Mitsubishi Electric CC Link IE Field Network Interface v2 Manual

General-Purpose AC Servo

CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (I/O Mode)

-MR-J4-_GF_ -MR-J4-_GF_-RJ

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

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

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

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

1

2

[To prevent electric shock, note the following]

[To prevent fire, note the following]

WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge

lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it

may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric

shock. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may

cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging

area are exposed and you may get an electric shock. Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if

the power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the

servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.

CAUTION Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing

them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply

(L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a moldedcase circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

[To prevent injury, note the following]

[Additional instructions]

CAUTION Only the power/signal specified in the Instruction Manual should be applied to each terminal.

Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is

on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

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

3

4

[Transportation and installation]

CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may

drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the

Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet

or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any

parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a

malfunction. Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may

cause injury, malfunction, etc. Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc. When you keep or use the equipment, please fulfill the following environment.

When the product has been stored for an extended period of time, contact your local sales office. When handling the servo motor, be careful with the sharp edges of the servo motor. The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are

used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.

To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

Item Environment

Operation 0 C to 55 C (non-freezing) Ambient temperature Storage -20 C to 65 C (non-freezing)

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

humidity Storage

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

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

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

[Wiring]

CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking

mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo

amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier

and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do

not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier.

To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

W

V

U

W

V M

U

W

V

U

W

V M

U

Servo amplifier Servo motor Servo amplifier Servo motor

RA

DOCOM

RA

DOCOM

Servo amplifier Servo amplifier 24 V DC24 V DC

Control output signal

Control output signal

For source output interfaceFor sink output interface

5

6

[Test run and adjustment]

CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it

may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some

machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the

operation unstable. Do not get close to moving parts during the servo-on status.

[Usage]

CAUTION Provide an external emergency stop circuit to stop the operation and shut the power off immediately. For equipment in which the moving part of the machine may collide against the load side, install a limit

switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire,

injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent

a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic

interference may affect the electronic equipment used near the servo amplifier. Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas. Use the servo amplifier with the specified servo motor. Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may

cause an electric shock, fire, injury, etc. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be

used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw

and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not drive the servo motor by an external force. Otherwise, it may cause a malfunction of the dynamic break or fire.

7

8

[Corrective actions]

[Maintenance, inspection and parts replacement]

[General instruction]

CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may

cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a

hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.

If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. After an earthquake or other natural disasters, ensure safety by checking the conditions of the

installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.

CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general

environment. When using the servo amplifier that has not been energized for an extended period of time, contact

your local sales office.

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

B

RA

U

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

Contacts must be opened with the emergency stop switch.

Servo motor

Electromagnetic brake 24 V DC

DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM LIFE The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life. Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes Write to the EEP-ROM due to point table changes

STO FUNCTION OF THE SERVO AMPLIFIER When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

COMPLIANCE WITH GLOBAL STANDARDS For the compliance with global standards, refer to app. 4 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

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10

ABOUT THE MANUAL You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.

Relevant manuals

*1 It is necessary for using a rotary servo motor. *2 It is necessary for using a linear servo motor. *3 It is necessary for using a direct drive motor. *4 It is necessary for using a fully closed loop system. *5 It is necessary for using an MR-D30 functional safety unit.

This Instruction Manual does not describe the following items. For details of the items, refer to each chapter/section of the detailed explanation field. "MR-J4-_GF_" means "MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

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

Manual name Manual No. MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) SH(NA)030218ENG

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO MR-D30 Instruction Manual*5 SH(NA)030132ENG

MELSERVO Servo Motor Instruction Manual (Vol. 3)*1 SH(NA)030113ENG

MELSERVO Linear Servo Motor Instruction Manual*2 SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual*3 SH(NA)030112ENG

MELSERVO Linear Encoder Instruction Manual*2*4 SH(NA)030111ENG

EMC Installation Guidelines IB(NA)67310ENG

Item Detailed explanation Installation MR-J4-_GF_ Chapter 2

Signals and wiring MR-J4-_GF_ Chapter 3

Normal gain adjustment MR-J4-_GF_ Chapter 6

Special adjustment functions MR-J4-_GF_ Chapter 7

Outline drawings MR-J4-_GF_ Chapter 9

Characteristics MR-J4-_GF_ Chapter 10

Options and auxiliary equipment MR-J4-_GF_ Chapter 11

Absolute position detection system MR-J4-_GF_ Chapter 12

Using STO Function MR-J4-_GF_ Chapter 13

Using a Linear servo motor MR-J4-_GF_ Chapter 14

Using a direct drive motor MR-J4-_GF_ Chapter 15

Fully closed loop system MR-J4-_GF_ Chapter 16

Application of functions MR-J4-_GF_ Chapter 17

Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N.m] 141.6 [oz.inch]

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

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

Temperature N [] 9/5 + 32 N []

C O

N TE

N TS

CONTENTS SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 DISPOSAL OF WASTE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 EEP-ROM LIFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 STO FUNCTION OF THE SERVO AMPLIFIER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 COMPLIANCE WITH GLOBAL STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

CHAPTER 1 FUNCTIONS AND CONFIGURATION 14 1.1 For proper use of the I/O mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.2 I/O mode specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.3 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.4 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

CHAPTER 2 POINT TABLE OPERATION 22 2.1 Link device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Detailed explanation of the RYn/RXn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Detailed explanation of the RWwn/RWrn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Data communication timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Remote register-based position/speed setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

2.2 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 2.3 Automatic operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Command method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Automatic operation using point table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

2.4 Manual operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

2.5 Home position return mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Outline of home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Method -5 (Home position ignorance (Servo-on position as home position)) . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Automatic positioning to home position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

2.6 Point table setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Setting procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Detailed setting window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Single-step feed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

2.7 Application of the point table function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Infinite feed function (setting degree) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Roll feed display function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Backlash compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

2.8 Programming example by function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 System configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Reading the servo amplifier status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Writing an operation command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Reading data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Writing data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

2.9 Program example for continuous operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

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12

CHAPTER 3 PARAMETERS 125 3.1 Parameter list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Gain/filter setting parameters ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Extension setting parameters ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Extension setting 2 parameters ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 Extension setting 3 parameters ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Network setting parameters ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

3.2 Detailed list of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Extension setting parameters ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Network setting parameters ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

3.3 How to set the electronic gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Electronic gear settings in the point table method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Electronic gear setting in the indexer method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

3.4 Stop method at stroke limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 3.5 Stop method at software limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

CHAPTER 4 TROUBLESHOOTING 164 4.1 Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 4.2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 4.3 Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 4.4 Troubleshooting at power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

CHAPTER 5 INDEXER OPERATION 176 5.1 Link device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Detailed explanation of the RYn/RXn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Detailed explanation of the RWwn/RWrn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Data communication timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 Remote register-based position/speed setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

5.2 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 5.3 Automatic operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

Automatic operation mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Rotation direction specifying indexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 Shortest rotating indexer operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

5.4 Manual operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 Station JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

5.5 Home position return mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Outline of home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Torque limit changing dog type home position return (front end detection, Z-phase reference) . . . . . . . . . . . . 221 Torque limit changing dog type home position return (rear end detection, Z-phase reference) . . . . . . . . . . . . 224 Torque limit changing data set type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

C O

N TE

N TS

Homing method 35, 37 (Homing on current position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 5.6 Application of indexer function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Backlash compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

CHAPTER 6 SPEED CONTROL OPERATION 232 6.1 Link device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 Detailed explanation of the RYn/RXn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 Detailed explanation of the RWwn/RWrn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 Data communication timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

6.2 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 6.3 Speed control mode (point table method) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

Operating method which does not use the speed command execution demand . . . . . . . . . . . . . . . . . . . . . . . 250 Operating method which uses the speed command execution demand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

CHAPTER 7 APPLICATION OF FUNCTIONS 256 7.1 Simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

Outline of simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 Simple cam function block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 Simple cam specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 Control of simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 Operation in combination with the simple cam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Setting list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 Data to be used with simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 Function block diagram for displaying state of simple cam control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 Cam No. setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 Stop operation of cam control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 Restart operation of cam control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 Cam axis position at cam control switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 Clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 Cam position compensation target position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 Cam position compensation time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 Backup restore function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

7.2 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Analog override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Digital override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

7.3 Internal torque limit selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 Device/parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 Details of internal torque limit selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .299 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .302

13

14

1 FUNCTIONS AND CONFIGURATION The items shown in the following table are the same as those for the motion mode. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

1.1 For proper use of the I/O mode

Servo amplifier/MR Configurator2 The I/O mode is available with the servo amplifier and MR Configurator2 with the following software versions.

Parameter setting Selection of station-specific mode Set [Pr. PN03 Station-specific mode setting] to "1" to select the I/O mode as the station-specific mode.

Selection of control mode Select a control mode with [Pr. PA01 Operation mode] to use.

Item Detailed explanation Function block diagram MR-J4-_GF_ section 1.2

Combinations of servo amplifiers and servo motors MR-J4-_GF_ section 1.4

Model designation MR-J4-_GF_ section 1.6

Structure (parts identification) MR-J4-_GF_ section 1.7

Configuration including peripheral equipment MR-J4-_GF_ section 1.8

Product name Model Software version

Point table method Indexer method Servo amplifier MR-J4-_GF_(-RJ) A1 or later A3 or later

MR Configurator2 SW1DNC-MRC2-_ 1.52E or later 1.60N or later

Station-specific mode setting 0: Motion mode 1: I/O mode

[Pr. PN03]

1

[Pr. PA01]

Control mode selection 0: Positioning mode (point table method) 8: Positioning mode (indexer method) B: Speed control mode (point table method)

1 FUNCTIONS AND CONFIGURATION 1.1 For proper use of the I/O mode

1

Item Description Servo amplifier model MR-J4-_GF_(-RJ)

Command method

Point table Operational specifications Positioning with specification of point table No. (255 points)

Position command input *1

Absolute value command method

Set in the point table. Setting range of feed length per point: -999999 to 999999 [10STM m], -99.9999 to 99.9999 [10STM inch], -999999 to 999999 [pulse] Rotation angle setting range: -360.000 to 360.000 [degree] *4

Incremental value command method

Set in the point table. Setting range of feed length per point: 0 to 999999 [10STM m], 0 to 99.9999 [10STM inch], 0 to 999999 [pulse] Rotation angle setting range: 0 to 999.999 [degree] *4

Speed command input Set the acceleration/deceleration time constants in the point table. Set the S-pattern acceleration/deceleration time constants with [Pr. PT51].

System Signed absolute value command method/incremental value command method

Torque limit Set with a parameter or link device.

Position command data input

Operational specifications Set the position command data with a remote register.

Position command input *1

Absolute value command method

Set the position command data with a remote register. Setting range of feed length: -999999 to 999999 [10STM m], -99.9999 to 99.9999 [10STM inch], -999999 to 999999 [pulse] Rotation angle setting range: -360.000 to 360.000 [degree] *4

Incremental value command method *4

Set the position command data with a remote register. Setting range of feed length: 0 to 999999 [10STM m], 0 to 99.9999 [10STM inch], 0 to 999999 [pulse] Rotation angle setting range: 0 to 999.999 [degree]

Speed command input Select from point tables with a remote register. Set the speed command data (speed) with a remote register. Set the S-pattern acceleration/deceleration time constants with [Pr. PT51].

System Signed absolute position command method, incremental value command method

Indexer*2 Operational specifications Positioning by specifying the station position The maximum number of divisions: 255

Speed command input Select from point tables with a remote register. Set speed command data (rotation speed and acceleration/deceleration time constants) by the remote