 10.10 Digital input/output table (1) Digital input table Address Digital input area number Digital input number Symbol Remarks B000 Digital input area 0 (2 bytes) Digital input 0 to Digital input 15 DI_000 Notifies the status of the digital input signal. to DI_00F The bits are DI_000 (bit0) to DI_00F (bit15). B002 Digital input area 1 (2 bytes) Digital input 16 to Digital input 31 DI_010 Notifies the status of the digital input signal.
10. TABLE MAP 10.11 Mark detection command/status table (1) Mark detection command table The column in the table for when tandem drive is being used is for axis data classification for when using tandem drive synchronous mode. Each axis: The data valid for both the master axis and slave axis (refer to Section 8.
10. TABLE MAP 10.12 Mark detection data tables (1) Mark detection edge data table This data shows the detection edges for every positioning data of the mark detection positioning data table.
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11. PARAMETERS 11. PARAMETERS Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected movement can occur. The parameters are classified as is shown below. Classification (Note) Parameter No. Remarks System parameters No. 0001 to 007F Servo parameters No. 1100 to 1380 Each axis Control parameters No. 0200 to 02FF Each axis Note. Parameter numbers are given in hexadecimal.
11. PARAMETERS 11.1 System parameters POINT The settings for the parameters with a * mark at the front of the abbreviation are validated when the system is restarted. Parameter No. 0001 Name Initial Value *SYSOP1 System option 1 0000h Symbol Setting range Units 0000h to 0002h Function 0 0 Set the control cycle 0: 0.88ms 1: 0.44ms 2: 0.22ms SSCNET communication method Set the SSCNET communication method. 0: SSCNET /H (Note) SSCNET communication method is shared in lines 1 and 2.
11. PARAMETERS Parameter No. Symbol 000F *IFM0 Name Interface mode option Initial Value 0000h Setting range Units 0000h to 0F0Fh Function 0 0 Interrupt output cycle When interrupt by interface mode is valid, set the cycle for which the interrupt is output. Interrupt output cycle: Control cycle (setting value+1) Example: When interrupt output cycle is set to 1 and control cycle is 0.88ms, interrupt is output approximately every 1.77ms.
11. PARAMETERS 11.2 Servo parameters 11.2.1 Servo amplifier MR-J4(W )- B The parameters described in this section are for using the servo amplifier MR-J4(W the Servo Amplifier Instruction Manual on your servo amplifier. )- B. For details, refer to POINT • The parameters with a * mark in front of the parameter abbreviation become valid according to the following conditions. *: The setting value for the system startup or the SSCNET reconnection is valid.
11. PARAMETERS (1) Menu A) Basic settings Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (2) Menu B) Gain filter settings Parameter No. MR-J4-B Parameter No.
11. PARAMETERS Parameter No. MR-J4-B Parameter No. Symbol 1160 PB33 VRF11B 1161 PB34 1162 Name Initial Value Units Vibration suppression control 1 - Vibration frequency after gain switching 0 0.1Hz VRF12B Vibration suppression control 1 - Resonance frequency after gain switching 0 0.1Hz PB35 VRF13B Vibration suppression control 1- Vibration frequency damping after gain switching 0 0.
11. PARAMETERS (3) Menu C) Expansion settings 1 Parameter No. MR-J4-B Parameter No.
11. PARAMETERS Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (4) Menu D) Input/output settings Parameter No. MR-J4-B Parameter No.
11. PARAMETERS Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (5) Menu E) Expansion settings 2 Parameter No. MR-J4-B Parameter No.
11. PARAMETERS Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (6) Menu F) Expansion settings 3 Parameter No. MR-J4-B Parameter No.
11. PARAMETERS Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (7) Menu O) Option setting Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (8) Menu S) Special settings Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (9) Menu L) Linear servo motor/DD motor settings MR-J4-B Parameter No. Symbol 1300 PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h 1301 PL02 **LIM Linear encoder resolution - Numerator 1000 m m Parameter No. Name Initial Value Units 1302 PL03 **LID Linear encoder resolution - Denominator 1000 1303 PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h 1304 PL05 LB1 Position deviation error detection level 0 mm 0.
11. PARAMETERS Parameter No. MR-J4-B Parameter No.
11. PARAMETERS (10) Menu T) Parameter for manufacturer setting Parameter No. MR-J4-B Parameter No.
11. PARAMETERS Parameter No. MR-J4-B Parameter No.
11. PARAMETERS 11.3 Control parameters POINT The settings for the parameters with a * mark at the front of the abbreviation are activated when the system is restarted. The column in the table for when tandem drive is being used is for control parameter setting classification of the axis for which the tandem drive is performed.
11. PARAMETERS Parameter Symbol No. 0201 Name OPC2 Control option 2 Initial Value 0000h Units Setting range 0000h to 0121h Function When tandem drive is being used Master 0 Position switch judgement conditions Set the position switch judgement conditions 0: Current command position 1: Current feedback position Continuous operation position overbound processing Defines processing for when the stop position exceeds the command position during operation.
11. PARAMETERS Parameter Symbol No. 0205 0206 ITM2 Name Interrupt condition 2 *OPC4 Control option 4 Initial Value Units Setting range Function 0000h 0000h Set interrupt condition 2. to FFFFh 0000h 0000h to 0001h When tandem drive is being used Each axis Master 0 0 0 Predwell setting range Set the setting range of predwell.
11. PARAMETERS Parameter Symbol No. 0212 0213 Name For manufacturer setting *GIOO General input/output option Initial Value Units Setting range Function When tandem drive is being used 0 0000h 0000h to 0011h Each axis 0 0 Servo amplifier general input setting Set whether to use the general input of the servo amplifier. 0: Not used 1: Used Note: When the general input is used, the limit switch signal and the dog signal cannot be input from the servo amplifier.
11. PARAMETERS Parameter Symbol No.
11. PARAMETERS Parameter Symbol No.
11. PARAMETERS Parameter Symbol No. 022E 022F 0230 0231 0232 0233 0234 0235 0236 0237 0238 0239 023A 023B 023C 023D 023E 023F Name PSNL Position switch Lower limit (lower) PSNH Position switch Lower limit (upper) CRPL Rough match output limits (lower) CRPH Rough match output limits (upper) For manufacturer setting *IFBN Interface mode maximum buffer number Initial Value Units Setting range Function 0000h Command 0000h Set the Units to FFFFh switch.
11. PARAMETERS Parameter Symbol No. 0240 Name *OPZ1 Home position return Option 1 Initial Value 0000h Units Setting range Function 0000h to 112Dh When tandem drive is being used Master Home position return method (Note 1), (Note 2) Set the method for home position return.
11. PARAMETERS Parameter Symbol No.
11. PARAMETERS Parameter Symbol No.
11. PARAMETERS Parameter Symbol No. 0265 TOP Name Initial Value Units Tandem 0000h drive options Setting range Function 0000h to 1011h 0 When tandem drive is being used Master Method of to home position return Set the operation method when the scale home position signal detection method is used for return to home position. 0: Normal mode 1: Adjustment mode Synchronization setting Set the validity/invalidity of synchronization for turning servo on.
11. PARAMETERS Parameter Symbol No. 026C 026D 026E 026F 0270 0271 Name When tandem drive is being used Master 0000h Command 0000h Set the amount of offset for the home position signal Units to FFFFh position while in tandem drive axes mode. (Used when performing home position return using the scale home position signal detection method.
11. PARAMETERS Parameter Symbol No. 0282 Name *IOP2 Interference check Options 2 Initial Value 0000h Units Setting range 0000h to 0011h Function When tandem drive is being used Master 0 0 Interference check direction Set the direction for which interference check is performed. 0: direction of coordinate system for the axis 1: direction of coordinate system for the axis Interference check standby Set validity/invalidity of interference check standby.
11. PARAMETERS Parameter Symbol No. 02B1 Name Initial Value Units Setting range 0000h MKDS1 Mark detection data setting 1 0000h to 0111h Function 0 When tandem drive is being used Each axis ON edge detection setting Set enable/disable for detection at ON edge. 0: Disable 1: Enable OFF edge detection setting Set enable/disable for detection at OFF edge. 0: Disable 1: Enable Mark detection data type Set the type of data to be stored as mark detection data.
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12. MONITOR NUMBER 12. MONITOR NUMBER 12.1 Servo information (1) Monitor No.
12. MONITOR NUMBER Monitor No.
12. MONITOR NUMBER 12.2 Servo information (2) Monitor No. Content 0200 Position feedback (lower) 0201 Position feedback (upper) 0202 0203 Position droop (lower) 0205 Position droop (upper) 0207 pulse pulse Reserved 0208 Speed feedback (lower) 0209 Speed feedback (upper) 0.01r/min 020A Electrical current command 0.1% 020B Electrical current feedback 0.
12. MONITOR NUMBER Monitor No.
12. MONITOR NUMBER Monitor No.
12. MONITOR NUMBER Monitor No.
12. MONITOR NUMBER Monitor No. 02A0 02A1 02A2 02A3 02A4 02A5 Content Module power consumption Reserved Module cumulative power consumption (lower) Module cumulative power consumption (upper) Units Remarks W Wh Reserved 02A6 02A7 02A8 Torques corresponding to disturbance 0.1% Thrust corresponding to disturbance when using the linear 02A9 02AA Instantaneous torque Overload alarm margin 0.1% 0.
12. MONITOR NUMBER 12.3 Operation information Monitor No.
12. MONITOR NUMBER Monitor No. Content Units Remarks 0330 Control parameter error number No. 0200 to 020F Bit corresponding to parameter number is turned on. bit is No. 0200 (bit 0) to 020F (bit 15). 0331 Control parameter error number No. 0210 to 021F Bit corresponding to parameter number is turned on. bit is No. 0210 (bit 0) to 021F (bit 15). 0332 Control parameter error number No. 0220 to 022F Bit corresponding to parameter number is turned on. bit is No. 0220 (bit 0) to 022F (bit 15).
12. MONITOR NUMBER Monitor No. Content 0380 Axis data command bit 1 0381 Axis data command bit 2 0382 Axis data command bit 3 0383 Axis data command bit 4 0384 Axis data command bit 5 0385 Axis data command bit 6 0386 Axis data command bit 7 0387 Axis data command bit 8 Units Remarks Use these when sampling the axis data command bit. For details, refer to Section 7.12.7.
12. MONITOR NUMBER 12.4 Operation information (double word) Monitor No.
12. MONITOR NUMBER 12.5 System information Monitor No.
12. MONITOR NUMBER Monitor No. 0480 0481 0482 0483 0484 0485 Content Units Information concerning axis that is not mounted 1 (For driver) Information concerning axis that is not mounted 2 (For driver) Remarks When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on. Axis 1 (bit 0) to axis 16 (bit 15) When system error E400: "An axis that has not been mounted exists" is set, this bit is turned on.
12. MONITOR NUMBER 12.6 Servo parameter information Monitor No. Content Units Remarks 0500 : 050F Reserved 0510 Servo parameter error number (Note) No. 1100 to 110F Bit corresponding to parameter number is turned on. bit is No. 1100 (bit 0) to 110F (bit 15). 0511 Servo parameter error number (Note) No. 1110 to 111F Bit corresponding to parameter number is turned on. bit is No. 1110 (bit 0) to 111F (bit 15). 0512 Servo parameter error number (Note) No.
12. MONITOR NUMBER Monitor No. Content 0520 Servo parameter error number (Note) No. 1200 to 120F Units Bit corresponding to parameter number is turned on. bit is No. 1200 (bit 0) to 120F (bit 15). Remarks 0521 Servo parameter error number (Note) No. 1210 to 121F Bit corresponding to parameter number is turned on. bit is No. 1210 (bit 0) to 121F (bit 15). 0522 Servo parameter error number (Note) No. 1220 to 122F Bit corresponding to parameter number is turned on. bit is No.
12. MONITOR NUMBER Monitor No. Content 0530 Servo parameter error number (Note) No. 1300 to 130F Units Bit corresponding to parameter number is turned on. bit is No. 1300 (bit 0) to 130F (bit 15). Remarks 0531 Servo parameter error number (Note) No. 1310 to 131F Bit corresponding to parameter number is turned on. bit is No. 1310 (bit 0) to 131F (bit 15). 0532 Servo parameter error number (Note) No. 1320 to 132F Bit corresponding to parameter number is turned on. bit is No.
12. MONITOR NUMBER Monitor No. Content Units Remarks 0580 : 058F Reserved 0590 Servo parameter change number No. 1100 to 110F Bit corresponding to parameter number is turned on. bit is No. 1100 (bit 0) to 110F (bit 15). 0591 Servo parameter change number No. 1110 to 111F Bit corresponding to parameter number is turned on. bit is No. 1110 (bit 0) to 111F (bit 15). 0592 Servo parameter change number No. 1120 to 112F Bit corresponding to parameter number is turned on. bit is No.
12. MONITOR NUMBER Monitor No. Content Units Remarks 05A0 Servo parameter change number No. 1200 to 120F Bit corresponding to parameter number is turned on. bit is No. 1200 (bit 0) to 120F (bit 15). 05A1 Servo parameter change number No. 1210 to 121F Bit corresponding to parameter number is turned on. bit is No. 1210 (bit 0) to 121F (bit 15). 05A2 Servo parameter change number No. 1220 to 122F Bit corresponding to parameter number is turned on. bit is No. 1220 (bit 0) to 122F (bit 15).
12. MONITOR NUMBER Monitor No. Content Units Remarks 05B0 Servo parameter change number No. 1300 to 130F Bit corresponding to parameter number is turned on. bit is No. 1300 (bit 0) to 130F (bit 15). 05B1 Servo parameter change number No. 1310 to 131F Bit corresponding to parameter number is turned on. bit is No. 1310 (bit 0) to 131F (bit 15). 05B2 Servo parameter change number No. 1320 to 132F Bit corresponding to parameter number is turned on. bit is No. 1320 (bit 0) to 132F (bit 15).
12.
13. ALARM NUMBER 13. ALARM NUMBER The position board can raise the following four alarms: system alarm, servo alarm, operation alarm, and system error. The alarm numbers are represented in hexadecimal numbers. API LIBRARY Use the sscGetAlarm/sscResetAlarm functions to get/reset the alarm number. Specify the following in the argument for the alarm type. System alarm : SSC_ALARM_SYSTEM Servo alarm : SSC_ALARM_SERVO Operation alarm: SSC_ALARM_OPERATION 13.1 System alarm Alarm No.
13. ALARM NUMBER 13.2 Servo alarm (1) MR-J4(W )- B The servo alarms of MR-J4(W )- B are shown in the following table. For details, refer to the Servo Amplifier Instruction Manual for MR-J4(W )- B. Alarm Alarm No. 10 Name Alarm No.
13. ALARM NUMBER Warning Alarm No.
13. ALARM NUMBER 13.3 Operation alarm Alarm No. Content 10 Stop command on Detail No. 01 02 Turn off the stop operation signal (STP). Turn off the rapid stop signal (RSTP). 01 An forced stop is present. Cancel the forced stop. 01 An Interlock is present. Cancel the interlock. An alarm occurred on an axis that is part of Remove the cause for the alarm from the axis a group. (Not the axis) where the alarm occurred.
13. ALARM NUMBER Alarm No. 2E Content Detail No. Cause of occurrence 01 Control mode was changed during operation. 02 A control mode outside of setting range was set. Control mode switch error 03 Without the control mode changing, a time (Note) out occurred.
13. ALARM NUMBER Alarm No. Content Detail No.
13. ALARM NUMBER Alarm No. Content Detail No. 01 56 Tandem drive slave axis error 02 03 57 Exceeding of valid width of tandem drive deviation compensation error 58 Tandem drive synchronous alignment error 01 01 02 5B Using other axes start data 01 01 02 03 04 5C Pass position interrupt error 05 06 07 Cause of occurrence Procedure Cancel the servo alarm. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier.
13. ALARM NUMBER Alarm No. Content Detail No. Cause of occurrence 01 Continuous operation to torque control valid was specified to a tandem drive axis.
13. ALARM NUMBER Alarm No. Content Detail No. Cause of occurrence Home position setting was performed prior to motor being stabilized.
13. ALARM NUMBER Alarm No. Content Detail No. 01 A7 Command data error 02 03 01 02 B0 Servo is not controllable 03 Cause of occurrence A value outside of range was input to the speed command buffer. A value outside of range was input to the torque command buffer. Position command data that exceeds the allowable difference between the position command data of the previous command data update cycle was input. Axis is not a control axis.
13. ALARM NUMBER 13.4 System error The error code for system errors can be confirmed using system status codes (address 01D0). When the status code is E h, this corresponds to a system error.
13. ALARM NUMBER Error code E40B Content Uncontrollable driver Cause of occurrence Procedure Check the following details. The position board failed to shift to the (1) The setting value of the control option 1 should status where the driver is controllable since correspond to the servo amplifier connection status. an error occurred in initial communication between the position board and the servo (2) The setting of multi-axis amplifier and the control option 1 or axis No. assignment should amplifier.
14. EMC AND LOW VOLTAGE DIRECTIVES 14. EMC AND LOW VOLTAGE DIRECTIVES Compliance to the EMC Directive, which is one of the EU Directives, has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997. Manufacturers who recognize their products are compliant to the EMC and Low Voltage Directives are required to declare that print a "CE mark" on their products. MITSUBISHI ELECTRIC MR-MC240 PASSED 3.3VDC 1.
14. EMC AND LOW VOLTAGE DIRECTIVES 14.1.1 Standards relevant to the EMC directive For all test items, the test has been done with a position board installed in a computer that is compatible to CE mark. The test does not cover USB because only the test tool "MRZJW3-MC2-UTL" (sold separately) uses it. The standards relevant to the EMC Directive are listed in table below. Certification Test item CISPR16-2-3, CISPR22 Radiated emission (Note 1) Test details Radio waves from the product are measured.
14. EMC AND LOW VOLTAGE DIRECTIVES 14.1.2 Installation instructions for EMC directive (1) Installation Installing inside a control panel not only ensures safety but also ensures effective shielding of position board-generated electromagnetic noise. (a) Control panel 1) Use a conductive control panel. 2) When attaching the control panel's top plate or base plate, expose bare metal surface and weld so that good surface contact can be made between the panel and plate.
14. EMC AND LOW VOLTAGE DIRECTIVES (4) Cables The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables extracted to the outside of the control panel. The use of a shielded cable also increases noise resistance.
14. EMC AND LOW VOLTAGE DIRECTIVES 14.1.3 Parts of measure against noise (1) Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band. It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects. Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure.
14. EMC AND LOW VOLTAGE DIRECTIVES 14.2 Requirements for compliance with the low voltage directive This board does not use the power supply of 50VAC to 1000VAC and 75VDC to 1500VDC, so it is a product outside the object range of Low Voltage Directive.
APPENDIX APPENDIX App. 1 Supplementary explanation for the use of linear servo system App. 1.1 Position board The software versions of the position board that can set up the linear servo system are as follows. Position board Software version MR-MC2 A0 or later App. 1.2 Position board utility software The Position Board Utility2 versions supporting position board are as follows. Position board utility software Software version MRZJW3-MC2-UTL Ver. 1.50 or later App. 1.
APPENDIX App. 1.4 Operations and functions of the linear servo system (1) Startup procedure Linear servo system startup procedures are as follows. Execution of installation and wiring Settings of the linear encoder direction and the linear servo motor direction Refer to the Servo Amplifier Instruction Manual for your servo amplifier.
APPENDIX (2) Magnetic pole detection For magnetic pole detection methods, refer to the Servo Amplifier Instruction Manual for your servo amplifier. When an incremental scale is used, magnetic pole detection is performed at every power on. The magnetic pole detection is started when the first servo-on command following power on is received. Completion of the magnetic pole detection turns the servo on.
APPENDIX (b) For tandem drive axes For tandem drive axes, perform magnetic pole detection for the master axis, and then for the slave axis in the non-synchronous micro adjustment mode. Make sure the axis where magnetic pole detection is not performed is servo off (free).
APPENDIX (3) Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, and monitor No. vary from when using a rotary servo motor. Details are as follows. (a) Parameter When using the linear servo system, set the parameters shown on the table below.
APPENDIX 2) Control parameters Parameter (Note 1) No. Abbreviation 0200 *OPC1 Name Control option 1 Initial value Setting range Unit 0001h 0000h to 2111h Function 0 0 0 Speed unit (Note 3) Set the speed command unit. 0: Position command unit / min 1: Position command unit / s Set the numerator of the electronic gear. 1 to 5242879 (For setting methods, refer to 3).
APPENDIX (b) Home position return operation The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, note the following. 1) When using the absolute position type linear scale, the scale home position signal detection method or the scale home position signal detection method 2 cannot be used.
APPENDIX MR-J4-B (Note) Parameter Parameter No. Abbreviation No. 1300 PL01 **LIT1 Name Linear servo motor/direct drive motor function selection 1 Initial value Setting range Unit 0301h 0000h to 0605h Function Stop interval setting for home position return Setting value Stop interval [pulse] 0 1 2 3 4 8192 131072 262144 1048576 4194304 16777216 67108864 5 6 Note **: After setting, turn off the power supply and then on again to make the setting valid.
APPENDIX (c) Home position return process for tandem drive axes The following shows an example of the home position return for the tandem drive axes. In this example, the scale home position signal detection method is used as a home position method. The scale home position signal detection method has the adjustment mode and the normal mode, which can be selected in the tandem drive options (parameter No.0265).
APPENDIX 2) In normal mode Home position return procedure It is not guaranteed that the axes and the joint part are connected at a right angle when the power is turned on. Setting of the tandem drive home position signal offset (parameter No.026C, 026D) which has been set in the adjustment mode Execution of home position return using a home position signal detection method (normal mode) Calculation of deviation amount from the target home position (compensation value) by camera, etc.
APPENDIX (d) Monitor The following monitor numbers are added. 1) Servo information (2) Monitor No. Description 0246 Load side encoder information data 1 (lower) 0247 Load side encoder information data 1 (upper) 0248 Load side encoder information data 2 (lower) 0249 Load side encoder information data 2 (upper) 024A Speed feedback (lower) 024B Speed feedback (upper) Unit Description For incremental type linear encoder, displays the counter from power on.
APPENDIX 3) Servo information (2) Monitor No. Description Unit 0208 Speed feedback (lower) 0.01mm/s 0209 Speed feedback (upper) 020E Detector within 1 revolution position (lower) 020F Detector within 1 revolution position (upper) 0210 Home position within 1 revolution position (lower) 0211 Home position within 1 revolution position (upper) Description Displays motor speed in units of 0.01mm/s. pulse Displays the current position within one-revolution.
APPENDIX App. 2 Supplementary explanation for the use of fully closed loop system App. 2.1 Position board The software versions of the position board that can set up the fully closed loop system are as follows. Position board Software version MR-MC2 A0 or later App. 2.2 Position board utility software The Position Board Utility2 versions supporting position board are as follows. Position board utility software Software version MRZJW3-MC2-UTL Ver. 1.50 or later App. 2.
APPENDIX App. 2.4 Operations and functions of the fully closed loop control (1) Startup procedure The fully closed loop system startup procedures are as follows. Completion of installation and wiring Adjustment and operation check in the semi closed loop system Positioning operation check with MR Configurator2 Check whether the servo operates normally. Conduct these steps as necessary.
APPENDIX (2) Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, command/status bit, and monitor No. vary from when using a rotary servo motor. Details are as follows. (a) Parameters When using the fully closed loop system, set the parameters shown on the table below.
APPENDIX 3) Setting example of electronic gears For the electronic gear numerator (CMX), set the number of linear encoder pulses (= load side resolution unit) per revolution of the servo motor, not the number of pulses per revolution of the servo motor.
APPENDIX (b) Home position return operation The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, when using the incremental linear scale, it is recommended to use the scale home position signal detection method or the scale home position signal detection method 2. In this case, the home position return is performed based on the home position signal (Z-phase).
APPENDIX (c) Bit information The following bit (in the thick frame) is used to switch between the semi closed loop control and fully closed loop control. The switching between the semi closed loop control and fully closed loop control is set with the parameter No.1200 (MR-J4(W )- B parameter No.PE01).
APPENDIX (d) Monitor The following monitor numbers are added. 1) Servo information (2) Monitor No.
APPENDIX 3) Servo information (2) Description (upper: data, lower: unit) (Note 1) Monitor No. 0200 Description Position feedback (lower) Unit Semi closed loop system (Note 2) pulse Fully closed loop system (Note 2) Semi closed loop control (Note 2) Fully closed loop control (Note 2) Motor side Motor unit Motor side Machine unit Load side Machine unit pulse Motor side Motor unit Motor side Machine unit Load side Machine unit 0.
APPENDIX App. 3 Supplementary explanation for the use of direct drive servo system App. 3.1 Position board The software versions of the position board that can set up the direct drive servo system are as follows. Position board Software version MR-MC2 A0 or later App. 3.2 Position board utility software The Position Board Utility2 versions supporting position board are as follows. Position board utility software Software version MRZJW3-MC2-UTL Ver. 1.50 or later App. 3.
APPENDIX App. 3.4 Operations and functions of the direct drive servo system (1) Startup procedure The direct drive servo system startup procedures are as follows. Execution of installation and wiring Incremental system Is the absolute position detection system used? Absolute position detection system Is it possible to makethe axis pass the Z-phase of direct drive motor? No Yes Making the axis pass the Z-phase of the direct drive motor manually Execution of the magnetic pole detection (Refer to App. 3.
APPENDIX (2) Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, command/status bit, and monitor No. vary from when using a rotary servo motor. Details are as follows. (a) Parameters When using the direct drive system, set the parameters shown on the table below.
APPENDIX (b) Home position return operation The home position return operation from the position board is basically the same as operation for using a rotary servo motor. When the home position return is performed using the position board, it is recommended to use the scale home position signal detection method 2. In this case, the home position return is performed based on the first home position signal (Z-phase) following start operation. Parameter (Note 1) No.
APPENDIX (c) Position command unit As "degree" cannot be used as a position command unit, note the following when using the axis as a degree axis. POINT For positioning the automatic operation, etc., set "Relative position command" to the auxiliary command of the point table, and set the difference of the travel distance to the target position in the position data. Also, the rotating direction is determined by the code of the position data. Use the user program for shortcut control of a degree axis.
APPENDIX 2) When using the unlimited length feed such as an unidirectional feed When the travel distance per motor revolution is a power of two, the unlimited length feed can be used. As the monitor of a current command position is 4 bytes in size, unidirectional feed causes the overflow of current command position. Even though overflowed high-byte data is lost, the range of 4 bytes normally continues to be updated. And positioning control is not affected. (Position mismatch does not occur.
APPENDIX (d) Absolute position detection system When the travel distance from the home position exceeds the value calculated from 32767 (number of encoder pulses per revolution) due to a unidirectional feed, etc., the absolute position cannot be restored.
APPENDIX App. 4 Supplementary explanation for the use of multiple-axis servo amplifier (MR-J4W - B) App. 4.1 Position board The software versions of the position board that can be connected with a multiple-axis servo amplifier (MR-J4W - B) are as follows. Position board Software version MR-MC2 A0 or later App. 4.2 Position board utility software The Position Board Utility2 versions supporting position board are as follows. Position board utility software Software version MRZJW3-MC2-UTL Ver. 1.
APPENDIX (2) Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. For the use of a linear servo motor, refer to App. 1. For the use of the direct drive motor, refer to App. 3. (a) Parameters For servo parameters, control parameters, and system parameters, set them in the same way as the operation mode to be used (rotary motor, linear, fully closed loop system, and direct drive). App.
APPENDIX App. 5 Supplementary explanation for the use of SSCNET compatible servo amplifier (MR-J3(W)- B) The SSCNET /H compatible position board can perform the positioning control with connecting our servo amplifier (MR-J3(W)- B) when the SSCNET communication method is SSCNET . In this section, the different point, comparing SSCNET /H with the servo amplifier MR-J4(W )- B, are mainly described. App. 5.
APPENDIX App. 5.4 System setting When the SSCNET communication method is SSCNET , servo amplifiers of up to 32 axes can be controlled per SSCNET control channel (CH). Item Number of control axes Content MR-MC210 MR-MC211 MR-MC240 MR-MC241 Max 16 Max 32 Max 16 Max 32 Remarks Up to 16 axes can be controlled per SSCNET line. App. 5.5 System configuration App. 5.5.
APPENDIX App. 5.6 Axis No. setting Axis No. is set by the axis selection rotary switch (Note). The axis No. and rotary switch No. are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it will not duplicate in the same SSCNET line. If it is duplicated, the "An axis that has not been mounted exists" (system error E400) will occur at the time of system startup (system command code: 000Ah). Note.
APPENDIX App. 5.7 Parameter setting App. 5.7.1 System option 1 setting SSCNET communication method and control cycle is set by System option 1 (parameter No.0001). SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET /H method and SSCNET method are available. When using MR-J3(W)- B series servo amplifiers, make sure to select the SSCNET method.
APPENDIX Control cycle settings are imported during system startup (system command code: 000Ah), and cannot be changed during system running (system command code: 000Ah). (a) System parameters Parameter No. Abbreviation 0001 *SYSOP1 Name System option 1 Function 0 0 Control cycle setting Set the control cycle [When SSCNET communication method is 1: SSCNET ] 0: 0.88ms 1: 0.44ms SSCNET communication method Set the SSCNET communication method.
APPENDIX App. 5.8 Control option 1 setting When controlling servo amplifier, set "1: control" for control axis of control option 1 (parameter No.0200). When the axis No. is set out of the controllable range, the corresponding axis will be system setting error (alarm No. 38) and cannot be controlled.
APPENDIX App. 5.9 Axis No. assignment With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. When Axis No. assignment is invalid, correspondence between the axis No. on a position board and the axis No. on a servo amplifier is shown in the following table. (1) When SSCNET communication method is SSCNET /H Servo amplifier axis No. Line 1 d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 d15 d16 d17 d18 d19 d20 0.
APPENDIX (b) Control parameter Parameter Abbreviation No. 0203 *AXALC Name Axis No. assignment Initial value Units 0000h Setting range 0000h to 011Fh Function 0 Servo amplifier axis No. Set the servo amplifier axis No. to be assigned to the axis Nos. on the position board. (Note 1, 2 and 3) 00h: No axis No. assignment 01h to 14h: Axis No. Example) 0Ah: Axis No. 10 Servo amplifier line No. Set the servo amplifier line No. to be assigned to the axis Nos. on the position board. 0 to 1: Line No.
APPENDIX App. 5.10 Sensor input option setting External signal (sensor) is connected by setting sensor input options (parameter No.0219). Parameter Abbreviation No. 0219 *SOP Name Initial Value Sensor input options 0000h Units Setting range 0000h to 0304h Function 0 0 Sensor input system Set the input system of the sensor (LSP, LSN, DOG).
APPENDIX (1) When selecting the driver input When 1 (driver input) is selected as the sensor destination, the sensor (LSP, LSN, DOG) status connected to the driver is imported via SSCNET. (a) MR-J3- B is used as a servo amplifier Signal Name Destination connector pin No. Abbreviation LSP CN3-2 D11 LSN CN3-12 D12 DOG CN3-19 D13 (b) MR-J3W- B is used as a servo amplifier Signal Name Destination connector pin No.
APPENDIX (4) When selecting dual port memory When 4 (dual port memory input) is selected as the sensor destination, side limit switch input signal (LSPC), side limit switch input signal (LSNC) and proximity dog input signal (DOGC) are imported as substitutes for sensors.
APPENDIX App. 5.11 Vendor ID and type code setting Available functions, parameter settings and ranges will vary by servo amplifier type. At the time the communication with the servo amplifier has started, the position board will perform consistency check between type code of the servo amplifier connected and the parameter set. If a consistency check error occurs, driver type code error (system error E405) will be output, therefore set correct type code.
APPENDIX App. 5.13 Restrictions when using J3 compatibility mode The restrictions when connecting SSCNET in the following table. Position board SSCNET communication method MR-J4(W )- B mode for position board and servo amplifier MR-J4(W )- B are shown Controller reset necessity (Note) Details Factory default Necessary The servo amplifier LED displays "rST". The system status code is not system running (000Ah).
APPENDIX (1) When connecting factory default MR-J4(W )- B servo amplifier from the position board. (a) Connecting the first time “rST” displays on the initial connection only Position board r S T r S T r S T Axis 2 Axis 3 (b) After performing system startup procedure again after controller reset. Position board One controller reset enables connection of all axes c 0 1 c 0 2 c 0 3 Axis 1 Axis 2 Axis 3 App.
APPENDIX App. 5.14 Supported functions Some functions and operation of the servo amplifier MR-J3(W)- B differ from those of the servo amplifier MR-J4(W )- B. This section mainly describes functions and operations different from those of the servo amplifier MR-J4(W )- B. For the specification items not described in this manual, refer to the specifications of servo amplifier MR-J4(W )- B.
APPENDIX Function type Application functions Auxiliary function Function Supported Remarks Pass position interrupt Mark detection Continuous operation to torque control For the servo amplifier, use a software version that supports continuous operation to torque control. • MR-J3- B: C7 or later • MR-J3- BS: C7 or later Note. MR-J3W- B is not supported. Reading/writing parameters Parameters No. 0100 to 01FF are used as servo parameters. Changing parameters at the servo Parameters No.
APPENDIX App. 5.14.1 Application functions (1) Gain changing For the usage of gain changing, which is the same as that of the servo amplifier MR-J4(W Section 6.19. However, for the servo parameters to be used, refer to the following table. )- B, refer to Servo parameters (MR-J3(W)- B) Parameter No. MR-J3(W)-B Parameter No.
APPENDIX (3) Absolute position detection system For the usage of the absolute position detection system, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.21. However, for the servo parameters to be used, refer to the following table. Servo parameter (MR-J3(W)- B) Parameter No. MR-J3(W)-B Parameter No.
APPENDIX (5) Servo amplifier general input/output For the specification of the servo amplifier general input/output, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 6.27. However, for the compatible servo amplifiers, refer to the following table.
APPENDIX (c) Servo parameters 1) Servo amplifier MR-J3- B is used Parameter MR-J3-B No. Parameter No. Abbreviation Name Setting value 0176 PD07 *DO1 Output device selection 1 0021h 0177 PD08 *DO2 Output device selection 2 0022h 0178 PD09 *DO3 Output device selection 3 0023h 2) Servo amplifier MR-J3W- B is used Parameter MR-J3W-B No. Parameter No.
APPENDIX App. 5.14.2 Auxiliary function (1) Reading/writing parameters For the usage of the parameter read/write, which is the same as that of the servo amplifier MR-J4(W )- B, refer to Section 7.1. However, servo parameters No.0100 to 01FF are used. When the parameter error (servo alarm 37) has occurred at system startup, check the parameter No. on which the error has occurred in the servo parameter error number (monitor No.0500 to 0510).
APPENDIX App. 5.15 Table map For the table map, only the additions and changes are listed. For items not described in this section, refer to the table map of when MR-J4(W )- B is used. App.
APPENDIX App. 5.15.1 Table list POINT Do not write to reserved areas. The first number in the point table for each axis can be designated using point number offset.
APPENDIX App. 5.15.2 System information Address 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 Content Address 0030 CH number 0031 0032 Number of lines Control cycle status 0033 0001h: 0.88ms 0002h: 0.44ms 0003h: 0.
APPENDIX App. 5.15.3 Servo parameter change number When parameter settings within the servo amplifier are changed using the auto tuning function or parameter changes using MR Configurator2 (set up software), the bit corresponding to the servo parameter number that was changed is turned on to notify concerning which parameter number was changed (in units of 16). To identify the changed parameter, check the servo parameter change number (monitor No.0580 to 058F) corresponding to the bit which is turned on.
APPENDIX App. 5.16 Parameters Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected movement can occur. The parameters are classified as is shown below. When using the servo amplifier MR-J3(W)- B, use parameter Nos. 0100 to 01FF as servo parameters. For control parameters, refer to the parameter list of when the servo amplifier MR-J4(W )- B is used. Classification Parameter No.
APPENDIX App. 5.16.2 Servo parameters The parameters described in this section are for using the servo amplifier MR-J3- B. For details, refer to the Servo Amplifier Instruction Manual on your servo amplifier. POINT The parameters with a * mark in front of the parameter abbreviation become valid according to the following conditions. *: The setting value for the system startup or the SSCNET reconnection is valid. The parameter change after the system startup is invalid.
APPENDIX (2) Menu B) Gain filter Parameter No. MR-J3-B Parameter No. Symbol 0120 0121 PB01 PB02 FILT VRFT 0122 0123 PB03 PB04 FFC For manufacturer setting Feed forward gain 0124 0125 0126 PB05 PB06 PB07 0127 0128 Name Adaptive tuning mode Vibration suppression control filter turning mode Initial Value Units 0000h 0000h 0 0 % GD2 PG1 For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain 500 70 24 0.
APPENDIX (3) Menu C) Expansion settings Parameter No. MR-J3-B Parameter No.
APPENDIX (4) Menu D) Input/output settings Parameter No. MR-J3-B Parameter No.
APPENDIX (5) Menu E) Expansion control Parameter No. MR-J3-B Parameter No.
APPENDIX (6) Menu S) Special settings Parameter No. MR-J3-B Parameter No.
APPENDIX (7) Menu F) Other functions Parameter No. MR-J3-B Parameter No. 01E0 PF01 01E1 PF02 0000h 01E2 PF03 0000h 01E3 PF04 0 01E4 PF05 0000h 01E5 PF06 0000h 01E6 PF07 0000h 01E7 PF08 0000h 01E8 PF09 10000 01E9 PF10 100 01EA PF11 100 01EB PF12 100 01EC PF13 0000h Symbol Name For manufacturer setting Initial Value Units 0000h 01ED PF14 10 01EE PF15 0000h 01EF PF16 0000h (8) Menu O) Option setting Parameter No. MR-J3-B Parameter No.
APPENDIX App. 5.16.3 Control parameters For control parameters, only the additions and changes are listed. Parameter Symbol No. 021E Name *CODE Type code Initial value 1000h Unit Setting range Function When tandem drive is being used Same value 0000h to Set the type code.
APPENDIX App. 5.17 Monitor For the monitor, only the additions and changes are listed. For the monitoring of operation information and system information, refer to the monitor list of when MR-J4(W )- B is used. App. 5.17.1 Servo information (1) Monitor No. Content Units Remarks 0100 0101 0102 0103 0104 Unit type name Hexadecimal ASCII character string (2 Characters per monitor number.) Software number Hexadecimal ASCII character string (2 Characters per monitor number.
APPENDIX Monitor No. Content Units 0124 0125 0126 0127 0128 0129 012A Reserved 012B 012C 012D 012E 012F App.
APPENDIX App. 5.17.2 Servo information (2) Monitor No. Content 0200 Position feedback (lower) 0201 Position feedback (upper) 0202 0203 Position droop (lower) 0205 Position droop (upper) 0207 pulse pulse Reserved 0208 Speed feedback (lower) 0209 Speed feedback (upper) 0.01r/min 020A Current command 0.1% 020B Electrical current feedback 0.
APPENDIX Monitor No. 0220 0221 0222 0223 0224 0225 0226 0227 0228 0229 022A 022B 022C 022D 022E 022F 0230 0231 0232 0233 0234 0235 0236 0237 0238 0239 023A 023B 023C 023D 023E 023F Content Units Reserved App.
APPENDIX Monitor No.
APPENDIX Monitor No. Content Units 0270 0271 0272 0273 0274 0275 0276 0277 0278 0279 027A 027B 027C 027D 027E 027F 0280 0281 0282 0283 0284 0285 0286 0287 0288 Reserved 0289 028A 028B 028C 028D 028E 028F 0290 0291 0292 0293 0294 0295 0296 0297 0298 0299 029A 029B 029C 029D 029E 029F App.
APPENDIX Monitor No. Content Units 02A0 02A1 02A2 02A3 02A4 02A5 02A6 02A7 02A8 02A9 02AA 02AB 02AC 02AD 02AE 02AF 02B0 02B1 02B2 02B3 02B4 02B5 02B6 02B7 02B8 Reserved 02B9 02BA 02BB 02BC 02BD 02BE 02BF 02C0 02C1 02C2 02C3 02C4 02C5 02C6 02C7 02C8 02C9 02CA 02CB 02CC 02CD 02CE 02CF App.
APPENDIX App. 5.17.3 Servo parameter information Monitor No. Content 0500 Servo parameter error number (Note) No. 0100 to 010F Units Bit corresponding to parameter number is turned on. bit is No. 0100 (bit 0) to 010F (bit 15). Remarks 0501 Servo parameter error number (Note) No. 0110 to 011F Bit corresponding to parameter number is turned on. bit is No. 0110 (bit 0) to 011F (bit 15). 0502 Servo parameter error number (Note) No. 0120 to 012F Bit corresponding to parameter number is turned on.
APPENDIX Monitor No. Content Units Remarks 0580 Servo parameter change number No. 0100 to 010F Bit corresponding to parameter number is turned on. bit is No. 0100 (bit 0) to 010F (bit 15). 0581 Servo parameter change number No. 0110 to 011F Bit corresponding to parameter number is turned on. bit is No. 0110 (bit 0) to 011F (bit 15). 0582 Servo parameter change number No. 0120 to 012F Bit corresponding to parameter number is turned on. bit is No. 0120 (bit 0) to 012F (bit 15).
APPENDIX App. 5.18 System alarm For the alarm No, only the additions and changes are listed. App. 5.18.1 Servo alarm The servo alarms of MR-J3(W)- B are shown in the following table. For details, refer to the Servo Amplifier Instruction Manual for MR-J3(W)- B. Alarm Warning Alarm No. Name Alarm No.
APPENDIX App. 6 Cables In this cable connection diagram, makers of connectors are omitted. Refer to "App. 7.3 Connector" for makers of connectors. App. 6.1 SSCNET cables Generally use the SSCNET cables available as our products. Refer to App. 6.3 for long distance cable up to 100(328.08)[m(ft.)] and ultra-long bending life cable. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the " " part of cable model. Cables of which symbol exists are available.
APPENDIX POINT If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. Do not add impossible power to the connector of the SSCNET cable. When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
APPENDIX 2) Exterior dimensions • MR-J3BUS015M [Unit: mm(inch)] 6.7(0.26) 15 13.4 (0.59) (0.53) 37.65 (1.48) 20.9(0.82) Protective tube 1.7(0.07) 2.3(0.09) 8+0 (0.31) 150 +50 -0 (5.91) • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm(inch)] Protective tube (Note) 100 (3.94) 100 (3.94) L Note. Dimension of connector part is the same as that of MR-J3BUS015M.
APPENDIX App. 6.2 Forced stop input cable Fabricate the forced stop input cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Connection diagram Position board side 3 Solderless terminal side A 1 View A 50351-8100 (Terminal) 51103-0300 (Connector) EMI.COM EMI.COM 3 2 EMI EMI 1 : Twisted pair cable Note 1. Use a cable of wire size AWG22 to AWG28. 2. Use solderless terminals that suit the size of the wire and terminals being used. App.
APPENDIX App. 6.3 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable. The light can be a discomfort when it enters the eye. The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will be in the cable model. Cable model SC-J3BUS M-C Cable length [m(ft.
APPENDIX App. 7 Exterior dimensions App. 7.1 PCI bus compatible position board (1) MR-MC210 The MR-MC210 is a PCI short card size. [Unit mm(inch)] 167.6(6.60) 106.7(4.20) 98.4(3.87) SW1 (2) MR-MC211 The MR-MC211 is a PCI short card size. [Unit mm(inch)] 167.6(6.60) App. - 79 106.7(4.20) 98.4(3.
APPENDIX ® App. 7.2 PCI Express bus compatible position board (1) MR-MC240 ® The MR-MC240 is a PCI Express short card size. [Unit mm(inch)] 167.6(6.60) 111.15(4.38) 98.4(3.87) SW1 (2) MR-MC241 ® The MR-MC241 is a PCI Express short card size. [Unit mm(inch)] 167.6(6.60) App. - 80 111.15(4.38) 98.4(3.
APPENDIX App. 7.3 Connectors (1) SSCNET cable connector [Unit: mm(inch)] 13.4 (0.53) 4.8(0.19) 17.6 0.2 (0.69 0.01) 2.3 (0.09) 9.3(0.37) 6.7 (0.26) 15 (0.59) 1.7 (0.07) 8 (0.31) 20.9 0.2 (0.82 0.01) (2) Forced stop connector (Molex Incorporated make) Type Connector: 51103-0300 Terminal: 50351-8100 [Unit: mm(inch)] 7.5(0.30) 5.8 (0.23) 9.5(0.37) 9.7(0.38) 8(0.31) App.
APPENDIX MEMO App.
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
6. Precautions for Choosing the Products (1) For the use of our Position Board, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Position Board, and a backup or fail-safe function should operate on an external system to Position Board when any failure or malfunction occurs. (2) Our Position Board is designed and manufactured as a general purpose product for use at general industries.
