Instruction manual

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This function logs alarms, storing them even when power is

turned OFF, being useful for analysis of machine alarms.

Alarm history

By turning ON the disconnection command, SSCNET III/H

communication with the selected axis and later can be

disconnected. The axes whose communication is disconnected

become non-communicating axes, so their power supplies

can be turned OFF and SSCNET III cables can be detached.

Reconnect/disconnect

This function logs event information such as operation startup,

command change, and operation completion alarms, which are

used for analyzing the timing of event occurrence.

Log

By turning ON the gain switching command signal (GAIN), the

gain for the servo amplifier can be changed. This is used to

switch the gain during rotation and while stopped, as well as

switching gain proportionally to the amount of movement or

speed.

Gain switching

When the movement direction is specified and the start operation

signal is inputted, JOG operation is started in the designated

direction and the movement continues until the start operation

signal is turned OFF. JOG operation can be used without

completing home position return.

JOG operation

The point table, where position data and feed speed are set, is

used in this automatic operation. Once the start operation signal

is turned ON, instructions are executed sequentially from the set

start point number to the set end point number.

Automatic operation

This function adjusts the number of pulses outputted to the servo

amplifiers so that a machine moves by the specified command

unit in a program.

Electronic gear

Various acceleration/deceleration methods, such as linear

acceleration/deceleration, smoothing filter, and S-curve

acceleration/deceleration, are widely available. Select the

suitable one for your machine.

Acceleration/deceleration

The servo amplifier disconnect function enables an operation

without connecting a servo amplifier. User programs can be

debugged without servo amplifiers.

Servo amplifier disconnect

The Position switch signal is turned ON when the axis is within

setting range, set by the position switch upper limit and position

switch lower limit parameters. This function can act as a switch or

a sensor.

Position switch

This function is used while returning to the home position in the

opposite direction of the home position return. If the movement

exceeds the parameter set for the home position search limit, the

home position search limit error occurs and the home position

return operation is terminated.

Home position search limit

In the absolute position detection system, if the home position is

determined at the system startup, there is no need to execute

the home position return again because the absolute position is

restored at system startup.

Absolute position detection system

A fixed feed distance is implemented for each start operation

signal (ST). The amount of feed is defined using the incremental

feed movement amount. Incremental feed can be used without

completing the home position return.

Incremental feed

This function establishes the reference position (home position)

when the positioning control is performed. Various methods are

available, such as dog method, data set method, stopper method,

scale home position signal detection method.

Home position return

Forced stop, operation stop, and rapid stop are available. These

stop operations are executed in case of detecting a machine

error.

Stop operation function

Speed change, change of time constant, and position change are

available. Each command can be changed during operation.

Command change

The position of axes is constantly monitored.

If the distance between axes (relative position) is

assumed to become smaller than the

"Interference check width", the "Entering

interference area error" occurs, and the axes are

forced to stop to prevent collision.

Interference Check Function

Main Basic Functions

The interface mode (sequential position command method) is available as standard to perform Motion control flexibly.

Curves created with a user program can be used as commands to servo amplifiers.

Interface Mode Function

SSCNET

communication control

Axis 1 position

command buffer 0 to 63

Axis 20 position

command buffer 0 to 63

Various curve patterns are achieved with a user program using the interface

mode, available as standard

C Controller (Q24DHCCPU-V)

or a personal computer

C Controller Interface Module

(Q173SCCF) or Position Board

(MR-MC210/MR-MC211)

Interference

check width

Stops to keep the set limit distance

"Interference check width" between the axes

Collision

prevention

PCI Express

PCI bus

API library

MR-J4-B

Operation function

Application function Application function

Application function

Maintenance

Operation function

MR-MC21n

Q173SCCF

MR-MC21n

Q173SCCF

MR-MC21n

Q173SCCF

User program

(C language program)

Example of user-created curve

Interference check axis

(Axis 1)

Current position

(Axis 2)

Time

Position

Communication cycle:

0.22ms