Section Mgr. APPROVALS: Design Eng. H.
Table of Contents 1. FUNCTION AND CONFIGURATION 1.1 Overview 1.2 Features 1.3 System configuration 2 2 3 3 2. WIRING DIAGRAM 5 3. TERMINALS 3.1Terminal blocks 3.2 Connection example 3.3 Power-on sequence 3.4 Signal explanations 3.5 Additional function devices 7 7 8 8 12 14 4. INTERFACES 16 5. AUTOMATIC OPERATION MODE 5.1 Positioning via point table with digital input 5.2 Positioning operation in accordance with point tables 5.3 Positioning operation via communication 5.4 Manual operation mode 5.
1. FUNCTIONS AND CONFIGURATION 1.1 Overview The MR-J2S- A-S061 AC servo amplifier with built-in positioning functions is the MR-J2S-A generalpurpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in parameters.
1.2 Features (1) Up to 31 point tables (2) Stopper type zeroing operation (3) Point table output function 1.3 System configuration 1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
2) The following configuration uses external I/O signals. The external input signals are used to control all signals (devices) that response delay is less than 15msec. External I/O signals Servo amplifier CN1A CN1B Power supply 3-phase 200VAC or single-phase 230VAC CN2 CN3 Servo motor 3) Function list Contents Description Operation specification - Positioning up to 31 point via point block # - Setting at point block Position command input - Setting range for positioning: +/- 1 [um] to +/- 999.
2. Wiring Diagram NFB Servo amplifier MR-J2S-A-S061 MC TE1 L1 L2 L3 3-phase 200VAC Regenerative brake option Servo motor U(Red) U V W V(White) L11 L12 C TE2 B1 D B2 (Green) P When connecting the external regenerative brake option, always disconnect 10m(39.37inch) max. 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. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault. 4.
3. Terminals 3.1 Terminal blocks Symbol Signal Description Main circuit power input terminals 1) 200V Class Supply L1, L2 and L3 with the following power. For a single-phase 230VAC power supply, connect the power supply to L1 and L2 and keep L3 open: Servo amplifier L1, L2, L3 Main circuit power supply Power supply MR-J2-10A to 70A 3-phase 200 to 230VAC, 50/60Hz Single-phase 230VAC, 50/60Hz MR-J2-100A to 700A L1•L2•L3 L1•L2 Cannot be used for combination with the servo motor HC-SFS52•53.
3.2 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.
(2) Timing chart SON accepted (1s) Power sypply ON OFF Base circuit ON OFF Servo on (SON) ON OFF Reset (RES) ON OFF Ready (RD) ON OFF 10ms 60ms 10ms 60ms 20ms 20ms 10ms 10ms 20ms 10ms 9 BCN-B11127-479*
3.4 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.
Signal Name Automatic/manual selection Point table No. selection Symbol Pin No. Description I/O Division MDO 7 Short MDO-SG to choose the automatic operation mode, or open them to choose the manual operation mode. DI-1 DI0 DI1 5 14 The following table lists the point table numbers which may be chosen by the combinations of DI0 and DI1: DI-1 DI1 DI0 0 0 Manual zeroing Selected Point Table No. 0 1 Point table No.1 1 0 Point table No.2 1 1 Point table No.
3.5 Additional function devices By parameter setting, you can assign the signals given in this section to the pins of connectors CN1A and CN1B, in addition to the signals in Section 3.2. (1) Pins which accept different signals Pin Type Connector Pin No. Input-only pins I/O pin Output-only pins Device in Initial Status Device Symbol CN1B-5 Point table No. selection 1 CN1B-14 Point table No.
Device Name Symbol Description I/O Division PC Short PC-SG to switch the speed amplifier from proportional integral type to proportional type. DI-1 Temporary stop/Restart STP Short STP-SG during automatic operation to make a temporary stop. Short STP-SG again to make a restart. Shorting the forward/reverse rotation start signal during a temporary stop is ignored. Switching from automatic mode to manual mode during a temporary stop clears the remaining moving distance.
(4) Device setting of control mode Operation mode Signal Automatic/Manual Point block No. Automatic operation Incremental command Absolute command MD0 DI0 to DI4 Forward rotation start ST1 Reverse rotation start ST2 ON ON 1 to 31 1 to 31 Manual drive Manual zeroing OFF ON 0 ON 5ms 5ms (FWD. JOG) 5ms (REV. JOG) ON 5ms Note: The start signal will respond within 3 ms. Servo motor will be stopped and cleared moving remain distance when Automatic/Manual signal changed in positioning.
4. 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.
5. Automatic Operation Mode 5.1 Positioning via point table with digital input (1) Parameter setting Set the following parameters to perform automatic operation: (a) Command mode selection (parameter No.0) Select the absolute value command system or incremental value command system. Parameter No. 0 Setting Positioning System 0 Absolute value command 1 Incremental value command (b) Operation system selection (parameter No.
(c) Feed length multiplication selection (parameter No.1) Set the unit multiplication factor (STM) of position data. The actual moving distance is the result of multiplying the entered position data by the unit multiplication factor. Parameter No.1 Setting Feed Length Multiplication STM [Times] 0 Position data 1 1 Position data 10 2 Position data 100 3 Position data 1000 (2) Point table (a) Point table setting Up to 31 point tables may be set.
(b) Descriptions of auxiliary function a) Auxiliary function setting “0” Point block No.3 Point block No. 1 Point block No. 2 Servo motor speed Start signal (ST1 or ST2) b) Auxiliary function setting “1” and dwell time is “0” Position block No.3 Servo motor speed Position block No. 1 0 Position block No.2 Point block Start signal (ST1 or ST2) Rough match (CPO) In position (INP) No.1 ON OFF ON OFF ON OFF c) Auxiliary function setting “1” and dwell time is not “0” Point table No.
(3) Timing chart Servo on (SON) ON OFF Ready (RD) ON OFF Trouble (ALM) ON OFF Automatic/manual selection (MDO) ON OFF In position (INP) ON OFF Rough match (CPO) ON OFF Point table No. Motor speed No.1 Forward rotation 0r/min Reverse rotation Forward rotation start (ST1) ON OFF Reverse rotation start (ST2) (Note) ON OFF No.2 Point table No. 1 1.5ms or less Point table No. 2 4ms or more Note: Reverse rotation start (ST2) is invalid for absolute value command system.
5.2 Positioning operation in accordance with point tables By selecting the point table No. and switching on the start signal (ST1, ST2) using the communication function, positioning operation in accordance with point tables can be started. (1) Selection of point tables Using the device forced output from the controller (command [9][2], data No. [6][0]), choose point tables from among No.1 to 31 (2) Timing chart Transmission data Servo motor speed 1) 4) 5) 4) 5) 3) 4) 5) 5ms Point table No. 2 No.
5.3 Positioning operation via communication Positioning operation can be performed by changing the point table settings and making a start. For example, positioning operation can be performed by writing the data of point table No.1, then specifying point table No.1, and making a start. Transmission data 1) 2) 3) 4) 5) Servo motor speed 7) 6) 8) 5ms Values set with transmission data 1) to 5) are used for operation. No. Transmission Data Command Data No. [0] [1] 1) Point table No.
5.4 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 5.4.1 Jog operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 5 signals (DI0 to DI4) are invalid: Item Setting Method Manual operation mode selection Description Automatic/manual selection signal (MDO) Open MDO-SG (OFF).
(3) Operation By shorting ST1-SG, operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to (2) in this section. By shorting ST2-SG, the servo motor rotates in the reverse direction to ST1.
5.5 Zeroing 5.5.1 Stopper type zeroing In stopper type zeroing, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position. (1) Signals, parameters Set the input signals and parameters as follows: Item Device/Parameter Used Manual zeroing mode selection Stopper type zeroing Description Automatic/manual selection signal (MDO) Short MDO-SG (ON). Point table No.
6. Display and Operation 6.1 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).
7. 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.
(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 Initial Value 0 Unit 10STM m Setting Range 0 to 65535 100 r/min 0 to Max. speed *STC S-pattern acceleration/deceleration time constant Set when inserting an S-pattern time constant into the acceleration/deceleration time constant of the point table.
Class No. Symbol 18 *DMD Name and Function Initial Value Status display selection Used to select the status display shown at power-on . Setting Range 0000h to 1F1Fh 0000 0000h to FFFFh 0 0 Basic parameters Unit 0000 Status display shown at power-on 00: Current position 01: Command position 02: Command remaining distance 03: Point table No.
Class No. Symbol 20 *OP2 Name and Function Initial Value Unit Function selection 2 Used to select slight vibration suppression control. 0 0000 Setting Range 0000h to 1111h 0 0 Slight vibration suppression control selection 0: Invalid 1: Valid Parameter No.2 must be “03 ” or “04 ” for activate this function.
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 Name and Function 43 Setting Range 0 For manufacturing setting 41 42 Initial Value Unit 0 *ZPS Zeroing position data Used to set the current position on completion of zeroing. DCT 0 10S m −32768 to 32767 10S m 0 to 65535 TM Moving distance after proximity dog Used to set the moving distance after proximity dog in count type zeroing.
No. Symbol 52 53 Name and Function LNP Position range output address Used to set the address decrement side position range output address. Set the same sign to parameters No.52 and 53. Setting of different signs will result in a parameter error. Initial Value 0 Unit 10STM m Setting Range 999999 to 999999 Set address: Upper 3 digits Lower 3 digits Parameter No. 53 Parameter No. 52 54 *OP5 For manufacturer setting 0000 55 *OP6 Optional function 6 Servo on response in alarm reset operation.
Expansion parameters Class No. Symbol 57 Initial Value Name and Function *OP8 Function selection 8 Used to select the protocol of serial communication.
Class No. Symbol 61 NH1 Initial value Name and function Machine resonance suppression filter 1 Used to selection the machine resonance suppression filter. Unit Setting range 0000 .0000h to 031Fh 0000 0000h to 031Fh 0 Notch frequency selection Setting Frequency Setting Frequency Setting Frequency Setting Frequency value value value value 00 Invalid 08 562.5 10 281.3 18 187.5 01 4500 09 500 11 264.7 19 180 02 2250 0A 450 12 250 1A 173.1 03 1500 0B 409.1 13 236.
Class No. Symbol 63 LPF Initial value Name and function Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control. Unit 0000 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.
Class No. Symbol Initial value Name and function Unit Setting range 69 CDS Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. 68.The set value unit changes with the changing condition item. 10 kpps pulse r/min 0 to 9999 70 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No. 68 and 69.
Class No.
Class No. Symbol 84 *DI6 Name and Function Input device selection 6 Used to set automatically ON of function device Initial Value Unit Setting Range 0002 0000h to FFFFh 0000 0000h to FFFFh Forced stop Servo on Forward stroke limit Reverse stroke limit Automatic / Manual selection Point table No. selection 1 Point table No. selection 2 Point table No. selection 3 Point table No.
Class No.
8. Communication Functions The MR-J2S-A-S061 has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS422 and RS-232C with parameter No.16. 8.1 Configuration 8.1.1 RS-422 configuration (1) Outline Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
8.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MR-J2S-A-S061 MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MRCPCATCBL3M) is available. Personal computer connector D-SUB25 (socket) (Note 3) 15m(590.55inch) max.
8.2 Communication specifications The MELSERVO-J2S series is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (e.g. MR-J2S-A-S061 servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data. Item Baudrate Description 9.6k/19.2k/38.4k/57.
(3) RS-422/RS-232C serial interface selection Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together. Parameter No. 16 − − − RS-422/RS-232C communication standard selection 0: RS-422 used 1: RS-232C used (4) Communication delay time Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data. Set "0" to send back data in less than 888 s or "1" to send back data in 888 s or more. Parameter No.
(2) Transmission of data request from the controller to the servo S O H S T X Data No. E T X Check sum Station number or group S T X Station number or group Servo side Error code Controller side Command 10 frames Data E T X Check sum 6 frames (data) (3) Recovery of communication status by time-out Controller side E O T EOT causes the servo to return to the receive neutral status.
8.4 Character codes (1) Control codes Personal Computer Terminal Key Operation (General) Code Name Hexadecimal (ASCII code) Description SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of text end of transmission ctrl ctrl ctrl ctrl A B C D (2) Codes for data JIS8 unit codes are used.
8.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The code transmitted in uppercase indicates that the servo is normal and the one in lowercase indicates that an alarm has occurred.
8.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
8.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: 1) 1s or more time has elapsed after the slave station is switched on; and 2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems. 8.
8.11 Command and data No. list 8.11.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display Item Frame Length [0][1] [8][0] Status display data value and Current position 12 [0][1] [8][1] processing information Command position 12 [0][1] [8][2] Command remaining distance 12 [0][1] [8][3] Point table No.
(4) Alarm history (Command [3][3]) Command Data No.
(6) Point table/position data (Command [4][0]) Command Data No. [4][0] [0][1] [4][0] Description Point table No. Frame Length Point table No.1 8 [0][2] Point table No.2 8 [4][0] [0][3] Point table No.3 8 [4][0] [0][4] Point table No.4 8 [4][0] [0][5] Point table No.5 8 [4][0] [0][6] Point table No.6 8 [4][0] [0][7] Point table No.7 8 [4][0] [0][8] Point table No.8 8 [4][0] [0][9] Point table No.9 8 [4][0] [0][A] Point table No.10 8 [4][0] [0][B] Point table No.
(8) Point table/acceleration time constant (Command [5][4]) Command Data No. [5][4] [0][1] [5][4] Description Point table No. Frame Length Point table No.1 8 [0][2] Point table No.2 8 [5][4] [0][3] Point table No.3 8 [5][4] [0][4] Point table No.4 8 [5][4] [0][5] Point table No.5 8 [5][4] [0][6] Point table No.6 8 [5][4] [0][7] Point table No.7 8 [5][4] [0][8] Point table No.8 8 [5][4] [0][9] Point table No.9 8 [5][4] [0][A] Point table No.
(10) Point table/dwell time (Command [6][0]) Command Data No. [6][0] [0][1] [6][0] Description Point table No. Frame Length Point table No.1 8 [0][2] Point table No.2 8 [6][0] [0][3] Point table No.3 8 [6][0] [0][4] Point table No.4 8 [6][0] [0][5] Point table No.5 8 [6][0] [0][6] Point table No.6 8 [6][0] [0][7] Point table No.7 8 [6][0] [0][8] Point table No.8 8 [6][0] [0][9] Point table No.9 8 [6][0] [0][A] Point table No.10 8 [6][0] [0][B] Point table No.
(12) Group setting (Command [1][F]) Command Data No. [1][F] [0][0] Description Frame Length Reading of group setting value 4 8.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. [8][1] [0][0] Description Setting Range Status display data clear 1EA5 Frame Length 4 (2) Parameter (Command [8][4]) Command [8][4] Data No. [0][0] to [5[A Description Setting Range Each parameter write Frame Length Depends on the (Decimal number of data No. corresponds to the parameter.
(6) Point table/position data (Command [C][0]) Command Data No. [C][0] [0][1] [C][0] Description Point table No. Setting Range Frame Length Point table No.1 8 [0][2] Point table No.2 8 [C][0] [0][3] Point table No.3 8 [C][0] [0][4] Point table No.4 8 [C][0] [0][5] Point table No.5 8 [C][0] [0][6] Point table No.6 8 [C][0] [0][7] Point table No.7 8 [C][0] [0][8] Point table No.8 8 [C][0] [0][9] Point table No.9 8 [C][0] [0][A] Point table No.
(8) Point table/acceleration time constant (Command [C][7]) Command Data No. [C][7] [0][1] [C][7] Description Point table No. Setting Range Frame Length Point table No.1 8 [0][2] Point table No.2 8 [C][7] [0][3] Point table No.3 8 [C][7] [0][4] Point table No.4 8 [C][7] [0][5] Point table No.5 8 [C][7] [0][6] Point table No.6 8 [C][7] [0][7] Point table No.7 8 [C][7] [0][8] Point table No.8 8 [C][7] [0][9] Point table No.9 8 [C][7] [0][A] Point table No.
(10) Point table/dwell time (Command [C][A]) Command Data No. [C][A] [0][1] [C][A] Description Point table No. Setting Range Frame Length Point table No.1 8 [0][2] Point table No.2 8 [C][A] [0][3] Point table No.3 8 [C][A] [0][4] Point table No.4 8 [C][A] [0][5] Point table No.5 8 [C][A] [0][6] Point table No.6 8 [C][A] [0][7] Point table No.7 8 [C][A] [0][8] Point table No.8 8 [C][A] [0][9] Point table No.9 8 [C][A] [0][A] Point table No.
(12) Operation mode selection (Command [8][B]) Command Data No. [8][B] [0][0] Description Operation mode changing Setting range Frame length 0000 to 0004 4 Setting range Frame length 0000: Exit from test operation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output (13) External input signal disable (Command [9][0]) Command Data No.
8.12 Detailed explanations of commands 8.12.1 Data processing When the command + data number or the command + data number + data are sent from the master station to a slave station, a reply or data is returned from the servo amplifier according to the purpose. In these send data and receive data, numerical values are represented in decimal, hexadecimal, etc. Hence, data must be processed to meet their purposes.
(2) Writing processed data When written data is handled as a decimal number, the decimal point position must be specified. If it is not specified, data cannot be written. When data is handled as a hexadecimal number, specify "0" for the decimal point position. The data to be sent is as follows: 0 Data is transferred in hexadecimal.
8.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read. (b) Reply The slave station sends back the status display data requested.
8.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. Command [0][5] Data No. [0][0] to [5][A] Data No. Definition Corresponds to the parameter No. 2) Reply The slave station sends back the data and processing information of the requested parameter No. Data is transferred in hexadecimal.
(2) Parameter write Write the parameter setting. Write the value within the setting range. Transmit command [8][4], the data No., and the set data. The data number is represented in hexadecimal. The decimal value converted from the data number value corresponds to the parameter number. Refer to (1)(a) in this section. When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, data cannot be written.
8.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
(3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
(5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and data No. [8][0]. Command [1][2] Data No. [8][0] (b) Reply The slave station sends back the statuses of the output devices. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
8.12.6 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No.0 (last alarm) to No.5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in decimal. For example, "0032" means A.32 and "00FF" A._ (no alarm).
(3) Alarm history clear Erase the alarm history. Send command [8][2] and data No. [2][0]. Command Data No. Data [8][2] [2][0] [1][E][A][5] 8.12.7 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. 0 0 Alarm No. is transferred in decimal. For example, "0032" means A.32 and "00FF" A._ (no alarm).
0 0 Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required) Display type 0: Conversion into decimal required 1: Used unchanged in hexadecimal Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit (3) Current alarm clear As by the entry of the RES signal, reset the servo amplifier alarm to make the servo amplifier ready to operate.
8.12.8 Point table (1) Position data read Read the position data of the point table. (a) Transmission Transmit command [4][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the position data of the requested point table.
(3) Acceleration time constant read Read the acceleration time constant of the point table. (a) Transmission Transmit command [5][4] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the acceleration time constant of the requested point table.
(5) Dwell time read Read the dwell time of the point table. (a) Transmission Transmit command [6][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the dwell time of the requested point table.
(7) Position data write Write the position data of the point table. Transmit command [C][0], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command [C][0] Data No. [0][1] to [1][F] Data See below.
(9) Acceleration time constant write Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command [C][7] Data No. Data [0][1] to [1][F] See below.
(11) Dwell time write Write the dwell time of the point table. Transmit command [C][A], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command [C][A] Data No. [0][1] to [1][F] Data See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the positioning address is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier.
8.12.9 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication. (1) Group setting write Write the group designation value to the slave station. Transmission Transmit command [9][F], data No. [0][0] and data. Command Data No. Data [9][F] [0][0] See below.
8.12.10 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] (b) Reply The slave station sends back the requested servo motor end pulses. Absolute value is sent back in hexadecimal in the servo motor end pulse unit. (Must be converted into decimal) For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.
REVISIONS Print Date ‘02/01/09 Document # BCN-B11127-479* Revision First edition 85 Editor H.
