Section Mgr. APPROVALS: Design Eng. H.
Table of Contents 1. FUNCTION AND CONFIGURATION 1.1 Overview 2 2 2. STANDARD SPECIFICATIONS 2.1 Servo amplifier standard specifications 3 3 3. BLOCK DIAGRAM 4 4. CC-LINK COMMUNICATION FUNCTIONS 4.1 Communication specifications 4.2 System configuration 4.3 Functions 4.4 Servo amplifier setting 4.5 I/O Signals transferred to/from the PLC CPU 4.6 Data communication timing charts 5 5 6 11 12 13 34 5. STANDARD CONNECTION EXAMPLE 41 6. I/O SIGNALS 6.1 Signal explanations 6.
1. Functions and Configuration 1.1 Overview The MR-J2S- CP-S099 servo amplifier connects with CC-Link via MR-J2S-T01 CC-Link interface unit. Up to 42 axes of servo amplifiers can be controlled/monitored from the PLC side. The MR-J2S- CP-S099 servo amplifier having index advance and retard function allows you to perform positioning operation by merely setting the indexing data, motor speeds, acceleration/deceleration time constants, etc.
2. Standard specifications 2.1 Servo amplifier standard specifications Servo Amplifier MR-J2S- CP-S099 10 20 40 60 70 100 200 350 500 700 Item Power supply Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz 3-phase 200 to 230VAC: 170 to 253VAC 1-phase 230VAC: 207 to 253VAC 3-phase 170 to 253VAC Permissible voltage fluctuation Permissible frequency fluctuation Within 5% Power supply capacity Refer to Section12.
3. Block Diagram Synchronous pulse PLG Pr 46,47 Pr 49 Pr 48 Electric gear Smoothing Filter Acc. / Dec. Filter Synchronous operation (STS) Synchronous completion (SYC) Point table No.1 or No.3 POS: Advance and retard value SPD: Advance and retard speed Pr 4,5 Point table No.1 or No.3 STA: Acceleration time STB: Deceleration time + Acc. / Dec.
4. CC-LINK Communication Functions 4.1 Communication specifications POINT The MR-J2S-T01 option module is equivalent to a remote device station. For details of the PLC side specifications, refer to the CC-Link system master module manual. Item Specifications Applicable CPU card QnA(H), QnAS(H), A1S, A1SH, AnUS(H), AnN, AnA, AnU(H) Communication speed 10M/5M/2.
4.2 System configuration 4.2.1 Configuration example (1) PLC side Fit “Type AJ61BT11”, “Type A1SJ61BT”, “Type AJ61QBT11” or “Type A1SJ61QBT” “Control & Communication Link system master/local module” to the main or extension base unit which is loaded with the PLC CPU used as the master station. (2) Wiring Connect the PLC CC-Link module master station and servo amplifier by a twisted pair cable (3-wire type).
4.2.2 Wiring method (1) Connection example The MR-J2S-T01 CC-Link option unit with MR-J2S- CP-S099 Servo amplifier and PLC CC-Link master module are wired as shown below. PLC CC-Link Master Module Servo amplifier Main power L1 U L2 V L3 W Servo Motor MR-J2S-T01 DA DB DG SLD FG DA DB DG SLD C N 3 0 C N 3 (2) Example of connecting multiple servo units As the remote I/O stations of CC-Link, servo amplifiers share the link system and can be controlled/monitored using PLC user programs.
(3) How to wire the CC-Link terminal block (CN10) (a) Strip the sheath of the cable and separate the internal wires and braided shield. (b) Strip the sheaths of the braided shield and internal wires and twist the cores. Braided shield Approx. 10mm (0.394in.) 3-core twisted pair cable (c) Match and twist the wires and braided shield of the cable connected to the preceding axis or PLC and the corresponding wires and braided shield of the cable connected to the subsequent axis.
4.2.3 Station number setting (1) How to number the stations Set the servo station numbers before powering on the servo amplifiers. Note the following points when setting the station numbers: (a) Station numbers may be set within the range 1 to 64. (b) One servo amplifier occupies 1 or 2 stations. (One station of PLC remote device station) (c) Max.
4.2.4 Communication baudrate setting Set the transfer baudrate of CC-Link with the transfer baudrate switch (SW3) on the servo amplifier front. The initial value is set to 156kbps. The overall distance of the system changes with the transfer speed setting. For details, refer to the CCLink system master/local module user's manual. SW3 2 3 1 4 0 5 9 8 6 7 No. Baudrate 0 (initial value) 1 2 3 4 156kbps 5 to 9 Not used 625kbps 2.5Mbps 5Mbps 10Mbps 4.2.
4.3 Functions 4.3.1 Function block diagram This section explains the transfer of I/O data to/from the servo amplifier in PLC link, using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally performed at intervals of 3.5 to 18ms (512 points). The link scan time of link refresh changes with the communication speed. For details, refer to the CC-Link system master/local module user's manual.
4.4 Servo amplifier setting 4.4.1 Servo amplifier side operation modes The MR-J2S-T01 with MR-J2S- CP-S099 has the following operation modes: Operation mode Description CC-Link communication functions are used to operate the servo with the PLC programs. CC-Link operation mode The configuration S/W or push button on the front panel in the servo amplifier is operated to test-run the servo. Test operation mod 4.4.
4.5 I/O Signals transferred to/from the PLC CPU 4.5.1 I/O signals (1) Positioning system The input signals may be used as either the CC-Link or CN1 external input signals. Make selection in parameter No. 116,117,118. The output signals can be used as both the CC-Link and CN1 external input signals. (a) When 1 station is occupied RX/RY: 32 points each, RWR/W: 4 points each PLC Device No.
(b) When 2 stations are occupied RX/RY: 32 points each (possible to extend to 64 points), RWR/W: 8 points each PLC Device No. RYn0 RYn1 RYn2 RYn3 RYn4 RYn5 RYn6 RYn7 RYn8 RYn9 RYnA RYnB RYnC RYnD RYnE RYnF RY(n+1)0 to RY(n+1)F RY(n+2)0 RY(n+2)1 RY(n+2)2 RY(n+2)3 RY(n+2)4 RY(n+2)5 RY(n+2)6 RY(n+2)7 RY(n+2)8 RY(n+2)9 RY(n+2)A RY(n+2)B RY(n+2)C to RY(n+2)F RY(n+3)0 to RY(n+3)9 RY(n+3)A RY(n+3)B to RY(n+3)F Servo amplifier (RY) Signal name Servo amplifier Device No.
(1) Input signals Signal name Servo on Forward rotation start Reverse rotation start Forward rotation stroke end Reverse rotation stroke end Automatic operation/ Manual drive mode Device # 1 station 2 stations occupied occupied Description Turning RY0 to “1” (ON) powers on the base circuit, making operation ready to start. Turning it to “0” (OFF) powers off the base circuit, coasting the servo motor.
Signal name Temporary stop Monitor output execution demand Instruction code execution demand Position block # selection (bit0) Position block # selection (bit1) Position block # selection (bit2) Position block # selection (bit3) Position block # selection (bit4) Device # 1 station 2 stations occupied occupied Description Turning RY7 from “0” (OFF) to “1” (ON) and keeping it in that status for longer than 5ms suspends operation.
Signal name Position instruction demand Device # 1 station 2 stations occupied occupied Description Internal torque limit selection In case of “ 0” in parameter No.41: Turning RY(n+2) to “1” (ON) sets the position block No. set to the remote register RWwn+4. In case of “ 1” or “ 2” in parameter No.41: Turning RY(n+2) to “1” (ON) sets the position command data set to the remote register RWWn+4/RWWn+5. When it is set to the servo amplifier, the normal or error answer code is set to RWR2.
(b) Output signals The device number whose Device No. field has an oblique line cannot be used in CC-Link. Signal name Ready In position Rough match Limiting torque Device # 1 station 2 stations occupied occupied Description This signal turns to “1” (ON) when the servo amplifier is ready to operate without any failure after servo-on. This signal turns to “1” (ON) when the droop pulse value has become less than the in-position range set in the parameter.
Signal name Point block output (bit 0) Point block output (bit 1) Point block output (bit 2) Point block output (bit 3) Point block output (bit 4) Device # 1 station 2 stations occupied occupied Description Point block No. is set after position complete. This signal will be turns off if;.
c) Remote registers The signal whose Remote Register field has an oblique line cannot be used. 1) Input (PLC servo amplifier) Remote register 1 station 2 stations occupied occupied RWWn RWWn Monitor 1 RWWn+1 RWWn+1 Monitor 2 RWWn+2 RWWn+2 Instruction code RWWn+3 RWWn+3 Writing data RWWn+4 Position block No./ Position instruction data under 16bit Signal name RWWn+5 Position block No.
2) Output (Servo amplifier PLC) Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to Answer code (RWrn+2). Refer to the error code. When 1 station is occupied Remote register Signal name Description RWrn Monitor 1 data The data of the status indication item set to RWwn is set. RWrn+1 Monitor 2 data The data of the status indication item set to RWwn+1 is set.
4.5.2 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 0127 to read the decimal point position (multiplying factor) of the status indication. Setting any code No. that is not given in this section will set the error code ( 1 ) to Answer code (RWrn+2). At this time, “0000” is set to RWrn, RWrn+1, RWrn+5 and RWrn+6. Code No.
4.5.3 Instruction codes (RW W2 RW W3) Refer to the instruction code timing charts. (1) Read instruction codes Set the code No. corresponding to the item to RWWn+2. The codes and answer data are all 4-digit hexadecimal numbers. Setting any code No. that is not given in this section will set the error code ( 1 ) to Answer code (RWrn+2). At this time, “0000” is set to Reading data (RWrn+3). Code No.
Code No. Item/Function 0030 to 0035 Alarm occurrence time in alarm history (most recent alarm) Reading data (RW R3) contents (Servo amplifier PLC) Occurrence time of alarm that occurred in past 0040 Input signal status 0 Reads the statuses (0 or 1) of the input signals. Note : The latest alarm number is in code 0030. bit 0 to bit F indicate the statuses OFF/ON (0/1) of the corresponding input signals. The statuses will be indicating external I/O when the parameter No.116, No. 117 and No.
Code No. Item/Function 0050 Output signal status 0 Reads the statuses (0 or 1) of the Output signals. Reading data (RW R3) contents (Servo amplifier PLC) bit 0 to bit F indicate the statuses (0 or 1) of the corresponding output signals. bitF bit0: RD bit1: INP bit2: bit3: ZP 0051 Output signal status 1 Reads the statuses (0 or 1) of the Output signals. Output signal status 2 Reads the statuses (0 or 1) of the Output signals.
Code No. Reading data (RW R3) contents (Servo amplifier PLC) Item/Function 0081 Energization time Reads the energization time from shipment. Returns the energization time [h]. 0082 Power ON frequency Reads the number of power-on times from shipment. Returns the number of power-on times. 00A0 Ratio load inertia Reads the estimated ratio of load inertia moment to servo motor shaft inertia moment. Returns the estimated ratio of load inertia moment to servo motor shaft inertia moment [times].
Code No. Item/Function 0300 to 037C Data form of parameter setting Reads the data format of the values set in parameter No. 0 to 124. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. Reading data (RW R3) contents (Servo amplifier PLC) The setting of the requested parameter No. is returned.
Code No. Item/Function 0A00 to 0A1F Advanced function of position block Read the advanced function of position block No.00 to 31. The decimal value converted from the 2 lower digit of the code No. corresponds to the position block No. Reading data (RW R3) contents (Servo amplifier PLC) The advanced function set to the requested position block No. is returned.
(2) Write instruction codes Set the code No. corresponding to the item to Instruction code (RWwn+2) and the written data to Writing data (RWwn+3). The codes and answer data are all 4-digit hexadecimal numbers. Setting any code No. that is not given in this section will set the error code ( 1 ) to Answer code (RWrn+2). Code No. Writing data (RW wn+3) contents (PLC Servo amplifier) Item 8000 to 800F Empty 8010 Alarm reset command Deactivates the alarm that occurred.
Writing data (RW wn+3) contents (PLC Servo amplifier) Code No. Item 8600 to 861F Speed data of position block (RAM) Writes the speed data Nos. of position block No. 00 to 31 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the position block No. Convert the values into hexadecimal before making setting.
Writing data (RW W3) contents (PLC Servo amplifier) Code No. Item 8D00 to 8D1F Speed data of position block (EEP-ROM) Writes the speed block Nos. of position block No. 00 to 31 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the position block No. Convert the values into hexadecimal before making setting.
4.5.4 Answer codes (RWrn+2) If any of the monitor codes, instruction codes, position block Nos. set to the remote register is outside the setting range, the corresponding error code is set to Answer code (RWrn+2). “0000” is set if they are normal. Error related to Monitor code1 and 2 Instruction code Position command Speed command Code No. 0 Error Normal answer Code error The monitor code not in the specifications was set to RWwn RWwn+1. The instruction code not in the specifications was set to RWwn+2.
4.5.5 Setting the external input signals Using parameter No. 116, 117 and 118, you can assign the input signals as the external input signals. The signals assigned as the external input signals cannot be used in CC-Link. Parameter No.
4.6 Data communication timing charts 4.6.1 Monitor codes (1) When 1 station is occupied Monitor 1 (RWw0) Monitor 2 (RWw1) Monitor executionON demand (RY8) OFF Monitoring (RX8) ON OFF Monitor 1 data (RWr0) Monitor 2 data (RWr1) Answer code (RWr2) Data HOLD Set the monitor codes to Monitor 1 (RWW0) and Monitor 2 (RWW1) and turn Monitor output execution demand (RY8) to “1” (ON). Turning RY8 to “1” (ON) sets the next data. Data are all hexadecimal numbers.
(2) When 2 stations are occupied Monitor 1 (RWw0) Monitor 2 (RWw1) Monitor executionON demand (RY8) OFF Monitoring (RX8) ON OFF Monitor 1 data Under 16bit (RWr0) Monitor 1 data Upper 16bit (RWr1) Monitor 2 data Under 16bit (RWr5) Monitor 2 data Under 16bit (RWr6) Answer code (RWr2) Data HOLD Set the monitor codes to Monitor 1 (RWW0) and Monitor 2 (RWW1) and turn Monitor output execution demand (RY8) to “1” (ON). Turning RY8 to “1” (ON) sets the next data.
4.6.2 Instruction codes (1) Read instruction codes (0000 to 7FFFh) Instruction code (RWw2) Instruction code execution demand (RY9) Instruction code execution completion (RX9) Reading data (RWr3) Answer code (RWr2) Data read period Set the read instruction code to Instruction code (RWW2) and turn Instruction code execution demand (RY9) to “1” (ON). Turning RY9 to “1” (ON) sets the data corresponding to the preset read code to Reading data (RWR3). Data are all hexadecimal numbers.
(2) Write instruction codes (80000 to FFFFh) Instruction code (RWw2) Writing data (RWw3) Instruction code execution demand (RY9) Instruction code processing Write in execution Instruction code execution completion (RX9) Answer code (RWr2) Set the write instruction code to Instruction code (RWW2) and the data to be written (data to be executed) to Writing data (RWW3) in hexadecimal, and turn Instruction code execution demand (RY9) to “1” (ON).
4.6.3 Direct Specified Mode The functions in this section are usable only when 2 stations are occupied. The direct specified mode will be enabled when the automatic mode (RYn6) is turned on and the position instruction function (RY(n+2)A) is turned on. The direct specified mode has: 1) Point Block No. Specified Mode 2) Position Instruction and Block No. Specified of speed and acceleration / deceleration 3) Instruction of position and speed The setting of parameter No. 41 determine above mode.
(2) When setting the position command data and specified of speed and acceleration / deceleration in the block No. Preset “ 2 in parameter No. 41 to enable position command data-set and specified of speed and acceleration / deceleration in the block No. Position instruction data Lower 16bit (RWw4) Position instruction data Upper 16bit (RWw5) Position block No. (RWw6) Position instructionON demand OFF (RY(n+2)0 Speed instruction ON demand OFF (RY(n+2)1) Position data setting Position block No.
(3) When setting the position command data and speed command data Preset “ 3” in parameter No. 41 to enable position command data and speed command data set operation. As the acceleration / deceleration time constant for operation, use the setting of speed block No. 1.
5. Standard Connection Example NFB Servo amplifier MR-J2S-CP-S084 MC L1 L2 L3 3-phase 200VAC or single-phase 230VAC (Note 10) TE1 U(Red) U V W V(White) W(Black) L11 L12 C TE2 Regenerative brake option (Green) (Note 1) B1 When connecting the external regenerative brake option, always disconnect 10m(39.37inch) max. (Note 4) the jumper from across P-D.
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits. 3. The emergency stop switch must be installed. 4. CN1A, CN1B, CN2 and CN3 have the same shape.
6. I/O Signals 6.1 Signal explanations 1) CN1A Signal Name Symbol Pin No. Description I/O Division Digital I/F power supply input COM 9 Used to input 24VDC±10% for input interface. Driver power input terminal for digital interface. COM of each connector is connected in the servo amplifier. When using an external power supply, connect a power supply of 24VDC, 200mA or more to this terminal. Open collector power input OPC 11 When using a manual pulse generator, supply 24VDC to this terminal.
2) CN1B Signal Name Symbol Pin No. Description I/O Division I/F Internal power supply VDD 3 Used to output 24V 10% to across VDD-COM. When using this power supply for digital interface, connect it with COM. Permissible current: 80mA Digital I/F power supply input COM 13 Used to input 24VDC 10% for input interface. Driver power input terminal for digital interface. COM of each connector is connected in the servo amplifier.
6.2 Additional function devices By using the parameter No.78 to 90 setting, you can assign the signals given in this section to the pins of connectors CN1A and CN1B. (1) Pins which accept different signals Pin Type Input-only pins I/O pin Output-only pins Connector Pin No.
(2) Assignable devices 1) Input devices Device Name Symbol No assigned function Description I/O Division No function is assigned. Alarm reset RES Short RES-SG to deactivate the alarm. If RES-SG are shorted in no alarm status, the base circuit is not shut off. Set 1 in parameter No. 55 to shut off the base circuit. Some alarms cannot be deactivated by the reset signal. Since this device is not designed for stopping, do not switch it on during operation.
2) Output devices Device Name Symbol No assigned function Description I/O Division No function is assigned. In-position INP INP-SG are connected when the droop pulses fall within the parameter-set inposition range. This signal is not output while the base circuit is off. DO-1 Rough match CPO CPO-SG are connected when the remaining command distance falls within the parameter-set rough match output range. This signal is not output while the base circuit is off.
6.3 Detailed description of the signals Index advanced and retard operation The synchronous operation will start when synchronous operation signal (STS) become enabel. The index advance and retard operation will start when advance or retard operation signal (ST1/ST2) are turn on.
6.3.1 Start and stop signals (1) Make up a sequence so that the start signal is switched on after the main circuit has been established. The start signal is invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD). (2) A start in the servo amplifier is made when the external start signal changes from OFF to ON. The delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other signals is max. 10ms. 3ms max.
6.3.3 Alarm Occurrence Timing Chart When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply off, then on. However, the alarm cannot be reset unless its cause of occurrence is removed.
6.3.4 Electromagnetic Brake output (a) Servo on signal command (from controller) ON/OFF Tb (ms) after servo on (SON) is switched off, servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. For use in vertical lift and similar applications, therefore, set Tb to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
(c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit ON OFF Invalid(ON) Electromagnetic brake interlock (MBR) Valid(OFF) Electromagnetic brake operation delay time No(ON) Trouble (ALM) Yes(OFF) (d) Both main and control circuit power supplies off (10ms) (Note) 15 to 100ms Servo motor speed Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake ON Base circuit OFF Invalid(ON) Electromagnetic brake inter
6.3.5 Forward stroke limit / Reverse stroke limit Motor speed Forward rotation 0r/min Reverse rotation Forward stroke limit (LSP) ON OFF Reverse stroke limit (LSN) ON OFF FWD stroke limit REV stroke limit Note: Limit action can be select in parameter No.
7. Interfaces This section gives the details of the I/O signal interfaces. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (5) in this section. For use of internal power supply For use of external power supply Servo amplifier Do not connect VDD-COM. 24VDC Servo amplifier VDD R: Approx. 4.7k COM (Note) For a transistor 24VDC 200mA or more VDD COM R: Approx. 4.7k SON, etc. SON, etc. Approx.
For use of internal power supply For use of external power supply Servo amplifier 24VDC VDD Servo amplifier Do not connect VDD-COM. VDD COM COM R R ALM, etc. ALM, etc. 27VDC or less SG (3) Analog output Output 10V Max. 1mA Servo amplifier 10k MO1 (MO2) Reading in one or A both directions 1mA meter LG SD (5) Source input interface When using the input interface of source type, all DI-1 input signals are of source type. Source output cannot be provided.
8. Power Supply System Circuit 8.1 Connection example Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the input cables of the power supply. Design the circuit so that the servo on signal also turns off as soon as the power is shut off on detection of alarm occurrence.
8.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Symbol Signal Description Main circuit power input terminals Supply L1, L2 and L3 with the following power.
8.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply.
9. Display and Operation 9.1 Display Flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move to the next screen. To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write disable).
10. Parameters For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. For details of the parameters, refer to the corresponding items. (1) Item list Basic parameters Class No.
Expansion parameters Class No.
Class No.
Class No.
(2) Detail list Class No 0 Symbo l Name and function *STY Control mode, Regenerative brake option selection Use to select regenerative brake option.
Class No. Symbol 3 ATU Name and Function Initial Value Auto tuning Used to set the response level, etc. for execution of auto tuning.
Class No. Symbol 5 Name and Function Unit 1 *CDV Electronic gear denominator Setting example Initial Value Setting Range 1 to 65535 Roll diameter: 50mm Reduction ratio: 3/7 Number of pulses: 16384 pulses Number of pulses (CMX) 16384 = Moving distance (CDV ) 50 × π× 3 7 × 1000 7168 9375π 7168 = 29452 Hence, set 7168 to CMX and 29452 to CDV. Basic parameters = Note: When there is a fraction, perform a carry within the setting range and round off that fraction.
Class No. Symbol Name and Function 12 CRP Rough match output range Used to set the command remaining distance range where the rough match (CPO) signal is output. 13 JOG Jog speed Used to set the jog speed command. 14 *STC For manufacture setting 15 *SNO 16 *BPS Alarm history clear Used to alarm history clear.
Class No. Symbol 18 *DMD Name and Function Initial Value Status display selection Used to select the status display shown at power-on .
Class No. Symbol 20 *OP2 Name and Function Initial Value Unit Function selection 2 Used to select slight vibration suppression control.
Class No. Symbol Name and Function Initial Value Unit Setting Range 28 TL1 Internal torque limit 1 Used to limit servo motor-generated torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced. This setting value will be 8V for torque monitor in monitor output. 100 % 0 to 100 29 TL2 Internal torque limit 2 Used to limit servo motor-generated torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced.
Class No. Symbol 40 OVA For manufacturing setting 41 DSS Direct specified mode selection 0: Point block No. specified mode 1: Point instruction and block No. specified of speed and acc. / dec. 2: Instruction of position and speed 42 *ZPS Zeroing position data Used to set the current position on completion of zeroing.
Class No. Symbol 54 Name and Function *OP5 Function selection 5 In-position unit selection. 0 0 Initial Value Unit Setting Range 0000 0000h to 1812h 0000 0000h to 1111h 0 In-position unit selection 0: command pulse unit 1: Encoder pulse unit 55 *OP6 Optional function 6 Servo on response in alarm reset operation. Used to select the operation to be performed when the alarm reset signal switches on.
Expansion parameters Class No. Symbol 59 Initial Value Name and Function *OPA Function selection A Alarm code output function selection Unit Setting Range 0000 0000h to 0211h 0000 0000h to 0001h 0000 0000h to 031Fh 0 0 0 Alarm code output 0: Invalid 1: Valid 60 ORP Manual zeroing function selection 0 0 0 Manual zeroing prohibition 0: Disable 1: Enable 61 NH1 Machine resonance suppression filter 1 Used to selection the machine resonance suppression filter. (Refer to Section 8.1.
Expansion parameters Class No. Symbol 63 Initial Value Name and Function LPF Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control. 0000 Unit Setting Range 0000h to 1217h 0 Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid VG2 setting 10 2 (1 GD2 setting 0.1) bandwidth filter is set automatically.
Expansion parameters Class No.
Class No.
Class No.
No.
*IN2 External I/O function selection 2 Used to set the external I/O function Bit 0 1 2 3 4 5 6 7 8 9 A B C D E F 118 *IN3 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting Range 0000 Setting value 1 0 Function Internal torque limit Proportional control TEMP. stop / re-start Synchronous op.
11. Trouble Shooting 11.1 Alarms and warning list Alarm code (Note 2) Display CN1B-19 CN1A-18 Name CN1A-19 Alarm deactivation Alarm Power reset OFF ON (RES) signal Warnings Alarms AL.10 0 1 0 Undervoltage AL.12 0 0 0 Memory error 1 AL.13 0 0 0 Clock error AL.15 0 0 0 Memory error 2 AL.16 1 1 0 Encoder error 1 AL.17 0 0 0 Board error AL.19 0 0 0 Memory error 3 AL.1A 1 1 0 Motor combination error AL.20 1 1 0 Encoder error 2 AL.24 1 0 0 Main circuit error AL.25 1 1 0 Absolute position erase AL.
11.
11.3 CC-Link communication alarm Any of the following indications is provided on the communication alarm display. (Note) Communication alarm display LEDs L.RUN SD RD Operation L.ERR Normal communications are made but CRC error sometimes occurs due to noise. Normal communications Hardware fault Hardware fault Receive data resulted in CRC error and response cannot be made. Data does not reach host station. Hardware fault Hardware fault Polling response is made but refresh receive is in CRC error.
REVISIONS Print Date ‘02/01/09 Document # BCN-B11127-478* Revision First edition Editor H.
