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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
MITSUBISHI CNC
MELDAS AC SERVO MR-SI0 SERIES rMR-s11/MR-s12t
MELDAS AC SERVO MR-S SERIES rMR-s1/MR-s2/MR-ssI
1. Summary 1
A4 No additions
A5 For HA-N23/N33 motor Addition of compatible motors 25:MTY
Ground fault Protection tunction Protection of motor output cable and motor
internal ground faults
A2 No additions
A3 Lost motion comPensation tYPe Compatible for all cutting ranges 17:STY 16:TGN 28:SP1
2 function
A4 No additions
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'
A8
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
-4-
2. Functions and Related Parameters
AO Semi-closed loop
Motor capacity standard HA40,43,80,83, 100
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
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
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
AO Semi-closed loop
Motor capacity standard H423, 33, 40, 43, 80, 83, 100
84 No additions
B5 No additions
B9 Addition of notch filter function Suppression of ball screw shaft torsion resonance. 17:STY
BA No additions
BB No additions
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.
-7
3. Parameters
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.
9 lQA 1 - 7680
-8-
3. Parameters
\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
X cw ccw
Y CW ccw cw c cw
A f+- f+- --> { -+f
B f ->- -+f *-- -+f
C -++ --+ { +-- +
--
D -*+ f+- -+f f+-
-10-
3. Parameters
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.
Example) The following values are used according to the servo amplifier.
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
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
An excessive error alarm will occur if the droop is not in the shaded area.
15 x 10"
x 0.5
EO ,-ffis- = 7576 + 7500
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.
[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)
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.
[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.
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
[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
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.)
fTcM I High speed, high-accuracy sysrem ffien connected with M300V series)
[Standard: 0]
0: Standard system
1 : High-speed, high-accuracy system
Example)
(1) To set the same execution timing for both directions.
During CCW
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
/\ 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-+-
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)
Motor speed
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
<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
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).
-18-
3. Parameters
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.
11tlO.51t o.5p
O.lttlO.Ostt 0.059
-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
(7) Try using 17. STY FBC (bit B) and 17. STY FBF, FBG and FBH (bitA, 9, 8) together.
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
Y 5
I
r
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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)
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.
(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
.-'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
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9. Standard Parameter Settings Per Motor
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.
-32
9. Standard Parameter Settings per Motor
whe
'n usrng ilA?OOLl,setf
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Remarks: ORT: When using th, regenerative oi rtion resistor, set
rr
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-
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10. lllegal Parameter Nos. During Parameter Errors
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.
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
(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
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
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
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
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