Mitsubishi Electronics MR-MC241 User Manuals

Table of Contents

• SAFETY PRECAUTIONS

  2
• REVISIONS

  12
• INTRODUCTION

  13
• CONTENTS

  13
• About Manuals

  22
• 1. SUMMARY

  24
  • 1.1 Summary

    24
  • 1.2 Features

    29
  • 1.3 Specifications

    32
    • 1.3.1 General specifications

      32
    • 1.3.2 List of specifications of position board

      33
  • 1.4 Name of each section

    36
    • 1.4.1 Name of parts for PCI bus compatible position board

      36
    • 1.4.2 Name of parts for PCI Express® bus compatible position board

      38
  • 1.5 Bus interface

    40
    • 1.5.1 Configuration register

      40
    • 1.5.2 Dual port memory map

      42
    • 1.5.3 Module information

      43
  • 1.6 SSCNETIII cables

    45
  • 1.7 Forced stop input terminal

    46
• 2. SYSTEM CONFIGURATION

  48
  • 2.1 Position board configuration

    48
    • 2.1.1 MR-MC210 system configuration

      48
    • 2.1.2 MR-MC211 system configuration

      49
    • 2.1.3 MR-MC240 system configuration

      50
    • 2.1.4 MR-MC241 system configuration

      51
  • 2.2 System configuration equipment

    52
  • 2.3 Checking serial number and operating system software version

    53
    • 2.3.1 Checking serial number

      53
    • 2.3.2 Checking software version

      53
  • 2.4 Restrictions by the Software's Version

    54
• 3. INSTALLATION AND WIRING

  56
  • 3.1 Board installation

    56
    • 3.1.1 Instructions for handling

      56
    • 3.1.2 Installation environment

      56
  • 3.2 Connection and disconnection of cable

    57
    • 3.2.1 SSCNETIII cable

      57
    • 3.2.2 Forced stop input cable

      61
• 4. SYSTEM STARTUP

  62
  • 4.1 Startup procedures

    62
  • 4.2 Check of wiring and ambient environment

    63
  • 4.3 Position board setting

    64
  • 4.4 Servo amplifier setting

    65
  • 4.5 Parameter setting

    67
    • 4.5.1 Parameter initialization

      67
    • 4.5.2 System option 1 setting

      68
    • 4.5.3 System option 2 setting

      70
    • 4.5.4 Control option 1 setting

      71
    • 4.5.5 Axis No. assignment

      72
    • 4.5.6 Sensor input option setting

      74
    • 4.5.7 Vendor ID and type code setting

      77
  • 4.6 System startup processing

    78
• 5. OPERATIONAL FUNCTIONS

  80
  • 5.1 JOG operation

    81
    • 5.1.1 Summary

      81
    • 5.1.2 Start operation method

      81
    • 5.1.3 Resuming operation

      82
  • 5.2 Incremental feed

    83
    • 5.2.1 Summary

      83
    • 5.2.2 Start operation method

      84
  • 5.3 Automatic operation

    85
    • 5.3.1 Summary

      85
    • 5.3.2 Start operation method

      86
    • 5.3.3 Auxiliary command

      87
    • 5.3.4 Other axes start specification

      94
    • 5.3.5 S-curve ratio

      94
  • 5.4 Linear interpolation

    95
    • 5.4.1 Summary

      95
    • 5.4.2 Settings

      97
    • 5.4.3 Start operation method

      98
    • 5.4.4 Processing for exceeding speed limit for each axis

      99
    • 5.4.5 Restrictions

      100
  • 5.5 Home position return

    101
    • 5.5.1 Summary

      101
    • 5.5.2 Home position return method

      103
    • 5.5.3 Start operation method

      104
    • 5.5.4 Home position return using a dog method

      106
    • 5.5.5 Home position return using a data set method

      108
    • 5.5.6 Home position return using a stopper method

      108
    • 5.5.7 Home position return using a dog cradle method

      109
    • 5.5.8 Home position return using a limit switch combined method

      111
    • 5.5.9 Home position return using a limit switch front end method

      111
    • 5.5.10 Home position return using a dog front end method

      112
    • 5.5.11 Home position return using a Z-phase detection method

      114
    • 5.5.12 Home position return using a scale home position signal detection method

      117
    • 5.5.13 Home position return using a scale home position signal detection method 2

      118
  • 5.6 Home position reset function (data set function)

    119
• 6. APPLICATION FUNCTIONS

  122
  • 6.1 Command units

    122
    • 6.1.1 Position command unit - electronic gear

      122
    • 6.1.2 Settings

      124
    • 6.1.3 Setting example of electronic gears

      124
    • 6.1.4 Restrictions

      125
  • 6.2 Speed unit

    126
    • 6.2.1 Settings

      126
    • 6.2.2 Setting example of speed units

      127
    • 6.2.3 Speed limit

      127
  • 6.3 Acceleration/deceleration

    128
    • 6.3.1 Linear acceleration/deceleration

      128
    • 6.3.2 Smoothing filter

      129
    • 6.3.3 Start up speed validity

      129
    • 6.3.4 S-curve acceleration/deceleration (Sine acceleration/deceleration)

      130
  • 6.4 Servo off

    134
  • 6.5 Forced stop

    135
  • 6.6 Stop operation

    136
  • 6.7 Rapid stop operation

    137
  • 6.8 Limit switch (stroke end)

    138
  • 6.9 Software limit

    139
  • 6.10 Interlock

    141
  • 6.11 Rough match output

    143
  • 6.12 Torque limit

    144
  • 6.13 Command change

    145
    • 6.13.1 Speed change

      145
    • 6.13.2 Change of time constants

      146
    • 6.13.3 Position change

      147
  • 6.14 Backlash

    153
  • 6.15 Position switch

    154
  • 6.16 Completion of operation signal

    155
  • 6.17 Interference check function

    161
    • 6.17.1 Interface

      163
    • 6.17.2 Interference check operation image diagram

      164
    • 6.17.3 Checks prior to start up

      165
    • 6.17.4 Operation check

      166
  • 6.18 Home position search limit

    169
    • 6.18.1 Summary

      169
    • 6.18.2 Set items

      169
    • 6.18.3 Home position search limit operation example

      170
  • 6.19 Gain changing

    171
  • 6.20 PI-PID switching

    173
  • 6.21 Absolute position detection system

    174
    • 6.21.1 Parameters

      174
    • 6.21.2 Processing procedure

      175
    • 6.21.3 Sequence example

      177
  • 6.22 Home position return request

    179
  • 6.23 Other axes start

    181
    • 6.23.1 Summary

      181
    • 6.23.2 Settings

      181
    • 6.23.3 Interface

      187
    • 6.23.4 Operation example

      190
  • 6.24 High response I/F

    194
    • 6.24.1 Summary

      194
    • 6.24.2 Interface

      195
    • 6.24.3 Fast start operation

      196
    • 6.24.4 Interrupt processing high speed completion

      197
  • 6.25 In-position signal

    198
  • 6.26 Digital input/output

    199
    • 6.26.1 Summary

      199
    • 6.26.2 Interface

      200
  • 6.27 Servo amplifier general input/output

    201
    • 6.27.1 Summary

      201
    • 6.27.2 Settings

      203
  • 6.28 Dual port memory exclusive control

    206
    • 6.28.1 Summary

      206
    • 6.28.2 Exclusive control of digital output

      206
  • 6.29 Pass position interrupt

    208
    • 6.29.1 Summary

      208
    • 6.29.2 Pass position interrupt setting method

      209
    • 6.29.3 Interface

      210
    • 6.29.4 Operation example

      221
  • 6.30 Mark detection

    225
    • 6.30.1 Summary

      225
    • 6.30.2 Interface

      229
    • 6.30.3 Function details

      237
    • 6.30.4 Operation example

      239
  • 6.31 Continuous operation to torque control

    242
    • 6.31.1 Summary

      242
    • 6.31.2 Interface

      244
    • 6.31.3 Control mode switch

      255
    • 6.31.4 Operation timing

      257
    • 6.31.5 Operation during continuous operation to torque control mode

      261
    • 6.31.6 Stop factors during continuous operation to torque control

      262
    • 6.31.7 Combinations of continuous operation to torque control and other functions

      264
    • 6.31.8 Restrictions on servo amplifier functions

      266
• 7. AUXILIARY FUNCTION

  268
  • 7.1 Reading/writing parameters

    268
    • 7.1.1 Writing parameters

      268
    • 7.1.2 Reading parameters

      270
  • 7.2 Changing parameters at the servo

    271
  • 7.3 Alarm and system error

    273
  • 7.4 Monitor function

    275
    • 7.4.1 Summary

      275
    • 7.4.2 Monitor latch function

      277
  • 7.5 High speed monitor function

    278
    • 7.5.1 Summary

      278
    • 7.5.2 Monitor latch function

      279
  • 7.6 Interrupt

    280
    • 7.6.1 Interrupt sequence

      280
    • 7.6.2 Interrupt conditions

      282
    • 7.6.3 Factor of interrupt

      283
    • 7.6.4 Interrupt processing example

      291
  • 7.7 User watchdog function

    292
  • 7.8 Software reboot function

    293
  • 7.9 Parameter backup

    294
  • 7.10 Test mode

    298
    • 7.10.1 Structural diagram

      298
    • 7.10.2 Test operation mode

      299
  • 7.11 Reconnect/disconnect function

    300
    • 7.11.1 Disconnection function summary

      300
    • 7.11.2 Reconnect function summary

      301
    • 7.11.3 Interface

      302
    • 7.11.4 Disconnection method

      303
    • 7.11.5 Reconnection method

      304
    • 7.11.6 Restrictions

      305
  • 7.12 Sampling

    306
    • 7.12.1 Summary

      306
    • 7.12.2 Command/status bit

      307
    • 7.12.3 Command/status data

      310
    • 7.12.4 Sampling setting write/read

      313
    • 7.12.5 Details for sampling function settings

      314
    • 7.12.6 Number of sampled points

      320
    • 7.12.7 Sampling items

      321
    • 7.12.8 Sampling trigger

      327
    • 7.12.9 Sampling data read

      330
    • 7.12.10 Timing chart for sampling function

      332
  • 7.13 Log

    341
    • 7.13.1 Summary

      341
    • 7.13.2 Log data details

      342
    • 7.13.3 Event code list

      343
    • 7.13.4 Information for each event

      345
    • 7.13.5 Log function interface

      354
    • 7.13.6 Timing chart for reading of log data

      357
    • 7.13.7 Log acquiring selection

      357
  • 7.14 Operation cycle monitor function

    358
    • 7.14.1 Summary

      358
    • 7.14.2 Interface

      358
    • 7.14.3 Operation timing

      359
  • 7.15 External forced stop disabled

    361
    • 7.15.1 Summary

      361
    • 7.15.2 Interface

      361
    • 7.15.3 Setting method

      361
  • 7.16 Amplifier-less axis function

    362
    • 7.16.1 Summary

      362
    • 7.16.2 Interface

      362
    • 7.16.3 Control details

      363
  • 7.17 Alarm history function

    364
    • 7.17.1 Summary

      364
    • 7.17.2 Alarm history data details

      365
    • 7.17.3 Interface

      370
    • 7.17.4 Timing chart for alarm history read

      373
    • 7.17.5 Alarm history initialization procedure

      374
    • 7.17.6 List of system errors that do not apply to alarm history storage

      374
• 8. TANDEM DRIVE

  376
  • 8.1 Drive modes

    376
    • 8.1.1 Synchronous mode

      377
    • 8.1.2 Non-synchronous micro-adjustment control mode

      377
    • 8.1.3 Changing of drive mode

      378
  • 8.2 Parameter settings

    379
    • 8.2.1 Designation of tandem drive axes

      379
    • 8.2.2 Servo parameters

      379
    • 8.2.3 Control parameters

      379
  • 8.3 Axis data classifications

    380
    • 8.3.1 Only data from master axis is valid

      380
    • 8.3.2 Individual data for master axis/slave axis

      380
  • 8.4 Tandem drive axis operation

    381
    • 8.4.1 Home position return during tandem drive

      381
    • 8.4.2 JOG operation during tandem drive

      399
    • 8.4.3 Incremental feed while using tandem drive

      400
    • 8.4.4 Automatic operation during tandem drive

      401
    • 8.4.5 Linear interpolation during tandem drive

      402
  • 8.5 Servo on and servo off during tandem drive axis operation

    404
  • 8.6 Tandem drive axis limit switch

    405
  • 8.7 Tandem drive axis software limit

    406
  • 8.8 Tandem drive interference check

    406
  • 8.9 Tandem drive axis servo alarms

    407
  • 8.10 Deviation monitoring function

    407
• 9. INTERFACE MODE

  408
  • 9.1 Summary

    408
  • 9.2 Combinations with functions

    409
  • 9.3 Parameters

    411
  • 9.4 Interface

    413
  • 9.5 Control method

    418
    • 9.5.1 Control mode

      418
    • 9.5.2 Position control mode

      419
    • 9.5.3 Speed control mode

      421
    • 9.5.4 Torque control mode

      423
    • 9.5.5 Control method for interrupt output invalid

      425
    • 9.5.6 Control method for interrupt output valid

      428
    • 9.5.7 Procedure for switching control mode

      433
    • 9.5.8 Examples of switching control mode

      435
  • 9.6 Interrupt output cycle

    438
  • 9.7 Command data update cycle

    439
  • 9.8 Servo off

    440
  • 9.9 Home position return

    441
  • 9.10 Coordinate management

    443
    • 9.10.1 Incremental system

      443
    • 9.10.2 Absolute position system

      445
  • 9.11 Precautions

    447
• 10. TABLE MAP

  448
  • 10.1 Table list

    448
  • 10.2 System information

    450
  • 10.3 System command/status table

    452
  • 10.4 Factor of interrupt

    464
  • 10.5 System configuration information table

    472
  • 10.6 Axis data

    473
    • 10.6.1 Axis data command table

      473
    • 10.6.2 Axis data status table

      480
  • 10.7 Servo parameter change number

    488
  • 10.8 Point number offset

    492
  • 10.9 Command buffers

    493
  • 10.10 Digital input/output table

    495
  • 10.11 Mark detection command/status table

    496
  • 10.12 Mark detection data tables

    497
  • 10.13 Continuous operation to torque control data table

    498
• 11. PARAMETERS

  500
  • 11.1 System parameters

    501
  • 11.2 Servo parameters

    503
    • 11.2.1 Servo amplifier MR-J4(W[])-[]B

      503
  • 11.3 Control parameters

    521
• 12. MONITOR NUMBER

  536
  • 12.1 Servo information (1)

    536
  • 12.2 Servo information (2)

    538
  • 12.3 Operation information

    543
  • 12.4 Operation information (double word)

    546
  • 12.5 System information

    547
  • 12.6 Servo parameter information

    549
• 13. ALARM NUMBER

  556
  • 13.1 System alarm

    556
  • 13.2 Servo alarm

    557
  • 13.3 Operation alarm

    559
  • 13.4 System error

    566
• 14. EMC AND LOW VOLTAGE DIRECTIVES

  568
  • 14.1 Requirements for compliance with the EMC directive

    568
    • 14.1.1 Standards relevant to the EMC directive

      569
    • 14.1.2 Installation instructions for EMC directive

      570
    • 14.1.3 Parts of measure against noise

      572
  • 14.2 Requirements for compliance with the low voltage directive

    573
• APPENDIX

  574
  • App. 1 Supplementary explanation for the use of linear servo system

    574
    • App. 1.1 Position board

      574
    • App. 1.2 Position board utility software

      574
    • App. 1.3 Servo amplifier

      574
    • App. 1.4 Operations and functions of the linear servo system

      575
  • App. 2 Supplementary explanation for the use of fully closed loop system

    586
    • App. 2.1 Position board

      586
    • App. 2.2 Position board utility software

      586
    • App. 2.3 Servo amplifier

      586
    • App. 2.4 Operations and functions of the fully closed loop control

      587
  • App. 3 Supplementary explanation for the use of direct drive servo system

    594
    • App. 3.1 Position board

      594
    • App. 3.2 Position board utility software

      594
    • App. 3.3 Servo amplifier

      594
    • App. 3.4 Operations and functions of the direct drive servo system

      595
  • App. 4 Supplementary explanation for the use of multiple-axis servo amplifier (MR-J4W[]-[]B)

    601
    • App. 4.1 Position board

      601
    • App. 4.2 Position board utility software

      601
    • App. 4.3 Servo amplifier

      601
    • App. 4.4 Operations and functions of the servo amplifier

      601
  • App. 5 Supplementary explanation for the use of SSCNETIII compatible servo amplifier (MR-J3(W)-[]B)

    603
    • App. 5.1 Position board

      603
    • App. 5.2 Position board utility software

      603
    • App. 5.3 Connectable units

      603
    • App. 5.4 System setting

      604
    • App. 5.5 System configuration

      604
      • App. 5.5.1 System configuration diagram

        604
    • App. 5.6 Axis No. setting

      605
      • App. 5.6.1 Servo amplifier setting

        605
    • App. 5.7 Parameter setting

      606
      • App. 5.7.1 System option 1 setting

        606
    • App. 5.8 Control option 1 setting

      608
    • App. 5.9 Axis No. assignment

      609
    • App. 5.10 Sensor input option setting

      611
    • App. 5.11 Vendor ID and type code setting

      614
    • App. 5.12 System startup processing

      614
    • App. 5.13 Restrictions when using J3 compatibility mode

      615
    • App. 5.14 Supported functions

      617
      • App. 5.14.1 Application functions

        619
      • App. 5.14.2 Auxiliary function

        623
    • App. 5.15 Table map

      624
      • App. 5.15.1 Table list

        625
      • App. 5.15.2 System information

        626
      • App. 5.15.3 Servo parameter change number

        627
    • App. 5.16 Parameters

      628
      • App. 5.16.1 System parameters

        628
      • App. 5.16.2 Servo parameters

        629
      • App. 5.16.3 Control parameters

        636
    • App. 5.17 Monitor

      637
      • App. 5.17.1 Servo information (1)

        637
      • App. 5.17.2 Servo information (2)

        639
      • App. 5.17.3 Servo parameter information

        644
    • App. 5.18 System alarm

      646
      • App. 5.18.1 Servo alarm

        646
  • App. 6 Cables

    647
    • App. 6.1 SSCNETIII cables

      647
    • App. 6.2 Forced stop input cable

      650
    • App. 6.3 SSCNETIII cables (SC-J3BUS[]M-C) manufactured by Mitsubishi Electric System & Service

      651
  • App. 7 Exterior dimensions

    652
    • App. 7.1 PCI bus compatible position board

      652
    • App. 7.2 PCI Express® bus compatible position board

      653
    • App. 7.3 Connectors

      654
• WARRANTY

  656