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BNP-Boo26-0000L(ENG)

MITSUBISHI CNC
lUELDy'S AC SERVO MR€1O SERIES r"*'11/M*slzl
AIIELDy'S AC SERVO MR-S SERIES ru*",,/M'sa./M*ssl
SERVO PARAMETER ADJUSTMENT PROCEDURES

This manual applies to the following systems and higher.


1 BND.5O6WOOO-82
MR-S1
MR.S12 BND.sOTWOOO-BO
MR-S1 BND.sOOWOOO.CS
MR.S2 BND.sOl WOOO-CB
MR.S3 BND.sOSWOOO-BD

ADVANCED AND EVER ADVANCING


MITSUBISHI ELECTRIC
BNP-Boo26-ooooL(ENG)

MITSUBISHI CNC
MELDAS AC SERVO MR-SI0 SERIES rMR-s11/MR-s12t
MELDAS AC SERVO MR-S SERIES rMR-s1/MR-s2/MR-ssI

SERVO PARAMETER ADJUSTMENT PROCEDURES

This manual applies to the following systems and higher.


MR-S1 1 BND-506W000-82
MR-S12 BND-507W000-80
MR-S1 BND-500w000-c8
MR-S2 BND-5O1WOOO-CB
MR-S3 BND-sO3WOOO-BD

ADVANCED AND EVER ADVANCING


MITSUBISHI ELECTRIC
Contents

1. Summary 1

2. Functions and Related Parameters 2


2.1 MR-S11 BND-506W000 2
2.2 MR-S12 BND-507W000 3
2.3 MR-S1 BND-500W000 4
2.4 MR-S2 BND-501W000 5
2.5 MR-S3 BND-503W000 6
3. Parameters 7
3.1 Details of parameters B
3.2 PC1 and PC2 limits 20
3.3 Changing of parameters 20
4. Troubleshooting 21
4.1 Vibration or vibration noise occurs 21
4.1.1Fine vibration is felt when the machine is touched by hand
or a churning vibration noise is heard 21
4.1.2 Vibration or noise occurs during rapid traverse 21
4.2 The cutting surface precision is poor, the roundness is poor 22
4.2.1 The surface precision in the 45" direction of the taper or
arc is poor
4.2.2 Protrusions occurs when the arc quadrant is changed.
(Strains appear)
4.2.3 The load fluctuation is large, or vibration or precision defects occur
during cutting. (Especially during heavy cutting) 23
4.3 Overshooting occurs during positions. Limit cycles occur. 23
4.3.1 For semi-closed loop 23
4.3.2 For full closed loop 23
4.3-3 When using overshooting compensation function 23
4.4 Remaining feed occurs during one pulse feed 24
4.5 The excessive error alarm occurs occasionally 24
5. Precautions for Raising VGI and VIA 25
6. Digital Servo Parameter Block Diagram 26
7. Compatihle Motor List 27
8. Compatible Detector List 28
9. Standard Parameter Settings Per Motor 29
9.1 Standard 2000rpm motor 29
9.2 Standard 3000rpm motor 30
9.3 Special 3000rpm motor 31
9.4 2000rpm flat motor . . 32
9.5 2000rpm low-inertia motor 33
10. lllegal Parameter Nos. During Parameter Errors 34
11. Servo Alarm and Warning List 37
2. Functions and Flelated Parameters

2. Functions and Related Parameters


Functions have been added and revised with the software version.

2.1 MR-S11 BND-506W000


si/w Function Details Helated parameters
Version
AO High speed communication High-speed, high-accuracy (for M300V Series) 27:SSF
function
Notch filter function Suppression of ball screw shaft torsion resonance 17:STY

Speed Pl-P control function Robust control 4:LGN 8:VlA

Feedback error detection Position deviation, runaway protection 27:SSF


function
Ground fault protection function Protection of motor output cable and motor
internal ground faults
EEROM function Servo alarm history
A1 For OSE12.5K detector 1 2,500p/rev high-accuracy detector
When ball screw pitch is smm, 25:MTY
19:RNG
0.1p is detected
When 10mm, 0.2pis detected
Excessive error detection During servo ON excessive error 1 OD1:52
23:OD1 26:ODZ
improvement During servo OFF excessive errot 2 OD2:53

M Speed feedback comPensation 2 Suppression of fine vibration when stopped 17:STY


function
For HA053/1 3/700L motor Addition of compatible motors 25:MW
4.3 Lost motion comPensation tYPe Compatible for all cutting ranges 17:STY 16:TGN 28:SPl
2 function
For HA-N43 motor Addition of compatible motors 25:MTY

A4 No additions
A5 For HA-N23/N33 motor Addition of compatible motors 25:MTY

Software non-sensitive range \{hen 27: SSFI/BS hardware non-sensitive range


compensation compensation is validated, the software non- 27:SSF 30:SP3
sensitive range compensation will be only 30:SP3.
Addition of contactot eftol melting
Detection of contactor point MCE:57
detection
A6 Addition of interface lor transient Addition of interface that makes finding of alarm
function cause easy by observing and measuring the
various control amounts up to the servo alarm.
A7 Addition of absolute position Closed loop absolute position detection method
detection MP scale specifications using the MHI MP scale.
Addition of lost motion Addition of interface that makes suppressing of
compensation suPPression lost motion compensation during manual handle
function interface and rapid traverse modes possible.
Addition of overshoot Overshooting is prevented. 27:SSF 31:SP4
compensation function
BO

B1 Addition of absolute Position Closed loop scale absolute position detection


detection scale absolute position method using the Mitsutoyo absolute position
detection specifications scale.

Overshoot comPensation Addition of type 2 compensation timing 17:STY


function
Absolute position axis control Addition of absolute position detection axis control
axis removal function axis removal. (Note that incremental detection is
applied after removal.)
82 Addition of same direction lost The tracking delay in molor revolution at start up is
motion compensation compensated. 105:PA4
(This can be done only with the MA NC.)
H

2. Functions and Related Parameters

2.2 MR-S12 BND-s07w000


s/w Details Related pdameters
Function
Version

AO High speed communication High-speed, high-accuracy (for M300V Series) 27:SSF


function
17:STY
Notch filter function Suppression of ball screw shaft torsion resonance
4:LGN 8:VlA
Speed Pl-P control function Robust control

Feedback error detection Position deviation, runaway protection 27rSSF


function

Ground fault Protection tunction Protection of motor output cable and motor
internal ground faults

EEROM function Servo alarm historY

A1 Speed feedback comPensation 2 Suppression of fine vibration when stopped 17:STY


function

Speed feedback timer Suppression of fine vibration when stopped' 27:SSF


compensation function improvement of cutting surface precision

A2 No additions

A3 Lost motion comPensation tYPe Compatible for all cutting ranges 17:STY 16:TGN 28:SP1
2 function

Addition of comPatible motors 25:MTY


For HA-N43 motor

A4 No additions

Mdition ol comPatible motors 25:MTY


A5 For HA-N-23/N33 motor

Software non-sensitive range When 27: SSFA/BS hardware non-sensitive range


27:SSF 30:SP3
compensation compensation is validated, the software non-
sensitive range compensation will be only 30'SP3'

Addition of contactor ertor Detection of contactor point melting


detection

A6 Addition of interface for transient Addition of interface that makes finding of alarm
function cause easy by observing and measuring the
various control amounts up to the servo alarm'

A7 Addition of absolute Position Closed loop absolute position detection method


detection MP scale specifications using the MHI MP scale.

Addition of lost motion Addition of interface that makes suppressing of


comPensation suPPression lost motion compensation during manual handle
function interface and rapid traverse modes possible'

Addition of overshoot Overshooting is Prevented. 27:SSF : gt:SPq


compensation function

A8

A9 Overshoot comPensation Addition of type 2 compensation timing 17:STY


function

Absolute Position axis control Addition of absolute position detection axis control
axis removal function axis removal. (Note that incremental detection is
applied after removal.)

BO
2. Functions and Related Parameters

2.3 MR-S1 BND-500W000


s/w Frnction Details Related parameters
Version
AO Semi-closed loop
A1 Closed loop
A2 High-accuracy semi-closed loop Excluding rotary axis
High-accuracy closed loop Motor shaft end OSE5K
Absolute position detection semi-
closed loop
Absolute position detection
closed loop
Motor capacity standard HA40, 43, 80, 83, 100, 200, 300
Lost motion compensation 16:TGN 17:STY
Machine vibration suppression Suppression of jitter when stopped, vibration when
17:SW
moving
BO Closed loop high response lmproved PID control, unbalanced torque
7:VlL 27:SSF 32:SP5
control compensation
Roundness improvement Current loop compensation 31:SP4
Lost motion compensation Compensation timing, level improvement
16:TGN
improvement
Motor capacity expansion HA23, 33, (1501), (400LW) 25:MTY
B1 Closed loop high response Suppression of jitter when stopped
27:SSF
control improvement
VGI variable function 6:VG2 29:SP2
High-accuracy closed loop Motor shaft end OAER25K-1X 17:STY 25:MTY
High-accuracy rotary axis 18:PlT 19:RNG
Detector expansion OAER15K-1X 25;MTY
Speed loop step OT Possible from M320 system C1 version
Motor capacity expansion (HA09), 700, (900) 25:MW
82 No additions
B3 Special high-accuracy closed Software non-sensitive range compensation fol
27:SSF 30:SP3
loop cutting lathe
B4 Control axis rernoval function Possible from M320 system E0 version
Lost motion compensation Compensation upper limit level improvement
16:TGN
improvement
Motor capacity expansion HA103 Flat, low-inertia motor series 25:MTY
c1 237 absolute position detection
function
c2 Motor capacity expansion HA2O3 25:MTY
c3 Addition of speed l-P control For large inertia
4:LGN
function
Addition of feedback error Overrun protection for high-accuracy system
27:SSF
detection function
Excessive error alarm At servo ON 52/ at servo OFF 53
improvement
Addition of compatible detector OAER2SK-1X 2400rpm specifications 25:MTY
Addition of compatible motor HATOOL 25:MTY
c4 No additions
cs Motor capacity expansion HA-N23, N33 25:MTY
c6 No additions
C7 ABS counter warning, feedback lnvalidate each detector when commanded
warning, rotary axis limits cancel position overflows.
G Absolute position warning Detect absolute position counter warning (E3) and
expansion position deviation warning (A4) in 233 system

-4-
2. Functions and Related Parameters

2.4 MR-S2 BND-501W000


s/w Function Details Belated parameters
Version

AO Semi-closed loop
Motor capacity standard HA40,43,80,83, 100

A1 Lost motion compensation 16:TGN

BO Closed loop Suppression of jitter when stopped 27:SSF

Closed loop high response lmproved PID control, unbalanced torque


7:VlL 27:SSF 32:SPS
control compensation
Lost motion compensation Compensation timing, level improvement
16:TGN
improvement
Speed loop step OT Possible from M32O system C1 version
B1 Absolute position detection semi-
closed loop
Absolute position detection ball
screw end
82 Special high-accuracy closed Software non-sensitive range compensation for
27:SSF 30:SP3
loop cutting lathe
VG1 variable function 6:VG2 29:SP2

Detector expansion oHE2500-6-8


19:RNG 25:MTY
(for small capacity)

Motor capacity expansion HA053, 13 25:MTY

High-accuracy rotary axis 18:PlT 19:RNG

Monitor card RF93

B3 No additions
B4 Control axis removal function Possible from M320 system E0 version
Lost motion compensation Compensation upper limit level improvement
26:TGN
improvement
Motor capacity expansion HA103 25:MTY

c1 237 absolute position detection


function
c2 Motor capacity expansion Flat, low{nertia motor series 25:MTY

c3 No additions
c4 No additions
cs Addition of speed l-P control For large inertia
4:LGN
function
Excessive error alarm At servo ON 52/ at servo OFF 53
improvement
Addition of compatible detector OSEl 2.5K (240orpm specifications) 25:MTY

c6 Motor capacity expansion HA-N43 25:MTY

C7 Motor capacity expansion HA-N23, N33 25:MTY

c8 Addition of notch filter function Suppression of ball screw shaft torsion resonance. 17:STY

c9 No additions
CA ABS counter warning, feedback lnvalidate each detector when commanded
warning, rotary axis limits cancel position overflows.

CB Absolute position warning Detect absolute position counter warning (E3) and
expansion position deviation warning (44) in 233 system

-5-
2. Functions and Related Parameters

2.s MR-S3 BND-503W000


si/w Function tbtails Related parameters
Version

AO Semi-closed loop

Motor capacity standard H423, 33, 40, 43, 80, 83, 100

82 237 absolute position detection


function

B3 Motor capacity expansion Flat, low-inertia motor series 25:MTY

84 No additions

B5 No additions

86 Addition of speed l-P control For large inertia


4:LGN
function

Excessive error alarm At servo ON 52 / at servo OFF 53


improvement

Addition of compatible detector OSEl 2.5K (2400rpm specifications) 25:MTY

87 Motor capacity expansion HA.N43 25:MTY

B8 Motor capacity expansion HA.N23, N33 25:MTY

B9 Addition of notch filter function Suppression of ball screw shaft torsion resonance. 17:STY

BA No additions

BB No additions

BC Speed feedback compensation 2 Suppression of fine vibration when stopped.


function

BD Absolute position warning Detect absolute position counter warning (E3) and
expansion position deviation warning (44) in 233 system

-6-
3. Parameters

3. Parameters
There are 32 basic points and 16 expansion points for the seruo parameters. The settings and
displays of the servo parameters will differ according to the NC being used, so refer to the
relevant NC Instruction Manual. (Fhe 16 expansion points are available only for MR-S11/S12.)
The parameters should be adjusted while using the following classification as a guideline.
Basic (Xass
parameter tbtails
M S A
1 PC1 No. of qear teeth on motor side o
2 PC2 No, of qear teeth on machine side o
3 PGN Position looo oain o
4 LGN Soeed looo Pl-P control qain o
c VG1 Speed loop gain 1 o
o VG2 Speed loop oain 2 o
7 VIL Speed loop lag compensation o
8 VIA Soeed looo advance comoensation o
9 roA Current loop internal compensation o
10 IDA Current loop internal compensation o
11 IQG Current looo internal comoensation o
12 IDG Current looo internal comoensation o
13 ILP Current limit value + o
14 ILN Current limit value - o
15 FFC Acceleration feed forward qain o
16 TGN Lost motion comoensation oain o
17 STY Servo tvpe o o
18 PIT Ball screw pitch (mm) o
19 RNG Position detector time constant o
20 ORT Reqenerative resistor overheat time constani o
21 OLT Motor overload detection time constant (0.1 sec) o
22 OLL Motor overload detection level (%) o
23 oD1 Excessive error detection ranoe durinq servo ON o
24 zPe ln-oosition width o
25 MTY Motor, detecior type o
26 oD2 Excessive error detection ranqe durinq servo OFF o
27 SSF Special servo function o o
28 SP1 Lost motion comoensation execution iiminq o
N SP2 Soeed loop oain chanoe start motor speed (0.1 rom) o
30 SP3 Software non-sensitive range compensation o
31 SP4 Current loop compensation/overshoot compensation o
.SP5
32 Unbalance torque compensation o
Expansion These are pararneters for special Class
parameters tbtails functions and may not be
displayed or set on some NCs. M S A
't01 PAO o
102 PA1 o
103 PA.2 o
104 PA3 o
105 PA4 Same direction lost motion compensation gain. o
106 PA5 o
107 P46 o
108 PA7 o
109 Pp€ o
110 PA9 o
111 PM o
112 PAB o
113 PAC o
114 PAD o
115 PAE o
116 PAF o
+ Parameters marked with - are not used currently. Always set these to 0.

Class M: Parameters fixed according to machine specifications.


S : Parameters fixed according to servo system (motor, detector)
A: Parameters that can improve servo characteristics when adjusted.

-7
3. Parameters

3.1 Details of parameters


Item Details Setting range (unit)

1 PC1 The No. of gear teeth on motor side is set. 1-30


(Set PC1 and PC2 so that the smallest integer ratio is obtained.)
Refer to section 3.2 PC1 and PC2 limits.

2 PC2 The No. of gear teeth on machine side is set. 1-30


(Set PC1 and PC2 so that the smallest integer ratio is obtained.)
Refer to section 3.2 PC1 and PC2 limits.

3 PGN The position loop gain is set. The increment is 0.25. 1


- 2O0 (rad/sec)
Normally set this to 33.00.
I
4 LGN MR-S11/S12 I HEX setting

The speed loop Pl-P feedback gain is set.


Set this to 0 when using the speed Pl control.
I
MR.S1/SZS3 I

The Speed l-P control feedback gain is set.


When 0000 to 003F, speed Pl control is applied.
When OO4O to FFFF, speed l-P control is applied.
Normally set this to 0000 for speed PI control.
Normally set to 0100 to apply speed l-P control.
(Compalible from MR-S1:C3, MR-S2:C5 and MR-S3:86 versions.)

5 VG1 The speed loop gain is set. 1 -500


Normally this is set to 150, and when increased (approx. 200 to 300), the response
will improve, but vibration and noise will increase.

o VG2 This is set when the speed loop gain variable function is used. -32768 -32768
Set the speed loop gain at the motor rated speed x 1'2 speed.
Set to 0 when not using the function. Refer to 29. SP2.

7 VIL The speed loop lag compensation ratio is set. The lag compensation is not applied 9000 - 10000
when set to 10000, and the gain will drop when decreased. lf parameter SSF PID is
set to O, this setting will be invalid and handled as 10000. Normally 9990 is set when
the parameter is valid.

8 VIA The speed loop advance compensation frequency is set. 16 - 16384


When increased, the response will be improved, but normally the setting is fixed to (0.085 radlsec)
the standard value, and the response is adjusted with VG1. Normally set to 682'

9 lQA 1 - 7680

10 IDA This is the current loop internal compensation 1 - 32767


Normally set the standard value.
'11
roG (Refer to the section 9. Standard parameter settings per motor.) 1 - 32767

12 IDG 100 - 5000

13 ILP The current limit value is set. 1 - 1364


Multiply the peak current (A) to be limited with the corresponding scale value in 7.
Compatible motor list and set. A value exceeding the maximum current cannot be
14 ILN set. -1 --1364

15 FFC The acceleration feed forward gain is set. HEX setting


Set to 0 when not using.
(This is not compatible with MR-S1.)
(This is compatible from MR-S2:C0 and MR-S3:80 versions.)

-8-
3. Parameters

Type 1 (17.Sry/bitD:LMT =0) 0 - 200 (7o)


The lost motion compensation gain is set. 0 to 100 (o/o\ for versions
when set to 0, the compensation gain will be 0. when set to 100, the compensation before MR-S1:83 and
will be 1OO7". MR-S2:83.
lf parameter STY sMC is set to 0, this setting will be invatid and handled as 0.
The 0 in versions before MR-S1:A2 and MR-S2:A1 corresponds to 50 in versions after
MR-S1:80 and MR-S2:80.
Type 2 (17.STY/bitD:LMT= 1) Can be set to 0 to
The compensation amount of the lost motion compensation amount is set with a 7o 1OO(%) separately for the
to the motor's stall rated current. When set to 0, compensation will not be executed. + and - directions.
Set a value that is double the current % on the SERVO MONITOR screen during
JOG feed (approx. F1000). The setting range is
lf there is a difference in the current value and protrusion amount depending on the 0+256+0 = 0 -
direction, the values can be set separately. 1001256 *256=2570O
TGN: {Compensation amount from commanded direction - to +} +
iCompensation amount from commanded direction + to -l r 256
Example)
(1) Execute JoG feed at Fs00 to F1000, and confirm the current value on the NC
MONITOR screen when the direction is reversed. Set the display value * 2 in
TGN.

During CCW ng CCW

\A\ \
A\
_-->
//
/ -/ t/./
:CW During CW

lf the current value is 20 with the NC command polarity cw (Nc BASE PARAM,
z. CCW=O)
To set as follows:
compensation amount when quadrant changes from commanded - to + in
X axis to 40% (C point)
compensation amount when quadrant changes from commanded + to - in
X axis to 40% (A point)
TGN:40
(2) when a protrusion remains only on one side depending on the direction, or
when the load difference is large depending on the direction, set the
compensation amounts independently.

rg CCW
\
a\

//
During CW

NC command polarity CW (NC BASE PAMM, 7. CCW:O)


To set as follows:
compensation amount when quadrant changes from commanded - to + in
X axis to 4O"/" (C point)
Compensation amount when guadrant changes from commanded + to - in
X axis to 50% (A point)
TGN:40+256*50: 't2g4o
3. Parameters

Item tbtails Setting range (unit)


16 TNG tlote) When the NC command polarity is CCW (NC BASE PARAM, 7. CGW= 1), the
setting direction will be reversed.

lf NC command polarity is CCW,


To set as follows:
Compensation amount when quadrant changes from commanded - to + in
X axis to 5006 (A point)
Compensation amount when quadrant changes from commanded + to - in
X axis lo 4O"/" (C point)
TGN=50*256+40= 10290

Reference) Each commanded direction at quadrant change point.

X cw ccw
Y CW ccw cw c cw
A f+- f+- --> { -+f
B f ->- -+f *-- -+f
C -++ --+ { +-- +
--
D -*+ f+- -+f f+-

fihis is not compatible with MR-SI, MR-S2 and MR-S3)


fthis is compatible from MR-S11:,43 and MR-S12:A3 versions.)
17 STY These are settings related to the servo loop. HEX setting
FEDC849876543210

Speed detector plug [Standard:0]


0: A, C direction (same or reverse direction of motor canon plug)
1: B, D direction (direction differing 90" from motor canon plug)

Lost motion compensation [Standard:0]


0: lnvalid
1: Valid (Gain follows 16. TGN)

Lost motion compensation type [Standard:0]


0: Type 1
1: Type 2
(This is not compatible with MR-S1, MR-S2 and MR-S3)
fl-his is compatible from MR-S11:,{3 and MR-S12:A3 versions.)

Overshoot compensation function 2 [Standard:0]


O: lnvalid
1: Valid (The compensation amount foltows SP4.)
(Ihis is compatible from MR-S11:B1 and MR-S12:A9 versions.)
fl-his is not compatible with MR-S1, MR-S2 and MR-S3)

IEBCI Speed feedback compensation [Standard: 0]


0: Valid
1: lnvalid (Compensates jitter during light loads.)

-10-
3. Parameters

ttem tbtails Setting range (unit)


17 SW FBFIFBGIFBH Speed feedback compensation [Standard:0]
HEX setting

lf machine vibration occurs, it can be reduced by executing speed feedback


compensation.
Refer to the following table and set a value according to the machine's
resonance frequency.
The speed feedback compensation FBF for MR-S1, MR-S2:C7 and earlier and
MR-S3:88 and earlier is equivalent to 100.

Center sray
FBF FBG FBH Mbration targeted for reduction (l-h)
frequency (Fh)
1 1 1 1125 750 - 1500
1 0 0 s63 380 - 750
0 1 o 375 2*- s00
1 1 0 281,843 190 - 380, 7s0 - 950
0 0 1 225,675 150 - 300,570 -770
1 0 1 188,564 130 - 2s0, 460 - 660
0 1 1 161,483 110 - 210, 380 - 580
o 0 0 Speed feedback compensation is not applied.

lvlodel FBF 563Fb only FBF, FBG, FBH 161Tt*1125,Tb,


MR.S1 o Not compatible
MR-52 o Compatible from C8 version and later
MR.S3 o Compatible from 89 version and later
MR.SI1 o o
MR.S12 o o

Absolute position detection function [Standard: 0]


0: Invalid
1: Valid (Valid only for absolute position detection system.)

l- PDCI Position feedback polarity [Standard: 0]


0: Forward polarity (motor reverse load side installation or same direction)
1: Reverse polarity (reverse direction from motor reverse load side
installation)

Speed feedback compensation 2 [Standard: 0]


0: lnvalid
1: Valid (Compensates jitter during light loads.)
flhis is not compatible with MR-S1 and MR-S2)
(This is compatible from MR-S11:A2, MR-S12:A1 and MR-S3: BC versions.)

Servo loop [Standard:0]


1: Semi-closed loop
1: Full closed loop (lncluding ball screw end detection)
3. Parameters

Item tletails Setting range (unit)


17 STY Position detector connection destination card HEX setting

Speed detector connection destination card

Gonnection destination card


PDr2lw2 PDlA/D1
MRSl1 M+Sl2
RGl01 RG2O1 0
RF31/33/3411 RF312/332/3421372
0 1
371
RG381 Using standard
o 1
feedback
Using expanded
feedback
1 0

Connection designation card


PU2/VDa PDlA/D1
MR-S1 MRS2 MF53
RFOl nF202 RF2O3 0 0
RF31/331341/
Rrc143321342t372 RF313/333 0 I
371

Example) The following values are used according to the servo amplifier.

System PD2 PD1 VD2 VDl


Hp(
setting
Standard E01 0 o 0 0 0
Closed loop E31 0 1 o 0 4
High-accuracy E33 0 1 0 1 5
High.accuracy closed loop E33 o o 0 1 1

Absolute position detection z33lz37 0 I 0 1

Ball screw end absolute position


z33lz37 0 1 0 0 4
detection
Absolute position detection MP
z33lz37 0 0 0 I I
scale specifications
Scale absolute position 1 0
238 0 0 8
detection specif ications
1 0 0 1 I

18 PIT The ball screw pitch (lead) is set. 1 50 (mm)


-
RNG The following values are set according to the position detector.
19 1 - 1000

plrev Position detector RNG


1000 HA023 built-in detector a

2500 HA053/HA1 3/HA-N43 built-in detector 't0

3000 TS51 32N62 (OSE3K-6-1 0e) 12

5000 osE5K-6-12-108
osEsKN-6-12-108
osESKN-ET-3-9.52-0 20
OAERsK.1X.3-B-1OB
OAERSK- 1 X-ET-3-9.s2-0
12500 osE12.sKN-6 50
25000 oAER25K-1X-3-8-108 100
Linear scale PIT x 1rr
Inductsyn Scale resolution
3. Parameters

ttem Details Setting range (unil)


20 ORT The regenerative resistor heat detection (OR, wOR) heat time constant is set.
s1 - 18000

Oherthan MRStr-7mlgOO MR-S n-7m/9m


Standard (no external
regenerative resistor) 4680 4688

Wth external
regenerative resistor 3010 3000

21 OLT The motor overload detection (oL1, wol) detection time constant is set. 1 18000 (loOmsec)
Normally 60 sec. (setting value 600) is set. -
22 OLL The motor overload detection (OL1, WOL) detection level is set.
The standard is 150%.
1 - soo (%)
23 OD1 The excessive error range during servo ON is set. 1 - 32767
The setting value is the maximum deflection from the ideal droop (when load is (lnterpolation unit)
small to command). ldeally the deflection is 0, but if a deflection occurs due to an
ideal droop calculation error or the load, use the setting value as a guideline, and
set the value to 5oo/o ot more of the maximum droop during rapid traverse. lf the
rapid traverse feedrate is less than 1m/min (1000'/min), calculate the rapid traverse
feedrate as 1m/min (1000"/min) and set.

Settingvalue
- = 60 x position " -.-
loop gain (l/sec. ) x interpolation unit (rrm) *O.U

Position loop gain (1/sec)


3. PGN setting value
Interpolation unit (pm)
For standard system : 0.5pm
(5/10000')
For sub-micron system: 0.O5pm
OD
(5/1OOO00')
Setting
value ldeal
droop

An excessive error alarm will occur if the droop is not in the shaded area.

<Example> Rapid traverse : 1Sm/min


Position loop gain: 33 (l/sec)
Interpolation unit : 0.5pm

15 x 10"
x 0.5
EO ,-ffis- = 7576 + 7500

Rapid traverse feedrate Setting Rapid taverse feedrate Setting


1 rnlmin 500 10 m/min 5000
2 1000 12 6000
2 1500 15 7500
4 2000 16 8000
5 2500 18 9000
o 3000 20 10000
8 4000 24 12000

Setting example for position loop gain:33 / Interpolation unit:O.Spm


24 zRz The in-position judgement width is set.
The servo parameter cannot be changed when not in the in-position.
o -32767
(lnterpolation unit)
Normally 100 is the guideline.
3. Parameters

Item Ebtails Setting range (unil)


25 MTY The motor and detector types are set. HEX setting
FEDCBAg
PEN I ENT MTT

The position detector type is set according to the g. Compatible detector


list, PEN/ENT values.

The speed detector (motor reverse load side installation) is set according
to the 8. Compatible detector list, PEN/ENT values.
r PEN = ENT for the semi-closed loop.

The motor type is set according to 7. compatible motor list, MTT vatue.

26 oD2 The maximum error range during servo OFF is set.


The setting value follows OD1.
o - 32767
(lnterpolation unit)
When 0 is set, the excessive error will not be detected.
27 SSF Special servo functions are selected. HEX setting
FEOCBAg

[Standard: O]
O From MR-S1 'l:A5 and MR-S12:A5 versions
Hardware non-sensitive range compensation invalid
0: Hardware non-sensitive range compensation valid
1: Hardware non-sensitive range compensation invalid
fl-he software non-sensitive range compensation is set only with 30.sp3)

O Before MR-S11:A4 and MR-S12:A4


MR-SI, MR.S2, MR.S3
Software non-sensitive range compensation
0: lnvalid
1: Valid fl-he compensation amount will follow Sp3.)

Excessive error detection range parameter (OD1, OD2) unit 1OO-fold


function [Standard: 0]
lnvalid
Valid

This is used when the OD1 and OD2 values exceed 3Z7OO.
When validated, (OD1, OD2 setting value) x (1OO) becomes the actual
excessive error range.

Excessive error detection range parameter (ODl, OD2) constant change

[Standard: 0]
0: lnvalid
1: Valid

This is used for special control unit applications such as stopper stop.
When validated, the OD1, OD2 parameters can be changed even if the
controller power is not turned on again.

Overshoot compensation function fStandard: 0]


0: Invalid (Compatible from MR-S1'1 :A7, MR-S12:AZ versions)
1: Valid fihe compensation amount follows SP4)
(Not compatible with MR-S1, MR-S2 and MR-S3)

Compensation at closed loop stop [Standard: 0]


lnvalid
Valid

When using the 1 p or 0.1 p scale, if a fine jitter within 1 p or 0.1p when
stopping is bothersome, the jitter is compensated with this setting.
Y

3. Parameters

I PGR I PC1, pC2 setting range expansion funcrion


[Standard: 0]
0: Invalid
1: Valid

Refer to the section 9.2 pC1 and pC2limits.


when PGN is changed for this, the controiler power must be turned on
again.

[Standard: 0]
This is set when the scale feedback Z phase width is wide or when a
scale
using multiple Z phases is used.
(lnductsyn +A,/D converter, magnetic scate, etc.)

DIR IND
Reference point return direction + 0 I

Reference point return direction - 1


I
I

f-WMl Speed feedback timer compensation


[Standard:0]
0: Valid
1: Invalid

I-FBD I Feedback error detection (servo atarms 42,431 [Standard: O]


O: Valid
1: Invalid

This is used when the actual position control system and parameter
setting value cannot be matched in the closed loop. (when the match
is
not possible because of the speed reduction gear ratio, etc.)

(Compatibte from MR-S1 :C3)


fl-his is not compatibte with MR-S2 and MR_S3.)

fTcM I High speed, high-accuracy sysrem ffien connected with M300V series)

[Standard: 0]
0: Standard system
1 : High-speed, high-accuracy system

fl-his is not compatibte with MR-S1, MR-S2 and MR_S3.)

I EXP I Expanded parameter usage selection


[Standard: 0]
0: lnvalid
1: Valid
This is set when using the expanded parameters (101 pAo to 116 pAF).
(This is not compatible with MR-S1, MR-S2 and MR_S3.)

I IDFTIDC I Ctosed toop response improvement [Standard: 0]

IDF rDc PID


Semi-closed loop standard 0 0 0
Closed loop standard 0 0 1

Closed loop response improvement 1 0 I 1

Closed loop response improvement 2 1 1 1

I-flD I Speed toop tag compensation [Standard: 0]


0: Invalid
1: Valid (The gain witt foilow 7. VtL.)
3. Parameters

Item Details Setting range (unit)


28 SP1 The lost motion compensation execution timing is set. Normally this is set to 0. Can be set to 0 (Omsec)
The lost motion compensation execution time is delayed by the setting value x to 20 (7Omsec)
3.5msec. separately for the + and
The timing will be faster with a smaller value. - directions.
lf there are differences in the execution timing depending on the direction, each
value can be set independently. The setting range is
0*256+0 : 0-
SPl = {Execution timing from commanded direction - to + } 100+256+256=25700
+ {Execution timing from commanded direction + to -} {. 256

Example)
(1) To set the same execution timing for both directions.

During CCW

When the NC command polarity is GW (NC BASE PARAM, z. GCW=O)

To set as follows:
Quadrant change execution timing from commanded - to + in X axis
(C point) (Delay by 3.Smsec)
Quadrant change execution timing from commanded + to -
(A point) (Delay by 3.Smsec)
TGN=1*25611=257
(2) To set separate execution timings depending on the direction.

During CGW

When the NC command polarity is CW (NC BASE PAMM, z. CGW:O)


To set as follows:
Quadrant change execution timing 1 from commanded - to + in X axis
(C point) (Delay by 3.5msec)
Quadrant change execution timing 2trom commanded + to -
(A point) (Delay by 7.Omsec)
TGN=1+256l'2=513
tlote) When the NG command polarity is CCW (NC BASE PARAM, z. CCW= 1),
the setting direction will be reversed.
lf NC command polarity is CCW,
To set as follows:
Quadrant change execution timing 2trom commanded - to + in X axis
(A point) (Delay by 7.Omsec)
Quadrant change execution timing 1 from commanded + to -
(G point) (Delay by 3.5msec)
TGN=35*256+40=1O275
3. Parameters

Item Ebtails Setting range (unit)


28 sP1 Reference) Each commanded direction at quadrant change point

/\ CW C CW
Y CW CCW CW c cw
A f+- -J---+
- --rf --+f
B f ->- -+f f->- *-+ f
c ----rf --+f -{---+
- f--+-
D --+ f f--+- -->f f-+-

[his is not compatibte with MR-S1, MR-S2 and MR-S3.)


CfhE ls compatible from MR-SI1:A3 and MR-S12:,{3 versions.)
29 SP2 This is set when using the speed loop gain variable function.
Always s6t to O when not using.
-327ffi - 32767

when setting, set the motor speed when the speed loop gain is changed in a
0.1rpm unit.

c
CI
o)
1f
o
o
o-
U)

Rated speed x 1.2

Motor speed

30 sP3 The software non-sensitive compensation amount is set.


Normally set to 3O when using. Always set to 0 when not using.
-32768 - 32767

This setting is valid in the MR-s1 , MR-s2, MR-s3, MR-s1 1:A4 and MR-s12:A4
versions only when 27. SSF VBS is set to 1.
31 SP4 The current loop compensation parameter or overshoot compensation amount is
set.
-32768 - 32767

The function is selected with the setting value.


O - 99 : Current loop compensation
1OO 32767 : Overshoot compensation
-
-32768 - -1 : No function
(1) Normally set to 10 when using the current loop compensation.
(2) lVhen using the overshoot compensation, set the current value to be overshoot
compensates as the 7o to the motor stall rating current x 100.
The value is incremented by 100 from 100. (Upper timit: 500)
[This is used for the closed loop or high-accuracy system]

when the overshoot compensation function 1 is used, 2z.ssF/bitc: oVS is


validated.
This is compatible from MR-S11:A7 and MR-S12:A7 versions.
when the overshoot compensation function 2 is used, 17.sry/bitc:oV2 is
validated.
This is compatible from MB-S11:Bl and MR-S12:A9 versions.
This is not compatibte with MR-SI, MR-S2 and MR-S3.
3. Parameters

ttem Details Setting range (unit)


32 SP5 Unbalanced torque compensation
This is used when the STY SMC (lost motion compensation) or SSF PID
-32768 - 32767

(speed lag compensation) is set.


\'Vhile viewing the current load (%) on the /F DIAG screen SERVO MONITOR,
move in the + and - directions with manual pulse feed at several 10 pulses at
a time. lf the current load is positive, check the maximum value, and if
negative, check the minimum value.
The average value of the + and - directions are set in SPS. lf the average
value is negative, add 65536 to it, and then set.

<Example>
When + direction is +50"/o, - direction is -10"/o ((+50) + (-10)) / 2 = +20* Sp5
When + direction is -30%, - direction is -10% ((-30) + (-10)) / 2 : -2O
-20 + 65536 = 65516-SPS

101 Normally set to 0. (Not used.)


PAO -32768 - 32767

102 Normally set to 0. (Not used.)


PA1 -32768 - 32767

103 PFE Normally set to 0. (Not used.) -32768 - 32767

104 PA3 Normally set to 0. (Not used.) -32768 - 32767

105 PA4 Set the same direction lost motion compensation gain. Can be set to 0 to 100"/o
Set to 0 when not using. separately for the + and
- directions.
The same direction lost motion compensation amount is set with a o/o lo the motor's The setting range is
stall rated current. \ilhen set to 0, compensation will not be executed. 0*256*0 : 0 -
Set the current o/o value on the SERVO MONITOR screen during JOG feed (approx. 1O0+256+256:25700
F1000).

PA4 {Compensation amount for * command direction}


+ {Compensation amount for - command direction} +256
Eemple)
JOG feed at F500 to F1000, and confirm the current value on the NC
MONITOR screen during movement.

When the NC commanded polarity is CW (NC BASE PARAM, 7. CCW:0)


and + direction current value is 20, and - direction current value is 3:
PA4=20+3*256=7gg
ttote) lf the NC commanded polarity is CCW (NC BASE PAMM, 7.
CCW= 1), the setting direction will be reversed.

When the NC commanded polarity is CCW, and + direction current value is


20, and - direction current value is 3:
PA4 :3 + 20f256 = 5123
The corresponding NC is corresponded with MA.
fl-his is not compatible with MR-S1, MR-S2, MR-S3 or MR-S12.)
(Ihis is compatible from MR-S11:82 version.)
106 PA5 Normally set to 0. (Not used.) -32768 - 32767

107 PA6 Normally set to 0. (Not used.) -32768 - 32767

108 PA7 Normally set to 0. (Not used.) -32768 - 32767

109 PA8 Normally set to O. (Not used.) HEX setting

-18-
3. Parameters

3.2 PC1 and PC2 limits


As a principle, PC1 and PC2 are set to 1 to 30, but if the following limits are satisfied, a setting other
than 1 to 30 can be made.
Note that the following limits must be satisfied even when the setting is within 1 to 30.

(1) For semi-closed system


O pcr
@ pCz < 32767 / (RNG x u) u: Interpolation unit

(2) For closed system (including ball screw end)


O pct < zlso / (PtT x RNG)
@ pCz < 8190 / PGN u: Interpolation unit

The PIT value obtained by reducing PIT and (RNG x u) to the lowest terms can be substituted in
the above equation. The RNG value must be that before reduction.

(Example) When PIT:10, RNG:20, u=0.5, PGN: 33 closed loop, PIT'=1.


O pct < zzso I (1x2o\ = 136
@ pcz < 8190/gg + 248
.'. PC1 s 136, PCz < 248
The limits will change when SSF PGR is validated.

(3) For semi-closed system


O pcr < 1oe2o / (Ptr x RNG)
@ pCz < 32767 / (RNG x u) u: Interpolation unit

(4) For closed system (including ball screw end)


O pcr < 1oe2o I (Plr x RNG)
@ pcz < 32760 / PGN u: Interpolation unit

lnterpolation unit (u)


This is the NC's internal unit. The following values will be applied according to the command unit
(input unit).

Command unit (input unit) lnterpolation unit


lOttlstt 51t

11tlO.51t o.5p
O.lttlO.Ostt 0.059

3.3 Changing of parameters


Parameters 3 to 16 will be validated as soon as the settings are changed. Therefore, the changes
must be made during emergency stop.
Parameters, 1, 2, 17 to 32, and 101 to 1 16 are validated only when the NC power has been turned
OFF and ON once.
Note that when SSF PGR is set to 1, the NC power must be turned ON and OFF for parameter 3
PGN to validated it.
lf SSF OD1 is set to 1, the settings will be validated immediately when parameters 23 OD1 and 26
ODz are changed.

-20-
4. Troubleshootino

4. Troubleshooting
4.1 Vibration or vibration noise occurs.
4.1.1 Fine vibration is felt when the machine is touched by hand or a churning vibration noise
is heard.
(1) Lower 5. VG1 by 50 at a time. (Lower limit: 50)
(2) Lower 11 . IQG by 50 at a time. (Lower limit: 128)
(3) Lower 12. IDG by 50 at a time. (Lower limit: 256)
(41 Turn on 17. STY FBC (bitB).
(5) Turn on 17. STY FB2 (bits). (MR-S11, MR-S12 only)
(6) Set 17. STY FBF, FBG, FBH (bitA, 9, 8) in the This is not compatible with MR-S1.
following order. In MR-S2, MR-S3, confirm that the
servo software version is compatible.
FBF (tilA) FBG (Fjfte) FBH Gra)
lvlodel Compatibility
O 1 I 1

MR-S1 Not compatible


@ 1 0 0
1
0
Compatible with G8 version and
@ 0 MR-S2
higher
@ 1 1 0
Compatible with 89 version and
o 0 MR-53
@ 1
higher
@ 1 0 1
MR.S11 Compatible
a 1 1 1
MR.S12 Compatible

(7) Try using 17. STY FBC (bit B) and 17. STY FBF, FBG and FBH (bitA, 9, 8) together.

4.1.2 Vibration or noise occurs during rapid traverse.


(1) Lower 5. VG1 by 50 at a time. (Lower limit: 50)
(2) Lower 11 . IQG by 50 at a time. (Lower limit: 128)
(3) Lower 12. IDG by 5O at a time. (Lower limit: 256)
(4) Turn on 17. Sry FBC (bitB).
(5) Turn on 17. STY FB2 (bits). (MR-S11, MR-S12 only)
(6) Set 17. STY FBF, FBG, FBH (bitA, 9, B) in the This is not compatible with MR-S1.
following order. In MR-S2, MR-S3, confirm that the
FBF (Bt-tA) FBG (EJi€) FBH (Bia) servo software version is compatible.
o 1 1 1 ilodel Compatibility
@ 1 o 0 MR.S1 Not compatible
o 0 1 0
MR-S2
Compatible with C8 version and
0 higher
@ 1 1

o 0 0 1
MR.S3
Compatible with 89 version and
higher
@ 1 0 1

MR.S11 Compatible
@ 1 1 1

MR.S12 Compatible

(7) Try using 17. STY FBC (bit B) and 17. Sry FBF, FBG and FBH (bitA, 9, 8) together.
(B) Set 29. SP2 to a value of approximately the cutting feed rate + 100rpm, and set 6. VG2 and
5. VG1 to the same value.
Repeat rapid traverse, and lower 6. VG2 by 10 at a time. (Lower limit: 0)

-21
/{\ 't'i,,,.
,_-j t--,J-,\
't-z / \[
\'1,(:
\

4. Troubleshootinq

4.2 The cutting surface precision is poor, the roundness is poor.


4.2.1 The surface precision in the 45" direction of the taper or arc is poor.
(1) Raise 5. VG1 by 20 at a time.
fl-he limit is when vibration or noise occurs when stopped or during rapid traverse.)
(2) Flaise 8. VIA by 200 at a time. (Upper limit: 2000)
(3) Set 31. SP4 to 10. (For MR-S1)

Y 5

I
r
I
OR \.t-

4.2.2 Protrusions occurs when the arc quadrant is changed. (Strains appear)
(1) Raise 5. VG1 by 20 at a time.
(l-he limit is when vibration or noise occurs when stopped or during rapid traverse.)
(2) Raise 8. VIA by 2O0 at a time. (Upper limit: 2000)
(3) For an unbalanced axis, eliminate the electrical unbalance element with unbalanced torque
compensation (32. SPs).
While viewing the current load (%) on the l/F DIAG screen SERVO MONITOR, move in
the + and - directions with manual pulse feed at several 10 pulses at a time. lf the
current load is positive, check the maximum value, and if negative, check the
minimum value.
The average value of the + and - directions are set in SPs. lf the average value is negative,
add 65535 to it, and then set.
< Example >
When + direction is +50%, - direction is -1Oo/o ((+50) + (-1O))tZ: *20 ... 20 -* SPS
When + direction is -30%, - direction is -1O% ((-30) + (-1 O))12 = -2O
-20 + 6553s - 65516 .-. 65516 -* SPS
After setting SPs, turn the NC power OFF and ON once.
(4) Lost motion compensation type selection.
The lost motion compensation type 2 is effective in the following cases:
. High-speed machining
. Closed loop
Lost motion Lost motion compensation type 2
compensation type 1 (only MR-SI1, MR-S12)
Turn on 17. STY SMC (bitE). Turn on 17. Sry SMC (bitE) and LMT (bitD).
Increase 16. TGN gradually While viewing the current load (%) on the l/F DIAG screen
from 0 to 20. SERVO MONITOR, feed (approx. 100 to 500rpm) with
lf increased too high, biting manual pulse feed and check the current load.
will occur. Set a value double the value check in 16. TGN.
The 16. TGN optimum value is the maximum value where overshooting does not occur
when the direction is reversed during one pulse feed.

-€ Too large.
4. Troubleshootinq

4.2.g The load fluctuation is targe, or vibration or precision defects occur Ouring;;
(Especially during heavy cutting)
(1) Raise 5. VG1 by 2O at a time.
flhe limit is when vibration or noise occurs when stopped or during rapid traverse.)
(2) Raise 8. VIA by 200 at a time. (Upper timit: 2000)

4.3 Overshooting occurs during positioning. Limit cycles occur.


4.3.1 For semi-closed loop.
(1) Raise 5. VG1 by 50 at a time.
(fhe limit is when vibration or noise occurs when stopped or during rapid traverse.)
(2) Raise B. VIA by 200 at a time. (Upper timit: 2000)

Note 1: lf the overshoot amount is large (5,p1 or more) confirm the droop on the SERVO MONITOR
screen, and if the same amount of overshooting occurs, use the above measures.
lf the symptom is not remedied with the above measures, increase 3. pGN by
approximately 20 or increase the AXIS SPEC acceleration/deceleration time constant.
lf the droop is not overshooting, the motor itself is not overshooting and only the machine
system is overshooting. Adjust the machine system.

4.3.2 For full closed loop


(1) Raise 5. VG1 by 50 at a time.
ffhe limit is when vibration or noise occurs when stopped or during rapid traverse.)
(2) Raise 8. VIA by 200 at a time. (Upper limit: 2000)
(3) Lower 3. PGN by 5 at a time. (Lower limit: about 20)
Note that the same value must be set for the interpolation axes.
(4) Turn 27. SSF PID (bitO) on, and lower 7. VIL from 10000 by 5 at a time. (Lower limit: 9800)
(s) Turn on 27. SSF PID (bitO), IDC (bit1) and IDF (bn2), and lower 7. VlLfrom 10000 by 20 at a
time. (Lower limit: 9500)
(6) When in 1p or when using the 0.1;.r scale and vibration occurs at 1trr or within 0.1pr when
stopping, turn on 27. SSF CNG (bitB).
Note 1: The overshoot or limit cycle will be improved with step (4), but if the response is poor, try
the same measures as for (5).
Note 2: As with Note 1 for the semi-closed loop, if the droop is not overshooting on the SERVO
MONITOR screen, overshooting is not occurring near the scale, and only the machine
system is overshooting. Adjust the machine system.

4.3.3 When using overshooting compensation function


Use this for the closed loop or semi-closed lop (for high- ilbdel Compatibility
accuracy detector). Compatible after
MR.S11 A7 version and
(1) Turn on 27. SSF OVS (bitO) and raise 31. SP4 from 100 by following.
100 at a time. (Upper limit: s00). Compatible after
After sefting SP4, turn the NC power OFF and ON once. MR-S12 AZ version and
following.
Note 1: The27. SSF lDF, IDC and plD (bit2, 1,0) can be used
together.
4. Troubleshooting

4.4 Remaining feed occurs during one pulse feed

(1) Command several pulses, and then confirm the droop on the SERVO MONITOR screen to
see if the droop corresponding to the commanded pulses is being generated.
When droop is occurring When droop is not occurring

o Raise 5. VG1 by 50 at a time. o Movement is applied to near the


fl-he limit is when vibration or noise position detector at the motor of full
occurs when stopped or during rapid closed droop (scale or ball screw end
traverse.) detector), so the following machining
system is executing remaining feed.
@ Raise 8. VIA by 200 at a time.
(Upper limit: 2000)
-* Adjust the machine system.

Note 1: lt 27. SSF PID (bit0) is on, use the


same measures as in 4.3.2 (5).

4.5 The excessive error alarm occurs occasionally


(1) lf 13. ILP and 14. ILN are set to 1230 and -1230, raise the settings to 1364, -1364.
(2) Cafculate the setting values tor 23. OD1 and 26. ODD2 with the following equation and set.

.-'svalue
Settino _ Max. rapid traverse feedrate (mm/min) x 1000 . x 1.0
60 x position loop gain (1/sec) x interpolation unit (;,tm)
Position loop gain (1/sec)
3. PGN setting value
Interpolation unit (Um)
For standard system : 0.51rm
For sub-micron system: 0.0fl1m
5. Precautions for Raising VG1 and VIA

5. Precautions for Raising VG1 and VIA


The optimum value and maximum value for VG1 change according to the load inertia, so refer to the
following graph and take care not to raise it too high. These are values for when the motor and load
are coupled, so if there are gears, etc., inserted, the machine may vibrate at values lower than those
below. In this case, lower the value by 30 to 50 from the value where vibration occurs.
When lowering VlA, keep it higher than the VG1 value's normal value. lf the load inertia scale is
extremely large, lower VIA by approx. 100.

500 ,4\
I
I
I

Setting limit

Aclual setting range

400 J

HA200,/300 HAlOO HA4 0,/g o

(5 \
c
6
o)
o-
o
o
]C
o
oD

ao-

bo

l2

100

Load inertia scale


------> (load inertia/motor inertia)
6. Digital Servo Parameter Block Diagram

6. Digital Servo Parameter Block Diagram

-Large

VIL vrA(=682)

f17 STY I8F.|BG.F8H t32 SPs {9IQA


f23 oDl f10 tDA
lu zRz frl tQc
126

l2 PCz

Position
comrnand +

14 ILN

i17 SSF Sl{C

tT1 STY PDC


8. Compatible Detector List

8. Compatible Detector List

zo E E
o-
o
'6 o
o
q) C\T I
o c\l
'6
I^i o
6 o
c
.9
xU'
6t
o o
o
(D
o I(E
.
(!
o (D
6(t, o o
E (f) q) o
zs
(D
.9 E o U>
E
aq
(l)
()
c
o
o o o
-o
(g
q)
o
o
U
c) o 1) -6
o
;
t
(9
(\l ca
C'
c
o E
(l)

3
q) o
o 3
o o
(0 (!
a o
o
o olr) c
'd o (D o (D- o
o o
(,
- :c E
C'
rc o
g,
6a,
b9
oo 6 (U
E
g) E .9
o
o o o (U
-(D
(u .9
IL LL TL a
ct
(D -o (DI,d) t I
c o-
o 3
(, f o
o
o o o
z llr N c)
C\l
o
ol c\I ol
(>
to
<)
o F
l o
o
(L I(!
o .F
;
U) an

U
p I c
oa -o -9
F U'
I
z
TU
o
o
g,
o o
rf, (o o O) ^o- N @ s
o o
TU
o-
F F
c =o
z zut z
TU c
-9
a
I$l (D
(\t
ct) .(D
o-
I o o o (J o o (., o o (J (, (J o U E3
.gF
o-=
t\ e o-o
o=
o cc
q)Gt
I o o o o (J o o o o o o o cDE

(o
6Q
E'
$l
I (D
Eg
E ,F
t o o o o o o o o .F>
o=
E-=r\
o€=
$ o o
o lf) eF&
.= qtlc
C) o Gr
o
OJ
a €<o9
.E iq tq
I o o o o ':'n
O:
d =E
t\'
o
o c)
O
(r)
()
IEf;'
C F.Y.
- EE o
o €g;E
t \J o (J (J (J o (J
;s;:
*(DsC=
!9- o
E.Q '6
c
.T o =
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28
9. Standard Parameter Settings Per Motor

9. Standard Parameter Settings Per Motor


9.1 Standard 20o0rpm motor
Parameter FWro t{480 HAl(n HAM Hrc(n HATM H4900
1 PC1
2 PC2
3 PGN 33.00 33.00 33.00 33.00 33.00 25.00 25.00
4 LGN oooo 0000 0000 0000 0000 0000 0000
5 VG1 150 150 150 150 150 250 250
o VG2 0 0 0 0 0 0 0
7 VIL 10000 10000 10000 10000 10000 10000 10000
I VIA 682 682 682 682 682 682 682
9 roA 2048 2048 1024 1024 1024 1024 1024
10 IDA 2048 2049 2048 2048 2048 2048 2048
11 IQG s12 512 256 2s6 256 200 200
12 IDG 512 512 512 512 512 256 2s6
13 ILP 1364 1364 1364 1364 1364 1364 1364
14 ILN -1364 -1364 -1364 -1364 -1364 -1364 -1364
15 FFC 0000 0000 0000 0000 0000 0000 0000
16 TGN 0 0 0 0 0 o 0
17 STY
18 PIT
19 RNG
20 ORT 4680 4680 4680 4680 4680 4688 4688
21 OLT 600 600 600 600 600 600 600
22 OLL 150 150 150 150 150 150 150
23 oD1
24 zPz 100 100 100 100 100 100 '100
25 MTY xx00 xxO1 xx02 xx03 xx04 xx05 xx06
26 oD2
27 SSF 0000 0000 0000 0000 0000 0000 0000
28 SP1 0 0 0 0 0 0 0
29 SP2 0 0 0 0 0 0 0
30 sP3 0 0 0 0 0 U 0
31 SP4 0 0 0 0 0 0 0
32 SP5 0 0 0 0 0 o 0
101 PAO 0 0 0 0 0 0 0
102 PA1 0 0 U 0 0 0 0
103 PA2 IJ 0 0 0 o o 0
104 PA3 0 0 0 0 0 0 0
105 PA4 0 0 n 0 0 0 0
106 PAs 0 0 0 0 0 0 0
107 PA6 0 n 0 0 0 o
108 PA7 0 0 0 o 0 0 0
109 PA8 0000 0000 0000 0000 0000 0000 0000
110 PA9 0000 0000 0000 0000 0000 0000 0000
111 PAA 0000 0000 0000 0000 0000 0000 0000
112 PAB 0000 0000 0000 0000 0000 0000 0000
113 PAC I 0000 0000 0000 0000 0000 0000 0000
114 | PAD 0000 0000 0000 0000 0000 0000 0000
rrs l PAE 0000 0000 0000 0000 0000 0000 0000
rro I PAF 0000 0000 0000 0000 0000 0000 0000
Fbmarks: ORT: When using the regenerative option resistor, set I 3010 I
when usins I HAroo/{Aroo | , ,"t
F66o-l
The empty columns are set according the machine specifications.
9. Standard Parameter Settings Per Motor

9.2 Standard 3000rpm motor


Parameter F|AO23 HAO5S HAl3 HA23 HA33 FIA|il t{A83 FtA103 H4203
1 PC1
2 PC2
3 PGN 33.00 33.00 33.00 33.00 33.00 33.00 33.00 33.00 33.00
4 LGN 0000 0000 0000 0000 0000 0000 0000 0000 0000
5 VG1 50 70 70 100 100 150 150 150 150
6 VG2 0 0 0 0 o o 0 0 0
7 VIL 10000 10000 10000 10000 10000 10000 10000 10000 10000
I VIA 682 682 682 682 682 682 682 682 682
9 IQA 2048 1024 1024 2048 2048 1024 1024 1024 1024
10 IDA 2048 1024 1024 2048 2048 2048 2048 2048 2048
11 roG 150 256 256 224 224 2s6 256 256 256
12 IDG 150 256 256 224 224 512 512 512 512
13 ILP 1364 1364 1364 1364 1364 1364 1364 1364 1364
14 ILN -1364 -1364 -1364 -1364 -1364 -1364 -1364 -1364 -1364
15 rru 0000 0000 0000 0000 0000 0000 0000 0000 0000
16 TGN 0 0 0 0 0 0 0 0 0
17 STY
18 PIT
19 RNG
20 ORT 4680 4680 4680 4680 4680 4680 4680 4680 4680
21 OLT 600 600 600 600 600 600 600 600 600
22 OLL 150 150 150 150 150 150 150 150 150
23 oDl
24 zRz 100 100 100 100 100 100 100 100 100
25 MTY x58B x68C x68D xxSE xx8F xx8O xx81 xx32 xx33
26 oD2
27 SSF 0000 0000 0000 0000 0000 0000 0000 0000 0000
28 SP1 0 o 0 0 0 o 0 o 0
29 SP2 0 0 0 0 0 0 0 0 0
30 SP3 0 0 0 0 0 0 0 0 0
31 SP4 0 0 0 0 0 n 0 0 U

32 SP5 0 0 0 0 0 0 0 0 n
101 PAO U 0 0 0 0 U 0 0 U

102 PAl n 0 0 0 0 0 0 0 0
103 PA2 0 0 0 0 0 0 0 0 0
104 PA3 0 0 0 0 0 0 0 0 0
105 PA4 0 0 o 0 0 0 0 0 0
106 PA5 0 0 0 U 0 0 0 0 0
107 PA6 0 0 0 0 0 0 0 0
108 PA7 0 0 0 0 o 0 0 0 U

109 PA8 0000 0000 0000 0000 0000 0000 0000 0000 0000
110 PA9 0000 0000 0000 0000 0000 0000 0000 0000 0000
111 PAA 0000 0000 0000 0000 0000 0000 0000 0000 0000
112 PAB 0000 0000 0000 0000 0000 0000 0000 0000 0000
113 PAC 0000 0000 0000 0000 0000 0000 0000 0000 0000
114 PAD 0000 0000 0000 0000 0000 0000 0000 0000 0000
115 PAE 0000 0000 0000 0000 0000 0000 0000 0000 0000
116 PAF 0000 0000 oo00 0000 oo00 0000 0000 0000 0000

Remarks: ORT: When using the regenerative option resistor, s"t Fi-010 l.

empty columns are set according machine


9. Standard Parameter Settings Per Motor

9.3 Special 3000rpm motor


Parameter FtA-Nul HAN3Ii} t-raN4i!
1 PCI
2 PC2
3 PGN 33.00 33.00 33.00
4 LGN 0000 0000 0000
5 VG1 70 70 35
6 VG2 0 0 0
7 VIL 10000 10000 10000
8 VIA ffiz 682 682
I roA 1024 1024 1024
10 IDA 1024 lo24 1024
11 IQG 256 256 512
12 IDG 256 256 512
13 ILP 1364 1364 1364
14 ILN -1364 -1364 -1364
15 FFC 0000 0000 0000
16 TGN 0 0 0
17 STY
18 PIT
19 RNG
20 ORT 4680 4680 r+680

21 OLT 600 600 600


22 OLL 150 150 150
23 oD1
24 zPz 100 100 100
25 MTY xx6E xx6F x660
26 oD2
27 SSF 0000 0000 0000
28 SP1 0 0 0
29 SP2 0 0 0
30 SP3 8 8 0
31 sP4 0 o 0
32 sP5 0 0 0
101 PAO 0 0 0
102 PA1 0 0 0
103 PAE 0 0 0
104 PA3 0 0 0
105 PA4 0 0 0
106 PA5 0 0 0
107 PA6 0 0 0
108 PA7 0 0 0
109 PA8 oo00 0000 0000
110 PA9 0000 0000 0000
111 PAA 0000 0000 0000
112 PAB 0000 0000 0000
113 PAC 0000 0000 0000
114 PAD 0000 0000 0000
115 PAE 0000 0000 0000
116 PAF 0000 0000 0000

Remarks: ORT; Whqqusing the regenerative option resistor,


ser|*;tl
The empty columns are set according to the machine specifications.
9. Standard Parameter Settings per Motor

9.4 2000rpm flat motor


Parameter t{Asou l-1,4100u t-tA200u r-rA300u HAs(nU
1 PC1
2 PC2
3 PGN 33.00 33.00 33.00 33.00 33.00
4 LGN 0000 0000 0000 0000 0000
5 VG1 30 30 30 30 50
o VG2 0 0 0 0 0
7 VIL 10000 10000 10000 10000 10000
8 VIA 682 682 682 682 682
9 roA 2048 2048 2048 2048 2048
10 IDA 2048 2048 2048 2048 2048
11 IQG 512 512 512 2s6 2s6
12 IDG 512 512 512 512 512
13 ILP 1364 1364 1364 1364 1364
14 ILN -1364 -1364 -1364 -1364 -1364
15 FFC 0000 0000 0000 0000 0000
16 TGN 0 0 0 0 o
17 Sry
18 PIT
19 RNG
20 ORT 4680 4680 4680 4680 4680
21 OLT 600 600 600 600 600
22 OLL 150 150 150 150 150
23 oD1
24 zRz 100 100 100 100 100
25 MTY xx10 xxl 1 xx12 xx13 xx14
26 oD2
27 SSF 0000 0000 0000 0000 0000
28 SP1 0 0 0 0 o
29 SP2 0 0 0 0 0
30 SP3 0 0 0 0 0
31 SP4 0 0 o 0 0
32 SP5 0 0 o 0 0
101 PAO 0 0 0 0 0
102 PA1 0 0 0 0 0
103 PA2 0 0 0 0 0
104 P43 0 0 0 0 0
105 PA4 0 0 0 U 0
106 PA5 o 0 0 0 0
107 PA5 0 0 0 0 0
108 PA7 0 0 0 0 o
109 PA8 0000 0000 0000 0000 0000
110 PA9 0000 0000 0000 0000 0000
111 PAA 0000 0000 0000 0000 0000
112 PAB 0000 0000 0000 0000 0000
113 | PAC 0000 0000 0000 0000 m00
114 | PAD 0000 0000 0000 0000 0000
115 | PAE 0000 0000 0000 0000 0000
116 | PAF 0000 0000 0000 0000 0000

Remarks: ORT: When using the regenerative option resistor, r"t


fffil .

* The empty columns are set according to the machine specifications.

-32
9. Standard Parameter Settings per Motor

9.5 200orpm low-inertia motor


Parameter FIA5OL FI,AIOOL HAlsOL FIA2OOL HA3(nL l-lAsmL HATOOL
1 PC1
2 PC2
3 PGN 33.00 33.00 33.00 33.00 33.00 33.00 33.00
4 LGN 0000 0000 0000 0000 0000 0000 0000
5 VG1 30 30 30 30 30 50 100
6 VG2 0 0 o 0 0 0 0
7 VIL 10000 10000 10000 10000 10000 10000 10000
8 VIA 682 682 682 682 682 682 682
9 IQA 2048 2048 2048 2048 2048 2A48 2048
10 IDA 2048 2048 2048 2048 2048 2448 2048
11 IQG 512 512 512 512 256 2s6 256
12 IDG 512 512 512 512 512 512 512
13 ILP 1364 1364 1364 1364 1364 1364 1364
14 ILN -1364 -1304 -1364 -1364 -1364 -1364 -1364
15 FFC 0000 0000 0000 0000 0000 0000 0
16 TGN 0 0 0 0 0 0 0
17 STY
18 PIT
19 RNG
20 ORT 4680 4680 4680 4680 4680 4680 4688
21 OLT 600 600 600 600 600 600 600
22 OLL 150 150 150 150 150 150 150
23 oD1
24 zRz 100 100 100 100 100 100 100
25 MTY xx2O xx21 xx2A xx22 xx23 xx24 xx25
26 oD2
27 SSF 0000 0000 0000 oo00 0000 0000 0000
28 sPl o o o 0 0 0 0
29 SP2 0 0 0 0 0 0 0
30 SP3 0 0 0 0 0 0 0
31 SP4 0 0 0 0 0 0 0
32 SP5 0 0 0 0 0 0 o
10'l PAO 0 0 0 L' 0 0 0
102 PA1 0 0 0 0 0 0 o
103 PAC 0 0 0 0 tJ 0 0
104 PA3 0 o 0 0 0 0 0
105 PA4 0 0 0 0 0 o 0
106 PA5 0 0 0 0 0 0
107 PA6 0 0 U 0 tJ o 0
108 PA7 0 0 0 0 U 0 0
109 PA8 0000 0000 0000 0000 0000 0000 0000
110 PA9 0000 0000 0000 0000 0000 0000 0000
111 PAA 0000 0000 0000 0000 oo00 0000 0000
112 PAB 0000 0000 0000 0000 0000 0000 0000
113 PAC 0000 0000 0000 0000 0000 0000 0000
114 | PAD 0000 0000 0000 0000 0000 0000 I 0000
115 PAE 0000 0000 0000 0000 0000 0000 0000
116 | PAF 0000 0000 0000 0000 0000 0000 0000

whe
'n usrng ilA?OOLl,setf
|j q
Remarks: ORT: When using th, regenerative oi rtion resistor, set
rr

* The emptv columns are set according to the machine specifications.


10. lllegal Parameter Nos. During Parameter Errors

10. lllegal Parameter Nos. During Parameter Errors


When a parameter error (37) or parameter error warning (E4) servo alarm or warning occurs, the
parameter detected to be illegal will display. The display method will differ according to the NC
being used, so refer to the NC lnstruction Manual
The displayed illegal No. will indicate the corresponding seryo parameter No. so correct the
corresponding seruo parameter.
The Nos. indicated below are handled in a different manner, so refer to the explanations below.

t{o- Details Fbmedies


17 The servo type 17. STY detector connection destination card setting (VD1, VD2, PD1, Correctly set the detector
PD2) and the add-on card judged as actually mounted differ. connection destination card
The relation of the mounted add-on card and the STY setting are as shown below. setting (VD1, VD2, PD1,
PD2).
Card oonfiguration
STY System
MRS11 MRS12
RG1O1 RG2O1 xxx0 Standard system
RGlO1 + RF31 RG201+RF312 xxx4 Closed system
xxx4 High-accuracy closed system
RG101 + RF371 8G201 +RF372 xxx5 Serial absolute position detection system
Serial absolute position detection
xxxl
system, MP scale specifications
RG101 + RF341 RG201+RF342 xxx5 Absolute position detection system
RG1O1+RF33 RG201+RF332 Absolute position detectionihigh-
xXX5
accuracy system
xxxl High-accuracy closed system
Absolute position detection systern,
xxx'l
MP scale specifications
RG101+RF381 xxx5 Serial absolute position detection system
xxxl Closed system
xxx8 Scale absolute position detection
xxx9 specifications

Card configuration
STY System
MRSl
RFOl xxx0 Standard system
HF01 + RF31 xxx4 Closed system
RFO1 + RF371 xxxS Serial absolute position detection system
RFO1 + RF341 xxx5 Absolute position detection system
Absolute position detection/high-
RFO1 + RF33 xxx5
accuracy systern

Card configuration
STY System
MRS2 MBS3
RF2O2 RF203 xxx0 Standard system
RF202+ RF312 RF203 + RF313 xxx4 Closed system
RF2O2+RF372 xxx5 Serial absolute position detection system
RF202+ RF332 RF203 + RF333 xxx5 Absolute position detection system

-34-
r
I

i
10. lllegal Parameter Nos. During Parameter Errors

No. Eletails Bemedies


'17 The add-on card SW1 setting is incorrect. (When using RF31,33,341) Correctly set the add-on
card SW1 setting.
Addon card SWI settings

RFS1 RF3iI RF341


ON
SWl I OFF OFF OFF
2 OFF OFF OFF
3 OFF OFF OFF
4 OFF OFF OFF
t OFF OFF OFF
6 OFF OFF OFF
7 OFF ON ON
8 ON ON ON

18 When using the MP scale absolute position detection system, the MP scale resolution is Correctly set the MP scale
not set correctly. resolution.
PlT, RNG are not correctly set.
25 A motor No. not in the specifications is set for the motor type (MTT). Refer to 7. Compatible
motor list and correctly set
the motor No.
A detector No. not in the specifications is set for the detector type (PEN/ENT). Refer to 8. Compatible
detector list and correctly set
the detector No.
When using a motor with a built-in detector, the built-in detector and set position Correctly set the speed
detector type (ENT) do not match. detector type (ENT).
Motor with buill-in detector type: HA023 = 5/HAO53 = 6/HA13 = 6/HA-N43 = 6
When using closed loop, a detector No. not allowed as a machine end detector is set in Correctly set the position
the position detector type (PEN). detector type (PEN).
Closed loop machine end detector: ET type = 1/9
Linear scale type : 4
The servo ttlpe 17. STY detector connection destination card setting (VD1, VD2, PD't Correctly set the detector
PD2) and the detector type (PEN/ENT) setting do not match. type (PEN/ENT) or the
Main card : OSE type : Ollla/516/7 detector connection
Add-on carO : OAER type:419/NB destination card setting
(vD1, vD2, PD1, PD2).
34 The PC1 and PC2 settings exceed the limits. (Refer to 3.2 PC1 and PC2limits.)
Turn on 27. SSF PGR (bitA) for the axis with which interpolation with the spindle such as in synchronous tap or spindle
C axis is not being done.
When executing interpolation with the above spindle, set the parameters as shown below.

Semi-closed loop Interpolation unit u : .05


(1) Reduce 1. PC1 and 2. PG2 with the max. 1. PC1 = 180 * 't , (1) PC1 = 1

common divisor and set. 2.pC2 =360 -2t +l , (2) PC2 = 'l
(2) Reduce 2. PC2 and 18. PIT with the max. 18. PIT = 360 * 180l PIT = 180
common divisor and set. 19. RNG = 20 RNG = 20
Setting
Closed loop example lnterpolation unit u=0.5
(1) Reduce 1. PC1 and 2. PC2 with the max. 1.PC1 = 180*1,(1) (Z) PC1 = 1

common divisor and set. Z.pC2= 360*2r- 1 PCZ= 1

(2) Reduce 2.PC2 and 18. PIT and 18. PIT = 360 * 180 PIT = 180
19. RNG*u with the max. common 19. RNG =lpQ+Q.$= 360 * 180/0.5 = 360 RNG= 360
divisor and set.
10. lllegal Parameter Nos. During Parameter Errors

t{o- Details Fbmedies


33 o The unit conversion multiplication parameter transmitted from the NC at initialization Correctly set the NC side
parameter.
is "0".
The folfowing limits are not satisfied when the servo parameter 27. SSF ODC (bitE) Turn off parameter 27. ODU
is on. (bit E) or use the measures
for illegal parameter 34
Semi-closed : PC2 x (RNG x u)' < 655 (division of setting
Closed loop : (RNG x u)' < 655 parameter).
(RNG x u)' : (RNG x u) obtained by dividing PIT and (RNG x u)
u : Interpolation unit
10. lllegal Parameter Nos. During Parameter Errors

11. Servo Alarm and Warning List


l.lo- Abbr. l,Iame Details s1 s2 s3 s11 sl2 RS NC
10 UV Under Voltage Undervoltage o o o o o PR c
11 AE Axis Error Axis selection error I o I / o AR A
12 ME1 Memory Error 1 Memory error 1 o o o o o AR c
13 CE external Clock Error External clock error o o (, o o PB c
't4 WD Watch Dog error WD error o o o o o PR
15 ME2 Memorv Error 2 Memory errot 2 o o o o o PR A
Rotor position Detect Magnetic pole position
16 RD
error detection error
o o o o o PR A

17 BE Board Error PCB error o o o o o PR A


20 NS1 No Signal 1 (main board) No signal detection 1 o o o o o PR A
No Signal 2 No signal detection 2
21 N52
(add on board Enc) o o o o o PR A
No Signal 3 No signal detection 3
22 NS3
(add on board 1X) o o o o o PR A

No Signal 4 No signal detection 4


23 N34
(add on board Scale) I I I I o B1 I / PR A

24 PG Phases Grounded detect Ground fault detection I / I I / o o AR A


25 BA Battery Alarm Battery error o o o o o AR c
26 NA No control Axis error Non-used axis error I I o o I o PR c
27 ICE Internal Clock Error lnternal clock error I I o I I o PR c
30 OR Over Regeneration Over-regeneration o o o o o PR c
Over Speed Overspeed
31 os (2400/3600rpm)
o o o o o PR A

32 oc Over Current Overcurrent o o (J o PR A


33 OV Over Voltage Overvoltage o o o o o PR U
34 DP Data Parity Data parity o o o o o PR
35 DE Data Error Data error o o o o o PR
36 TE Transfer Error Transfer error o o o o o PR A
Parameter Error Parameter error
37 PE
(initialize)
o o o o o PR A

40
41
42 FE1 Feed back Error 1 Feedback error 1 o c3 I / I / o o PR A
43 FE2 Feed back Error 2 Feedback error 2 I I I / I I o o PR A
44
45 OHF Fin Over Heat Fin overheat o o L,' o o NR c
46 OHM Motor Over Heat Motor overheat o o o o NR A
47
Over Load 1 Overload
so oL1
(150% lmin)
1
o o (J o o NR A

Over Load 2 Overload 2


51 oL2 (C.LlMlT 0.5sec) o (J \J o o NR A

52 oD1 Over Drooo 1 Excessive error 1 o o o o o NR A


53 oD2 Over Droop 2 Excessive error 2 o o cs o
c3 B6 o A1 (J NR
54 AOL Amp. Over Load Amplifier overload I I o o I I o NR
55 EM EMergency External emergency stop o o o o NR
56 OA CIher Axis alarm Other axis error o o o o o NR
57 MCE Magnetic Contactor Error Contactor error o uc o C7 o B8 o A5 o A5 NR c

tlote 1) RS: PR indicates to reset with NC power OFF, NR indicates to reset with NC reset, AR indicates to reset with servo amplifier
power OFF, and r indicates a warning display where the servo does not turn OFF.
tlote 2) A/C: A is an alarm that occurs for each axis, C is a common alarm in the amplifier.
t{ote 3) The O mark indicates an alarm detection, and / indicates no alarm detection.
The symbols next to the O mark indicate the software versions. The alarm and warnings are detected with ROMs newer
than the software versions.
(ltems not indicated, indicate that the so{tware version does not matter.)

-37 -
10. lllegal Parameter Nos. During Parameter Errors

t{o- Abbr. l{ame tletails S1 S2 s3 sl1 sl2 RS A/C


EO WOR Warnino Over Reqeneration Over-reoeneration warnino o o o o o c
E1 woL Warninq Over Load Overload warninq o o o o o A/C
E2
Warning Absolute Counter error Absolute position counter
E3 WAC
warnrno
Befer to Note \.,, o A
E4 WPE Warninq Parameter Error Parameter error warninq o LJ o o o n
Warning ABsolute detect error Absolute value detection
E5 WAB
warnino o o o o
E6 woT Warnino Over Travel Overlravel warninq o o o o o A
E7 NCE NC Emerqencv NC emeroencv stoo o o o o o c
Warning Absolute first Initial communication warning
AO WAT
Transmission
o c0 o:c0 I I o o A
A1 WAS Warnino Absolute Serial sional Serial signal warninq o c0 O:C0 o A
pe WAV Warninq Absolute batterv Voltaqe Battery warning o c0 o:c0 / I o o l. c
Warning Absolute cable No Battery disconnected warning o c0 o:m
A3 WAN
connection I \J o A
A4 WAP Warninq Absolute Position error Feedback warnino Refer to Note 4 o o A

A5 WAR Warnino Absoluite Resolver Resolver warnino I I I o o A


46 wcP Warninq Absolute Close Position Closed feedback warninq I I I o A7 o A7 A
A7
60
61
62
63
fl
65
66
67
70
71
72
73
74
75
76
T7
lnitial serial communication
80 WST Warning Sirial First Transmission
warnino
I I I I I I o B1 I t A
81 WSS Warninq Sirial Siqnal Serial operation warninq I I I / / I o B1 I A
82 WSF Warnino Sirial data Format Serial data format warnino I I I I I I o B1 I I A
83 wsc Warning Sirial cable no
Connection
Serial signal disconnected
warntnq
I I / I I LJ B1 I I t A
84 WCE Warnino l/F CPU Error Interface card CPU warninq I o B1 / I U
85 WTE Warning UF Data Transmission lnterface card data I I I I I I o B1 I / t c
Error transmission warninq
lnterface card memory o
86 WME Warning l/F Memory Error
warnino I I I I I I B1 I I * c
87
90 SOS Scale Over Speed Scale oversoeed I I I I I I o B1 I I AR A
Scale absolute position circuit I I I I
91 sAc Scale Absolute circuit error
error
I I B1 I I AR A

92 src Scale lncremental circuit error Scale incremental position I I I / I I (-, B1 I I AR A


circuit warninq
93 SCE Scale CPU error Scale CPU error I I I B1 I AR A
94
9s
96
97 SFE Scale Feedback Error Scale feedback error I I I I I I o A7 o N PR

tlote 1) RS: PR indicates to reset with NC power OFF, NR indicates to reset with NC reset, AR indicates to reset with servo amplifier
power OFF, and * indicates a warning display where the servo does not turn OFF.
hbte 2) A/C: A is an alarm that occurs for each axis, C is a common alarm in the amplifier.
nbte 3) The O mark indicates an alarm detection, and / indicates no alarm detection.
The symbols next to the O mark indicate the software versions. The alarm and warnings are detected with ROMs newer
than the software versions.
(ttems not indicated, indicate that the software version does not matter.)
t{ote 4}
- ln the 237 absolute position system, the absolute position counter warning (E3) and position deviation warning (A4) are
detected from versions MR-S1:CO and MR-S2:CO.
ln the 233 absolute position system, the absolute position counter warning (E3) and position deviation warning (A4) are
detected from versions MR-S1:C8, MR-S2:CB and MR-S3:BD.
The MR-S11/S12 detect the alarms in the 233 and 237 systems from the A0 version.

-38-
7
':
MRS TO T,If,2 FARAHETER CROSS REFERANCE

I
lfl f1R5 I,lRS M52 I'1f,? 14RS T'IRS m3? t'lf,2
PARA. FARA. FARA. FAGE FARA, FARA. PARA. FAGE
L,7'
(', -" u_IMEER
! NAT,IE NUMEER t{UMFER T.IUT,IEER NAI,IE NUIlFEF: T.IUI'IBER
'
1 FC1 f'115,' ND.5 :;b oD" F:12 41o o r{f' .7
, t
$Aooooo
1 FCz 412 NO.6 27 ceE
g'rJl F:1 .l U r.lo.7
.R14 L
FGN Q2 roo NO.6 OA0oo f o t'

?Ei SF1 R15 t{o. 7


4 LGN Q50 NO-6
29 JT.J- R1.5 f-lrl. 7
F
J uu1 Gl4 /5o NO.6
-Cr sFs -- S1 Nrl. A
6 V6? Q50 f{o.6
5F4 J.J- NO. B
7 VIL aa q19o
NO.6 =1
5? SF5 S3 N0. g
VIA Q7 bo 6
)) :
NO-

9 IQA QB /o24 NO.6

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