Справочник ПользователяСодержаниеSAFETY PRECAUTIONS2REVISIONS12INTRODUCTION13CONTENTS13About Manuals221. SUMMARY241.1 Summary241.2 Features291.3 Specifications321.3.1 General specifications321.3.2 List of specifications of position board331.4 Name of each section361.4.1 Name of parts for PCI bus compatible position board361.4.2 Name of parts for PCI Express® bus compatible position board381.5 Bus interface401.5.1 Configuration register401.5.2 Dual port memory map421.5.3 Module information431.6 SSCNETIII cables451.7 Forced stop input terminal462. SYSTEM CONFIGURATION482.1 Position board configuration482.1.1 MR-MC210 system configuration482.1.2 MR-MC211 system configuration492.1.3 MR-MC240 system configuration502.1.4 MR-MC241 system configuration512.2 System configuration equipment522.3 Checking serial number and operating system software version532.3.1 Checking serial number532.3.2 Checking software version532.4 Restrictions by the Software's Version543. INSTALLATION AND WIRING563.1 Board installation563.1.1 Instructions for handling563.1.2 Installation environment563.2 Connection and disconnection of cable573.2.1 SSCNETIII cable573.2.2 Forced stop input cable614. SYSTEM STARTUP624.1 Startup procedures624.2 Check of wiring and ambient environment634.3 Position board setting644.4 Servo amplifier setting654.5 Parameter setting674.5.1 Parameter initialization674.5.2 System option 1 setting684.5.3 System option 2 setting704.5.4 Control option 1 setting714.5.5 Axis No. assignment724.5.6 Sensor input option setting744.5.7 Vendor ID and type code setting774.6 System startup processing785. OPERATIONAL FUNCTIONS805.1 JOG operation815.1.1 Summary815.1.2 Start operation method815.1.3 Resuming operation825.2 Incremental feed835.2.1 Summary835.2.2 Start operation method845.3 Automatic operation855.3.1 Summary855.3.2 Start operation method865.3.3 Auxiliary command875.3.4 Other axes start specification945.3.5 S-curve ratio945.4 Linear interpolation955.4.1 Summary955.4.2 Settings975.4.3 Start operation method985.4.4 Processing for exceeding speed limit for each axis995.4.5 Restrictions1005.5 Home position return1015.5.1 Summary1015.5.2 Home position return method1035.5.3 Start operation method1045.5.4 Home position return using a dog method1065.5.5 Home position return using a data set method1085.5.6 Home position return using a stopper method1085.5.7 Home position return using a dog cradle method1095.5.8 Home position return using a limit switch combined method1115.5.9 Home position return using a limit switch front end method1115.5.10 Home position return using a dog front end method1125.5.11 Home position return using a Z-phase detection method1145.5.12 Home position return using a scale home position signal detection method1175.5.13 Home position return using a scale home position signal detection method 21185.6 Home position reset function (data set function)1196. APPLICATION FUNCTIONS1226.1 Command units1226.1.1 Position command unit - electronic gear1226.1.2 Settings1246.1.3 Setting example of electronic gears1246.1.4 Restrictions1256.2 Speed unit1266.2.1 Settings1266.2.2 Setting example of speed units1276.2.3 Speed limit1276.3 Acceleration/deceleration1286.3.1 Linear acceleration/deceleration1286.3.2 Smoothing filter1296.3.3 Start up speed validity1296.3.4 S-curve acceleration/deceleration (Sine acceleration/deceleration)1306.4 Servo off1346.5 Forced stop1356.6 Stop operation1366.7 Rapid stop operation1376.8 Limit switch (stroke end)1386.9 Software limit1396.10 Interlock1416.11 Rough match output1436.12 Torque limit1446.13 Command change1456.13.1 Speed change1456.13.2 Change of time constants1466.13.3 Position change1476.14 Backlash1536.15 Position switch1546.16 Completion of operation signal1556.17 Interference check function1616.17.1 Interface1636.17.2 Interference check operation image diagram1646.17.3 Checks prior to start up1656.17.4 Operation check1666.18 Home position search limit1696.18.1 Summary1696.18.2 Set items1696.18.3 Home position search limit operation example1706.19 Gain changing1716.20 PI-PID switching1736.21 Absolute position detection system1746.21.1 Parameters1746.21.2 Processing procedure1756.21.3 Sequence example1776.22 Home position return request1796.23 Other axes start1816.23.1 Summary1816.23.2 Settings1816.23.3 Interface1876.23.4 Operation example1906.24 High response I/F1946.24.1 Summary1946.24.2 Interface1956.24.3 Fast start operation1966.24.4 Interrupt processing high speed completion1976.25 In-position signal1986.26 Digital input/output1996.26.1 Summary1996.26.2 Interface2006.27 Servo amplifier general input/output2016.27.1 Summary2016.27.2 Settings2036.28 Dual port memory exclusive control2066.28.1 Summary2066.28.2 Exclusive control of digital output2066.29 Pass position interrupt2086.29.1 Summary2086.29.2 Pass position interrupt setting method2096.29.3 Interface2106.29.4 Operation example2216.30 Mark detection2256.30.1 Summary2256.30.2 Interface2296.30.3 Function details2376.30.4 Operation example2396.31 Continuous operation to torque control2426.31.1 Summary2426.31.2 Interface2446.31.3 Control mode switch2556.31.4 Operation timing2576.31.5 Operation during continuous operation to torque control mode2616.31.6 Stop factors during continuous operation to torque control2626.31.7 Combinations of continuous operation to torque control and other functions2646.31.8 Restrictions on servo amplifier functions2667. AUXILIARY FUNCTION2687.1 Reading/writing parameters2687.1.1 Writing parameters2687.1.2 Reading parameters2707.2 Changing parameters at the servo2717.3 Alarm and system error2737.4 Monitor function2757.4.1 Summary2757.4.2 Monitor latch function2777.5 High speed monitor function2787.5.1 Summary2787.5.2 Monitor latch function2797.6 Interrupt2807.6.1 Interrupt sequence2807.6.2 Interrupt conditions2827.6.3 Factor of interrupt2837.6.4 Interrupt processing example2917.7 User watchdog function2927.8 Software reboot function2937.9 Parameter backup2947.10 Test mode2987.10.1 Structural diagram2987.10.2 Test operation mode2997.11 Reconnect/disconnect function3007.11.1 Disconnection function summary3007.11.2 Reconnect function summary3017.11.3 Interface3027.11.4 Disconnection method3037.11.5 Reconnection method3047.11.6 Restrictions3057.12 Sampling3067.12.1 Summary3067.12.2 Command/status bit3077.12.3 Command/status data3107.12.4 Sampling setting write/read3137.12.5 Details for sampling function settings3147.12.6 Number of sampled points3207.12.7 Sampling items3217.12.8 Sampling trigger3277.12.9 Sampling data read3307.12.10 Timing chart for sampling function3327.13 Log3417.13.1 Summary3417.13.2 Log data details3427.13.3 Event code list3437.13.4 Information for each event3457.13.5 Log function interface3547.13.6 Timing chart for reading of log data3577.13.7 Log acquiring selection3577.14 Operation cycle monitor function3587.14.1 Summary3587.14.2 Interface3587.14.3 Operation timing3597.15 External forced stop disabled3617.15.1 Summary3617.15.2 Interface3617.15.3 Setting method3617.16 Amplifier-less axis function3627.16.1 Summary3627.16.2 Interface3627.16.3 Control details3637.17 Alarm history function3647.17.1 Summary3647.17.2 Alarm history data details3657.17.3 Interface3707.17.4 Timing chart for alarm history read3737.17.5 Alarm history initialization procedure3747.17.6 List of system errors that do not apply to alarm history storage3748. TANDEM DRIVE3768.1 Drive modes3768.1.1 Synchronous mode3778.1.2 Non-synchronous micro-adjustment control mode3778.1.3 Changing of drive mode3788.2 Parameter settings3798.2.1 Designation of tandem drive axes3798.2.2 Servo parameters3798.2.3 Control parameters3798.3 Axis data classifications3808.3.1 Only data from master axis is valid3808.3.2 Individual data for master axis/slave axis3808.4 Tandem drive axis operation3818.4.1 Home position return during tandem drive3818.4.2 JOG operation during tandem drive3998.4.3 Incremental feed while using tandem drive4008.4.4 Automatic operation during tandem drive4018.4.5 Linear interpolation during tandem drive4028.5 Servo on and servo off during tandem drive axis operation4048.6 Tandem drive axis limit switch4058.7 Tandem drive axis software limit4068.8 Tandem drive interference check4068.9 Tandem drive axis servo alarms4078.10 Deviation monitoring function4079. INTERFACE MODE4089.1 Summary4089.2 Combinations with functions4099.3 Parameters4119.4 Interface4139.5 Control method4189.5.1 Control mode4189.5.2 Position control mode4199.5.3 Speed control mode4219.5.4 Torque control mode4239.5.5 Control method for interrupt output invalid4259.5.6 Control method for interrupt output valid4289.5.7 Procedure for switching control mode4339.5.8 Examples of switching control mode4359.6 Interrupt output cycle4389.7 Command data update cycle4399.8 Servo off4409.9 Home position return4419.10 Coordinate management4439.10.1 Incremental system4439.10.2 Absolute position system4459.11 Precautions44710. TABLE MAP44810.1 Table list44810.2 System information45010.3 System command/status table45210.4 Factor of interrupt46410.5 System configuration information table47210.6 Axis data47310.6.1 Axis data command table47310.6.2 Axis data status table48010.7 Servo parameter change number48810.8 Point number offset49210.9 Command buffers49310.10 Digital input/output table49510.11 Mark detection command/status table49610.12 Mark detection data tables49710.13 Continuous operation to torque control data table49811. PARAMETERS50011.1 System parameters50111.2 Servo parameters50311.2.1 Servo amplifier MR-J4(W[])-[]B50311.3 Control parameters52112. MONITOR NUMBER53612.1 Servo information (1)53612.2 Servo information (2)53812.3 Operation information54312.4 Operation information (double word)54612.5 System information54712.6 Servo parameter information54913. ALARM NUMBER55613.1 System alarm55613.2 Servo alarm55713.3 Operation alarm55913.4 System error56614. EMC AND LOW VOLTAGE DIRECTIVES56814.1 Requirements for compliance with the EMC directive56814.1.1 Standards relevant to the EMC directive56914.1.2 Installation instructions for EMC directive57014.1.3 Parts of measure against noise57214.2 Requirements for compliance with the low voltage directive573APPENDIX574App. 1 Supplementary explanation for the use of linear servo system574App. 1.1 Position board574App. 1.2 Position board utility software574App. 1.3 Servo amplifier574App. 1.4 Operations and functions of the linear servo system575App. 2 Supplementary explanation for the use of fully closed loop system586App. 2.1 Position board586App. 2.2 Position board utility software586App. 2.3 Servo amplifier586App. 2.4 Operations and functions of the fully closed loop control587App. 3 Supplementary explanation for the use of direct drive servo system594App. 3.1 Position board594App. 3.2 Position board utility software594App. 3.3 Servo amplifier594App. 3.4 Operations and functions of the direct drive servo system595App. 4 Supplementary explanation for the use of multiple-axis servo amplifier (MR-J4W[]-[]B)601App. 4.1 Position board601App. 4.2 Position board utility software601App. 4.3 Servo amplifier601App. 4.4 Operations and functions of the servo amplifier601App. 5 Supplementary explanation for the use of SSCNETIII compatible servo amplifier (MR-J3(W)-[]B)603App. 5.1 Position board603App. 5.2 Position board utility software603App. 5.3 Connectable units603App. 5.4 System setting604App. 5.5 System configuration604App. 5.5.1 System configuration diagram604App. 5.6 Axis No. setting605App. 5.6.1 Servo amplifier setting605App. 5.7 Parameter setting606App. 5.7.1 System option 1 setting606App. 5.8 Control option 1 setting608App. 5.9 Axis No. assignment609App. 5.10 Sensor input option setting611App. 5.11 Vendor ID and type code setting614App. 5.12 System startup processing614App. 5.13 Restrictions when using J3 compatibility mode615App. 5.14 Supported functions617App. 5.14.1 Application functions619App. 5.14.2 Auxiliary function623App. 5.15 Table map624App. 5.15.1 Table list625App. 5.15.2 System information626App. 5.15.3 Servo parameter change number627App. 5.16 Parameters628App. 5.16.1 System parameters628App. 5.16.2 Servo parameters629App. 5.16.3 Control parameters636App. 5.17 Monitor637App. 5.17.1 Servo information (1)637App. 5.17.2 Servo information (2)639App. 5.17.3 Servo parameter information644App. 5.18 System alarm646App. 5.18.1 Servo alarm646App. 6 Cables647App. 6.1 SSCNETIII cables647App. 6.2 Forced stop input cable650App. 6.3 SSCNETIII cables (SC-J3BUS[]M-C) manufactured by Mitsubishi Electric System & Service651App. 7 Exterior dimensions652App. 7.1 PCI bus compatible position board652App. 7.2 PCI Express® bus compatible position board653App. 7.3 Connectors654WARRANTY656Размер: 3,6 МБСтраницы: 658Язык: EnglishПросмотреть