Instruction manual

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
OS
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
Operation function
Application function Application function
Application function Application function
Application function
Application function
Application function
Application function
Application function
Maintenance
Maintenance
Maintenance
Operation function
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
11
12