User's Manual (Details) - MEE · amplifier, battery (primary battery), and other options according to your local laws and regulations. CAUTION Necessary information of Act on the

Drive Goods

SSCNET III/H Analog Speed Command Unit

Model

DG2AF3N/DG2AF3N-P01

User's Manual (Details)

A - 1

Safety Instructions (Please read the instructions carefully before using the equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The precautions described in this manual are concerned with this product only. For safety precautions related to the Motion controller system and programmable controller system, refer to the user’s manual of each CPU module used. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

DANGER Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. Please save this manual to make it accessible when required and always forward it to the end user.

A - 2

[Design Precautions]

DANGER Configure safety circuits external to the analog speed command unit to ensure that the entire system operates safely even when a fault occurs in the external power supply or the analog speed command unit. Failure to do so may result in an accident due to a malfunction or incorrect output. (1) Configure external safety circuits, such as an emergency stop circuit, protection circuit, and protective

interlock circuit for forward/reverse operation or upper/lower limit positioning.(2) When the analog speed command unit detects an error such as a watchdog timer error by the self-

diagnostic function, all outputs are turned off. Also, output controls may not work when an error occursin the part, such as I/O control part, where the analog speed command unit cannot detect any error. Toensure safety operation in such a case, provide a safety mechanism or external circuit.

(3) Outputs may remain on or off due to a failure of an output module relay, transistor, or triac. To ensuresafety operation, configure an external circuit to monitor output signals that could cause a seriousaccident.

CAUTION Noise interference can cause erroneous data to be written to the analog speed command unit, resulting in an incorrect operation of the analog speed command unit which may cause an accident, or damage the machine. Always ensure the following items are observed. (1) Do not bundle 24 VDC lines, main circuit lines, or high-voltage lines with load lines.

Do not keep these lines close to each other as they are easily affected by noise and surge induction.When wiring, keep the above lines at least 100mm apart.

(2) The shield of shielded cords and shielded cables must be grounded to a point on the programmablecontroller side. However, do not use a common ground with strong electrical equipment.

(3) Input, power supply, and optical fiber connectors should be used without any force applied on them.Excessive force will cause cables to disconnect and fail.

Provide appropriate circuits external to the analog speed command unit to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or analog speed command unit failure. If a fault occurs in the analog speed command unit or servo amplifier, shut off the power at the servo amplifier's power source. If a large current continues to flow, fire may occur. Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may cause destruction or damage. Ensure that polarity (+/-) is correct. Doing so may cause destruction or damage.

A - 3

[Installation Precautions]

DANGER Switch off all phases of the externally supplied power used in the system before installing or removing the analog speed command unit. Not doing so could result in an electric shock or damage to the unit.

CAUTION Never try to disassemble or modify the conversion unit. It may cause a product failure, operation failure, injury, or fire. Do not drop or apply strong impact on the analog speed command unit. Doing so will damage the unit. Use the analog speed command unit in an environment that meets the general specifications contained in this manual. Using the conversion unit in an environment outside the range of the general specifications could result in an electric shock, fire, operation failure, and damage to or deterioration of the unit. When using the analog speed command unit in places subject to vibration, tighten the unit with screws. Tighten the screws within the specified torque range. Undertightening may cause a drop, short circuit or operation failure. Overtightening may cause a drop, short circuit, or operation failure due to damage to the screws or analog speed command unit. Do not directly touch the conductive parts and electronic components of the analog speed command unit. Doing so may cause the unit to malfunction or be damaged. Lock the control panel and prevent access to those who are not certified to handle or install electric equipment. Mount the analog speed command unit, servo amplifier, servo motor, and regenerative resistor on incombustible material. Mounting them directly or close to combustibles will lead to fire.

[Wiring Precautions]

DANGER Switch off all phases of the externally supplied power used in the system before installation or wiring. Not doing so could result in an electric shock or damage to the product.

CAUTION Be sure to ground the earth terminal FG and LG. (Ground resistance: 100 Ω or less) Not doing so could result in an electric shock or operation failure. Check the product's rated voltage and the terminal layout. Make sure to wire the conversion unit correctly. Connecting a power supply that differs from the rating or incorrectly wiring the product could result in fire or damage. External connections shall be crimped or pressure welded with the specified tools, or correctly soldered. Imperfect connections could result in a short circuit, fire, or operation failure. Tighten the terminal screws within the specified torque range. Undertightening may cause a drop, short circuit, fire, or operation failure. Overtightening may cause a drop, short circuit, or operation failure due to damage to the screws or conversion unit. Make sure that no foreign matter such as sawdust or wiring debris enters the analog speed command unit. Such debris could cause fire, damage, or operation failure. Ensure that polarity (+/-) is correct. Doing so may cause destruction or damage.

A - 4

[Startup and Maintenance Precautions]

DANGER Do not touch the terminals while power is on. Doing so could cause an electric shock. Switch off all phases of the externally supplied power used in the system before cleaning the analog speed command unit or retightening the terminal or unit mounting screws. Not doing so could result in an electric shock. Undertightening may cause a drop or operation failure. Overtightening may cause a drop, short circuit, or operation failure due to damage to the screws or analog speed command unit.

CAUTION Never try to disassemble or modify the analog speed command unit. It may cause a product failure, operation failure, injury, or fire. Use any radio communication device such as a cellular phone or a PHS phone more than 25 cm away from the analog speed command unit in all directions. Not doing so may cause a malfunction. Switch off all phases of the externally supplied power used in the system before installing or removing the analog speed command unit. Not doing so may cause the unit to fail or malfunction. Before touching the analog speed command unit, always touch grounded metal, etc. to discharge static electricity from human body. Not doing so may cause the unit to fail or malfunction. Do not directly touch the conductive parts and electronic components of the analog speed command unit. Doing so may cause the unit to malfunction or be damaged.

A - 5

[Disposal Precautions]

DANGER A capacitor is mounted into the analog command speed unit. Do not incinerate the analog speed command unit, or the capacitor may burst. For disposal of the analog speed command unit, request for the specialized industrial waste disposal service who has incineration facilities.

Dispose of this product according to your local laws and regulations. Please discard the conversion unit, servo amplifier, battery (primary battery), and other options according to your local laws and regulations.

CAUTION Necessary information of Act on the Promotion of Effective Utilization of Resources (Law for the Promotion of Effective Utilization of Resources) (1) When this product becomes disused, recycle it as far as possible.(2) For the recycle, the resources are likely to be classified into iron, electrical parts, and others to sell to

the scrap processor. Therefore, we recommend you to sort the resources as necessary to sell to theproper processor.

Necessary information of Waste Management and Public Cleansing Act (Waste Management Law) (1) Although this product was manufactured under conditions of strict quality control, the product shall be

systematically provided with backup and fail-safe functions when it is used in facilities wherebreakdowns of the product are likely to cause a serious accident or damage.

(2) If this product becomes disused and is to be disposed because it cannot be sold, it is regarded asindustrial waste by this law.

(3) Disposal of industrial waste should be consigned to the expert approved by this law. The proper actionincluding the manifest management is required.

(4) The batteries are classified into "primary batteries" or "secondary batteries". Dispose of them accordingto the municipal disposal method.

[Transportation Precautions]

CAUTION When not using the product for a long time, disconnect the power line from the unit or servo amplifier. Place the analog speed command unit and servo amplifier in anti-static vinyl bags to store.

A - 6

REVISIONS *The manual number is given on the bottom left of the back cover.

Print Date *Manual Number Revision Aug. 2018 50GR-041219-A First edition

This manual confers no industrial property rights or rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

© 2018 MITSUBISHI ELECTRIC ENGINEERING COMPANY LIMITED

A - 7

CONTENTS Safety Instructions ..................................................................................................................................... A-1 REVISIONS ............................................................................................................................................... A-6 CONTENTS .............................................................................................................................................. A-7

1. OVERVIEW ............................................................................................................................................... 1 (1) Characteristics ............................................................................................................................... 1 (2) Product specifications ................................................................................................................... 1 (3) Compatible controller .................................................................................................................... 2 (4) System configuration ..................................................................................................................... 3

2. OUTER APPEARANCE ............................................................................................................................ 4

3. SPECIFICATIONS .................................................................................................................................... 5 (1) General specifications ................................................................................................................... 5 (2) Performance specifications ........................................................................................................... 5 (3) Product features ............................................................................................................................ 6

4. EXTERNAL CONNECTIONS ................................................................................................................... 7 (1) Input/output connector: CN2 (50-pin connector) ........................................................................... 7 (2) Encoder connector CN5, CN6 (10 pins) ..................................................................................... 12 (3) Power supply connector CN7 ...................................................................................................... 14 (4) Battery connector CN8 ................................................................................................................ 15

5. SWITCH SETTING ................................................................................................................................. 16 (1) SW2 setting descriptions ............................................................................................................. 16

6. 7-SEGMENT LED DISPLAY ................................................................................................................... 17 (1) Ordinary operation ...................................................................................................................... 17 (2) When an alarm occurs ................................................................................................................ 17 (3) Display indication ........................................................................................................................ 18

7. ALARM CONTENT ................................................................................................................................. 19

8. DESCRIPTIONS OF PARAMETER SETTINGS..................................................................................... 21 (1) Parameter setting ........................................................................................................................ 21 (2) Servo parameters ........................................................................................................................ 24 (3) Optional data monitor .................................................................................................................. 35

9. DEVICE LIST .......................................................................................................................................... 37 (1) Input/output devices .................................................................................................................... 37 (2) Motion dedicated devices ............................................................................................................ 38 (3) Simple Motion dedicated devices................................................................................................ 39 (4) Monitoring .................................................................................................................................... 41 (5) Output method of general-purpose Y0-Y7 .................................................................................. 42

A - 8

10. OPERATIONAL DESCRIPTIONS ........................................................................................................ 44 10-1. Function list ..................................................................................................................................... 44 10-2. Speed control (without position loop) ............................................................................................. 45

(1) Basic specification ....................................................................................................................... 45 (2) Supplemental specifications ........................................................................................................ 45 (3) I/O signal connection example .................................................................................................... 45 (4) Inverter parameters ..................................................................................................................... 45

10-3. Position control (without offset) ...................................................................................................... 46 (1) Basic specification ....................................................................................................................... 46 (2) Supplemental specifications ........................................................................................................ 46 (3) I/O signal connection example .................................................................................................... 47 (4) Inverter parameters ..................................................................................................................... 47

10-4. Pressure control .............................................................................................................................. 48 (1) Basic specification ....................................................................................................................... 48 (2) Supplemental specifications ........................................................................................................ 49 (3) I/O signal connection example .................................................................................................... 50 (4) Inverter parameters ..................................................................................................................... 50

10-5. Position control (with offset) ........................................................................................................... 51 (1) Basic specification ....................................................................................................................... 51 (2) Supplemental specifications ........................................................................................................ 51 (3) I/O signal connection example .................................................................................................... 51 (4) Inverter parameters ..................................................................................................................... 51

11. EXTERNAL DIMENSIONS ................................................................................................................... 52

Appendix-1 WARRANTY .................................................................................................................... App.-1

Appendix-2 Compliance to the EMC and Low Voltage Directives ..................................................... App.-2

1. OVERVIEW

1

1. OVERVIEW

(1) Characteristics

• SSCNET III/H analog speed control unit DG2AF3N(-P01) enables you to incorporate the devices driven by analogvoltage commands, such as V/F inverters and hydraulic servos, into your SSCNET III/H servo network.

• By using a program similar to that of a servo amplifier, you can perform position control with V/F inverters orhydraulic servos. (Performance such as responsiveness differs from that of servo amplifiers.)

• The pressure control with the hydraulic servo and the speed control with the V/F inverter are possible in addition tothe position control.

• Setting the pressure feedback value enables automatic mode switch from the position control to the pressurecontrol.

• When the controller side is switched to the torque control mode, DG2AF3N(-P01) operates in the pressure controlmode.

• A single DG2AF3N(-P01) can control two driving devices at maximum.• In addition to ABZ phase encoder, the feedback signal supports serial encoder and serial linear encoder produced

by Mitsubishi Electric Corporation. (The supported encoders are only those meeting the encoder interfacespecifications)

• There are two types of SSCNET III/H analog speed command units: DG2AF3N (voltage analog input) andDG2AF3N-P01 (current analog input).

(2) Product specifications

The following shows the main functions of DG2AF3N and DG2AF3N-P01. Item DG2AF3N DG2AF3N-P01

1) Analog input specification Voltage input specification · -10 V to +10 V

Current input specification 4 mA to 20 mA

2) Control mode

(1) Speed (without position loop)(2) Position (without offset)(3) Pressure(4) Position (with offset)

3) Number of control axes 2 axes

3) Supported encoder

(1) Q171ENC-W8 (serial ABS rotary encoder)(2) Serial ABS linear encoder(3) ABZ phase encoder(4) Analog encoder

4) Analog input point 4 points (Dedicated: 4 points, General-purpose: 4 points)

5) Analog output point 4 points (Dedicated: 2 points, General-purpose: 4 points)

6) Input device 12 points (Dedicated: 6 points, General-purpose: 12 points)

7) Output device 8 points (General-purpose: 8 points)

8) Forced stop deceleration function Deceleration time: 0 to 20000 (ms)

1. OVERVIEW

2

(3) Compatible controller

• The following shows the supported motion controllers and operation systems.Motion controller Q173DSCPU Q172DSCPU Q170MSCPU(-S1) Operation system SW8DNC-SV22S84QJ SW8DNC-SV22S84QL SW8DNC-SV22S84QN

• When DG2AF3N(-P01) is connected to the above controllers, it is recognized as MR-J4-B.• Set the parameter of DG2AF3N(-P01) as the servo parameter of MR-J4-B.

Set the parameter with the servo parameter setting of MELSOFT MT Works2.

・The following shows the supported Simple Motion modules and versions.Simple Motion QD77MS2/4/16 LD77MS2/4/16

Upper 5 digits of the serial number 20052 or later 20072 or later・When DG2AF3N(-P01) is connected to the above Simple Motion modules, it is recognized as MR-J4-B.・Set the parameter of DG2AF3N(-P01) as the servo parameter of MR-J4-B.

Set the parameter with the servo parameter setting of the Simple Motion Module Setting Tool.

1. OVERVIEW

3

(4) System configuration

[System configuration of V/F inverter and analog speed command unit]

[System configuration of hydraulic servo and analog speed command unit]

SSCNET III/Hcompatible controller*

SSCNET III/H

Analog speedcommand

Program settingParameter setting

Applicable softwareMELSOFT MT Works2

V/F inverter

Encoderfeedback signal

Motorpower supply wire

ABZ-phase/serial ABS encoder

IM motor

Analog speed command unitDG2AF3(-P01)

SSCNET III/Hcompatible controller*

SSCNET III/H

Program settingParameter setting

Applicable softwareMELSOFT MT Works2

Analog speedcommand

MR-J4-Aservo amplifier

Encoderfeedback signal

Motor powersupply wirePressure feedback

Position feedback

Hydraulic servo

Analog speed command unitDG2AF3(-P01)

* SSCNET III/H compatible controller • Q173DSCPU • Q172DSCPU • Q170MSCPU(-S1) • LD77MS2/4/16 • QD77MS2/4/16

Analog speed command unit DG2AF3N(-P01)

Analog speed command unit DG2AF3N(-P01)

• Applicable software Motion controller : MELSOFT MT Works2 Simple Motion module : MELSOFT GX Works2

• Applicable software Motion controller : MELSOFT MT Works2 Simple Motion module : MELSOFT GX Works2

2. OUTER APPEARANCE

4

2. OUTER APPEARANCE

The following shows the names of each section of the analog speed command unit.

No. Name Function

1) 7-segment LED display Alarm display, status display 2) Rotary switch (SW1) Hexadecimal rotary switch for control axis No.

3) Rotary switch (SW2) Decimal rotary switch for control axis No.

4) Input LED 12 points Displays the status of the digital input.

5) Output LED 8 points Displays the status of the digital output.

6) CN1: USB connector (CN1) For manufacturer setting

7) CN2: I/O connector (CN2) Input 12 points, Output 8 points, Analog input 4 points, Analog output 4 points, Emergency stop 1 point

8) SSCNET III/H connection IN connector (CN3) Connects the controller or previous axis servo amplifier.

9) SSCNET III/H connection OUT connector (CN4) Connects the next axis servo amplifier. For the final axis, put a cap. 10) Encoder I/F connector CH1 (CN5) Select one of the followings.

• Serial two-wire type/serial four-wire type/ABZ phase different encoder11) Encoder I/F connector CH2 (CN6)

12) 24 VDC power supply input connector (CN7)

24 VDC power supply input connector Notation Signal name Description

+ 24V(+) + 24 V power supply- 24G GND

FG Grounding terminal

13) Encoder backup battery connector (CN8) Connects the battery for absolute position data backup.

1)

2)

3)

4)

5)

6)

7)

8)

9)

10)

11)

12)

13)

M5 screw hole for mounting

M5 screw hole for mounting

DIN rail mounting groove

3. SPECIFICATIONS

5

3. SPECIFICATIONS

(1) General specifications

Item SpecificationsOperating ambient temperature 0 to 55°C

Maximum ambient temperature

55°C

Storage ambient temperature -25 to 75°COperating ambient humidity 5 to 95%RH, no condensation Storage ambient humidity 5 to 95%RH, no condensation

Vibration resistance

JIS B 3502， Compliant with JIS B

3502 and IEC 61131-2

FrequencyConstant

acceleration Half

amplitude Number of sweeps

Under intermittent vibration

5 to 9 Hz - 3.5mm 10 times in each of X, Y and Z directions (for 80 minutes) 9 to 150Hz 9.8m/s2 -

Under continuous vibration

5 to 9 Hz - 1.75mm -

9 to 150Hz 4.9m/s2 -Impact resistance Compliant with JIS B 3502 and IEC 61131-2 (147 m/s2, 3 times in each of X, Y and Z directions)

Operating atmosphere No corrosive gas Operating altitude 2000 m or less

Installation location Inside the control panel Overvoltage category (*1) II or lower

Pollution degree (*2) 2 or less (*1) Indicates the power distribution section to which the device is assumed to be connected, between the public power grid and the

machinery within the premises. Category II applies to the devices that are supplied with power from fixed facilities. The surge withstand voltage is 500 V for devices with ratings up to 50 V.

(*2) Indicates the extent to which conductive substances are found in the device operating environment. Pollution degree 2 indicates an environment in which normally only nonconductive pollution occurs and the temporary conductivity caused by accidental condensation is to be expected.

(2) Performance specifications

Item Performance and specifications

Model DG2AF3N DG2AF3N-P01

Number of control axes 2 axes

SSCNET III/H communication cycle SSCNET III/H communication cycle (control cycle): 0.222 ms to 0.888 ms

* Controller operation cycle: 0.222 ms to 7.111 ms

Encoder interface

Serial two-wire type: up to 4 points, Serial four-wire type: up to 2 points Differential input of ABZ type: up to 2 points

(The unit has only two connectors. When the maximum number of points are assigned to one type, you cannot use another)

Forced stop input 24 VDC, 1 point, photocoupler insulation

Independent common terminal (available for both sink and source)

Digital input 24 VDC, 12 points, photocoupler insulation

(Connecting to a common allows you to select sink or source for all points at once)

Digital output 24 VDC, 8 points, photocoupler insulation

(Connecting to a common allows you to select sink or source for all points at once)

Analog input 0 V to 10 V, -10 V to +10 V: 4 points

(configured by parameters) Resolution: up to 16bit

4 mA to 20 mA: 4 points Resolution: up to 16bit

Analog output 0 to 10 V, -10 to +10 V: 4 points (configured by parameters)

Resolution: up to 16bit

Power supply 20.4 to 26.4 VDC (ripple factor within 5%)

Current consumption 24 VDC (CLASS 2), 0.3 A

Communication function USB: Communication with a personal computer

Compliance to international standards CE, UL/cUL

Structure Natural cooling, open (IP20)

Mounting Installed with M5 screws or DIN rail External dimensions (mm) 168 (H) 30 (W) 100 (D)

Weight (kg) 0.3

3. SPECIFICATIONS

6

(3) Product features

Model DG2AF3N(-P01)

Number of control axes 1 axis/2 axes (*4) Control method • Position control (with/without offset)

• Speed control• Pressure control

12 input points For dedicated or general-purpose (*1) • Dedicated signals: FLS, RLS, DOG* The 12 points of general-purpose input are monitored as effective load ratio (%) by the optionaldata monitor function.

8 output points General-purpose (*1) * The general-purpose output is performed by turning on and off the device dedicated to the

controller. (For the dedicated device, refer to the specification of the controller.)4 analog output points For dedicated or general-purpose

0 V to 10 V, -10 V to +10 V (*2), (*3), (*4), (*5) 4 analog input points For dedicated or general-purpose

• DG2AF3N0 V to +10 V, -10 V to +10 V (configured by parameters)

• DG2AF3N-P014 mA to 20 mA

* Monitored as regenerative load ratio (%), peak load ratio (%), load to motor inertia ratio (0.1times), and model loop gain (rad/s) of the optional data monitor function.

Forced stop input 1 point F/B encoder 2 axes (serial, ABZ phase)

*1 For details on input/output signals, refer to the section 9.*2 When the voltage is specified within 0 V to 10 V and the negative voltage is input, the digital value is clamped at 0.*3 When the speed command output (dedicated) for two axes is used, two points can be used for general-purpose.*4 When the 2-axis control is performed, set the operation cycle of the controller to 0.444 ms or longer.

When the operation cycle is set to 0.222 ms for the 2-axis control, the serious error 1350 occurs on the controller side.*5 The number of the channels available for analog output depends on the operation cycle.

For operation cycle 0.222 ms • • • Only one channel (CH1) among dedicated and general-purpose channels is available. No output withCH2 and later channels. For operation cycle 0.444 ms • • • Only two channels (CH1 and CH2) among dedicated and general-purpose channels are available. No output with CH3 and later channels. For operation cycle 0.888 ms • • • Four channels (CH1 to CH4) among dedicated and general-purpose channels are available.

4. EXTERNAL CONNECTIONS

7


(1) Input/output connector: CN2 (50-pin connector)

1) Pin arrangement of the input/output connectorDigital input/output signals, analog input/output signals, and forced stop signal are connected through thisinput/output connector.The following is the front view of the pin arrangement of the input/output connector.

Input/output connector Pin No. Signal name Pin No. Signal name

1 AG 26 AG2 AI1 27 AI23 AG 28 AG4 AI3 29 AI45 AG 30 AG6 AG 31 AG7 AO1 32 AO28 AG 33 AG9 AO3 34 AO4

10 AG 35 AG11 NC 36 NC12 DI0 37 DI113 DI2 38 DI314 DI4 39 DI515 DI6 40 DI716 DI8 41 DI917 DIA 42 DIB18 DICOM 43 DICOM19 EMG 44 EMGCOM20 NC 45 NC21 DO0 46 DO122 DO2 47 DO323 DO4 48 DO524 DO6 49 DO725 DOCOM 50 DOCOM

Supported connector models: Soldering type connector 10150-3000PE (3M Japan Limited) sold separately Shell kit 10350-52F0-008 (3M Japan Limited) sold separately


8

2) Analog input sectiona) Specifications of the analog input section

Item Specifications

Model DG2AF3N DG2AF3N-P01Number of inputs 4 points

Input voltage 0 V to 10 V, -10 V to +10 V (configured by parameters)

4 mA to 20 mA

Resolution 16bit 16bit

b) InterfaceSignal name Pin No. Wiring example

AI1 AI2 AI3 AI4

2 27 4 29

AG 1, 3, 5, 26, 28, 30

*1 DG2AF3N: None DG2AF3N-P01: Input resistance (250 Ω)

3) Analog output sectiona) Specifications of the analog output section

Item Specifications

Output points 4 points Output voltage 0 V to 10 V, -10 V to +10 V (configured by parameters)

Resolution 16bit


AO1 AO2 AO3 AO4

7 32 9 34

AG 6, 8, 10, 31, 33, 35

Analog GND

Inverter or other device

Analog GND

*1


9

4) General-purpose input sectiona) Specifications of the general-purpose input section

Item Specifications

Input points 12 points Input type Both sink and source are available Common terminal 6 points/common (common terminal: DICOM) Insulation method Photocoupler insulation Rated input voltage 24 VDC Rated input current (Iin) Approximately 5 mA Operating voltage range 21.6 to 26.4 VDC

(24 VDC ±10%, the ripple rate is within 5%) On-voltage/current 17.5 VDC or more/3.5 mA or more Off-state voltage/current 7 VDC or less/1 mA or less Input resistance Approximately 6.8 k Response time OFF → ON 1 ms or less

ON → OFF 1 ms or less


DI0 DI2 DI4 DI6 DI8 DIA

12 to 17

DICOM 18

DI1 DI3 DI5 DI7 DI9 DIB

37 to 42

DICOM 43

*1 For polarity of the 24 VDC, both positive and negative can be used.

Internal circuit

24 VDC (*1)

Internal circuit

24 VDC (*1)


10

5) Forced stop input sectiona) Specifications of the forced stop input section

Item Specifications

Input points 1 point Input type Sink/source Common terminal 1 point/common (common terminal: EMGCOM) Insulation method Photocoupler insulation Rated input voltage 24 VDC Rated input current (Iin) Approximately 5 mA Operating voltage range 21.6 to 26.4 VDC

(24 VDC ±10%, the ripple rate is within 5%) On-voltage/current 17.5 VDC or more/3.5 mA or more Off-state voltage/current 7 VDC or less/1 mA or less Input resistance Approximately 6.8 k Response time OFF → ON 4 ms or less

ON → OFF 4 ms or less


EMG 19

EMGCOM 44


Internal circuit

24 VDC (*1)


11

6) General-purpose output sectiona) Specifications of the general-purpose output section

Item Specifications

Output points 8 point Output type Sink/source Common terminal 8 points/common (common terminal: DOCOM) Insulation method Photocoupler insulation Rated load voltage 24 VDC ±10% Rated load current 300 mA (recommended operational condition) Operating voltage range 21.6 to 26.4 VDC

(24 VDC ±10%, the ripple rate is within 5%) Maximum voltage drop when turned on 1 VDC or less Leakage current when turned off 1 µA or less Response time OFF → ON 1 ms or less

ON → OFF 1 ms or less (Rated load, resistance load)


DO0 DO2 DO4 DO6

21 to 24

DOCOM 25

DO1 DO3 DO5 DO7

46 to 49

DOCOM 50


Internal circuit

24 VDC (*1)

Load

Load

Internal circuit

24 VDC (*1)

Load

Load


12

(2) Encoder connector CN5, CN6 (10 pins)

1) Pin arrangement of the encoder connectorSerial encoders and ABZ encoders are connected through this encoder connector.The following is the front view of the pin arrangement of the encoder connector.

Encoder connector

Pin No. Signal name

Signal names of each encoder Serial encoder

ABZ phase encoder

Two-wire type Four-wire type 1CH 2CH

1 P5 5V 5V 5V 5V2 LG SG SG SG SG3 MR MR_1 MR_1 MR PA4 MRR MRR_1 MRR_1 MRR PAR5 PB - - - PB6 PBR - - - PBR7 PZ - MR_2 MD PZ8 PZR - MRR_2 MDR PZR9 BAT BAT BAT BAT -

10 PSEL - - - PSEL

Supported connector models: Receptacle 36210-0100PL (3M Japan Limited) sold separately Shell kit 36310-3200-008 (3M Japan Limited) sold separately

2) Serial encodera) Specifications of the serial encoder section

Item Specifications

Supported encoder Q171ENC-W8 Supported signal type Differential output type (equivalent to SN75C1168) Transmission system Serial communication Synchronization method Asynchronous system Transmission speed 2.5Mbps Position detection method Absolute (ABS) method Resolution 4194304PLS/rev(22bit) Number of usable units 4 encoders/unit (for two-wire type) External connection method 20-pin connectorConnection cable Q170ENCCBL#M-A (# represents the cable length: 2, 5, 10, 20, 30 m) Cable length Max. 30m Backup method for absolute position With the battery (3.6 V, 2000 mAh)

Battery life (actual operating life)

Approx. 10000 hours/2 axes (when the device is not energized and the ambient temperature is 25 °C)

Approx. 20000 hours/1 axis (when the device is not energized and the ambient temperature is 25 °C)

2

LG 4

MRR

6

PBR 8

PZR

10

PSEL

1

P5 3

MR

5

PB 7

PZ

9

BAT


13

3) ABZ phase encoder (differential output type)a) Specifications of the ABZ phase encoder section

Item Specifications

Number of usable units 2 Supported signal type Differential output type (equivalent to 26LS31) Maximum input pulse frequency 1 Mpps (Up to 4 Mpps after multiplication by 4) Pulse width 1 µs or more Rise/fall time 0.25 µs or less Phase difference 0.25 µs or more High-state voltage 2.0 to 5.25 VDC Low-state voltage 0 to 0.8 VDC Differential voltage ±0.2 V Cable length Max. 30m


PA PAR

3 4

PB PBR

5 6

PZ PZR

7 8

PSEL 10

P5 1

SG 2

5 VDC

ABZ phase encoder

PA

PAR

PB

PBR

PZ

PZR

P5

SG

Internal circuit


14

(3) Power supply connector CN7

Power supply connector Pin No. Signal name

1 24 VDC2 24G3 FG

A spring connection plug connector is used for 24 VDC power supply input. No dedicated tools are required. 1) Applicable wire size and processing method

a) Applicable wire sizeThe table below shows the wire size and type applicable to the 24 VDC power supply input connector.

Connector Model Applicable wire size and type

24 VDC power supply input connector

FKC-2.5/3-ST-5.08 0.3 to 2.5 mm2 (AWG12 to AWG22) Type: Cu

b) Wire processingThe stripped length of the wire is as shown below.Use the wire after stripping the sheath without twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core, as it may cause a contact fault.

*: When using a ferrule A ferrule can also be used to connect with the connector. Use the ferrules in the table below for the 24 VDC power supply connector.

Connector Wire size Ferrule model

Crimping tool Manufacturer For 1 wire For 2 wires

24 VDC power supply input connector

AWG16 AI1.5-10 BK AI-TWIN 2 × 1.5-10 BK CRIMPFOX-ZA3 Phoenix Contact

AWG14 AI2.5-10 BU -

• Cut the wire sticking out from the end of the ferrule to 0.5 mm or less.

• When using a twin ferrule, be sure to insert the wire in a manner that will keep the insulationsleeve from interfering with the neighboring poles. Be sure to crimp the ferrule.

0.5mm or less

Crimp

Crimp

Sheath Core

Approx. 10 mm


15

2) Inserting the wirea) Press the connector release with a tool such as a flathead screwdriver.b) While holding the release down, insert the wire all the way in.c) Confirm the connection status.

*: When using a ferrule, make sure its bumpy side is facing toward the release. To insert two wires into one terminal, use a twin ferrule.

(4) Battery connector CN8

Connector

Supported connector model Crimp socket DF3-2S-2C (Hirose Electric Co., Ltd.) sold separately

(a)

(b)

Button

Cable

Insert so that the bumpy side is facing toward the release.

GND 3.6V

5. SWITCH SETTING

16

5. SWITCH SETTING

SW1 and SW2 are used to select an operation mode.

(1) SW2 setting descriptions

(1) SW2 setting descriptions

SW2 setting changes the operation mode. SW2 setting Description

0 Control axis No. (ordinary operation) when using 2 axes 1 For manufacturer setting 2 For manufacturer setting 3 For manufacturer setting 4 Control axis No. (ordinary operation) when using 1 axis 5 For manufacturer setting 6 For manufacturer setting 7 For manufacturer setting 8 -9 For manufacturer setting

When you set SW2 setting to 0, the stations for 2 axes are occupied. (Example: SW2 = 0/SW1 = 3: d4 and d5 occupied) When you set SW2 setting to 4, the stations for 1 axis are occupied. (Example: SW2 = 4/SW1 = 3: only d4 occupied)

1) Control axis number settingSW2 setting SW1 setting (*1) Control axis number

0/4 0 d11 d22 d33 d44 d55 d66 d77 d88 d99 d10A d11B d12C d13D d14E d15F d16

*1 Set the numbers in the range not exceeding the maximum control axis number of the controller. When controlling two axes, setthe numbers in the range not exceeding the maximum control axis number for the dn+1 axis.

SW1 Hexadecimal

switch

SW2 Decimal switch

6. 7-SEGMENT LED DISPLAY

17


(1) Ordinary operation

When no alarm is occurring, the LED display shows an axis number and blank alternately.

Displayed for 1.6 s Blank for 0.2 s (same as MR-J4)

(2) When an alarm occurs

While an alarm is occurring, the LED display shows the status and the alarm number alternately.

1) When an alarm is occurring at one axis

Displays status for 0.8 s Displays alarm for 0.8 s Blank for 0.2 s

2) When an alarm is occurring at multiple axes (Displays the alarm numbers alternately)

Displays status for 0.8 s Displays alarm for 0.8 s Blank for 0.2 s

Axis numbers (2 digits)

d 0 1

Status display [b]: Ready-off [C]: Following up the position

[d]: Positioning the axis

d 0 1

n 0 1

E 7

E 7

n 0 2 E 7


18

(3) Display indication

7-segment LED display indication

A F 3

Turned on

n 1

V 0 B

Model

1: Voltage input (DG2AF3N) 2: Current input (DG2AF3N-P01)

Version display

A b

A C

A d

A E

A F

A H

A A

b # #

C # #

d # #

Waiting for the controller to be turned on

Initial communication: the first phase

Initial communication: the second phase

Initial communication: the third phase

Initial communication: the fourth phase

Initial communication completed

The controller is turned off during the initial communication

Ready-off: Servo-off

Ready-on Servo-off

##: Axis No.

n # #

* *

Alarm process

Axis No.

Alarm No.

Blank

##: Axis No.

**: Alarm No.

Ready-on Servo-on

When an alarm occurs, the alarm process shows the alarm number.

7. ALARM CONTENT

19

7. ALARM CONTENT

Error code list

Type

Erro

r cod

e

Name Description Cause Action

Alarm deactivation

Alar

m re

set

Con

trolle

r res

et

Pow

er c

yclin

g

Ala

rm 10 Voltage drop in the power supply

Low analog voltage A part in the unit is malfunctioning.

Replace the unit.

11 Switch setting error

Rotary switch setting error The settings of SW1 and SW2 are incorrect.

Check the settings of SW1 and SW2. (Refer to 5. SWITCH SETTING.)

16 Encoder initial communication error 1

• Transmitted data error inserial encoder initialcommunication

• Received data error inserial encoder initialcommunication

• ABZ encoder disconnectionerror

(1) The connector is notconnected. Or it is connectedincorrectly.

(2) Encoder cable isdisconnected.

(3) The encoder ismalfunctioning.

(4) The settings of encoder typeand encoder cablecommunication method(PC4) are incorrect.

(1) Connect correctly.(2) Repair or replace the

cable.(3) Replace the encoder.(4) Check the parameter.

1F Encoder initial communication error 3

· Serial encoder notsupported

The unsupported serial encoder is connected.

Use the serial encoder Q171ENC-W8.

20 Encoder normal communication error 1

• Transmitted data error inserial encodercommunication

• Received data error inserial encodercommunication

• ABZ encoder disconnectionerror

(1) The connector is notconnected.

(2) Encoder cable isdisconnected.

(3) The encoder ismalfunctioning.

(4) The settings of encoder typeand encoder cablecommunication method(PC4) are incorrect.

(1) Connect correctly.(2) Repair or replace the

cable.(3) Replace the encoder.(4) Check the parameter.

25 Absolute position erased/ linear encoder error

• Serial encoder absoluteposition erased

(1) Check if this is the first timeyou turn on the power in theabsolute position system.

(2) The power of DG2AF3N(-P01) is turned off when thebattery is not connected.

Check that the battery is mounted correctly, and make a home position return.

(3) The battery is consumed. Replace the battery. • The position information isincorrect. (Linear encoder)

(4) The response speed is toofast.

(5) Noise is occurring.(6) The position information is

incorrect.

(4) Check the programoperation.

(5) Take countermeasuresagainst the cause.

(6) Replace the encoder.31 Excessive

pressure • The pressure feedback

value exceeds the settingvalue (PC08).

(1) The pressure excessive alarm level (PC08) is incorrect.

(2) The gain adjustment is not proper.

(3) The pressure sensor is abnormal.

(4) Excessive pressure is applied to the motor axis due to the external pressure.

(5) A moving part collided against the machine.

(1) Check the setting.(2) Check the gain.(3) Replace the pressure

sensor.(4) Check the mechanical

system.(5) Check the program

operation.

32 Pressure sensor error

• Pressure sensor input error(only DG2AF3N-P01)

(1) The pressure sensor is abnormal.

(2) The pressure sensor cable is defective.

(3) The pressure sensor cable is not connected.

(4) The number of pressure sensor in use (PC10) is incorrect.

(1) Replace the pressuresensor.

(2) Replace the cable.(3) Connect correctly.(4) Check the parameter.

7. ALARM CONTENT

20

Type

Erro

r cod

e

Name Description Cause Action

Alarm deactivation

Ala

rm re

set

Con

trolle

r res

et

Pow

er c

yclin

g

Ala

rm 34 SSCNET receive error 1

• SSCNET III mode isreceived.

• SSCNET received dataerror

• SSCNET communicationdata error

(1) SSCNET III mode is set.(2) Check the SSCNET III

communication cableconnection.

(3) The tip of the SSCNET IIIcommunication cable getsdirty.

(4) The SSCNET IIIcommunication cable isbroken or severed.

(5) The unit is malfunctioning.(6) Noise and ambient

temperature are abnormal.

(1) Set the SSCNET settingof the controller to"SSCNET III/H".

(2) Connect correctly.(3) Wipe off the dirt from the

cable tip, and connect it.(4) Repair or replace the

cable.(5) Replace the unit.(6) Take countermeasures

against the cause.

35 Command data error

• A change in the positioncommand corresponds tothe position error excessivealarm level (PLS).

(1) The position change iscommanded exceeding theposition error excessivealarm level (PC01).

(2) The controller ismalfunctioning.

(3) Noise and ambienttemperature are abnormal.

(1) Check the parameterand program.

(2) Replace the controller.(3) Take countermeasures

against the cause.

37 Parameter error • Parameter setting rangeerror

Parameter outside setting range Check the setting.

52 Error excessive • Difference between thecommand and feedbackexceeds the setting value.

(1) The position excessive alarmlevel is incorrect.

(2) Acceleration/decelerationtime constant is too short.

(3) The gain adjustment is notproper.

(4) The torque is insufficient.(5) Excessive pressure is applied

to the motor axis due to theexternal pressure.

(1) Check the setting.(2) Check the setting.(3) Check the gain.(4) Reduce the load or use

a larger capacity motor.(5) Review the machine.

888 Watchdog • Watchdog A part in the unit is malfunctioning.

Replace the unit.

War

ning

92 Battery cable disconnection warning

• Encoder battery cabledisconnection warning

• Battery degradation

(1) The battery is not connectedcorrectly.

(2) The battery is consumed.

(1) Connect correctly.(2) Replace the battery.

9F Battery warning • Low battery• Battery degradation

warning

(1) The battery is not connectedcorrectly.

(2) The battery is consumed.

(1) Connect correctly.(2) Replace the battery.

E4 Parameter warning

The value set from the controller is outside the setting range.

The value set with the servo parameter change function of the controller is outside the setting range.

Check the setting.

E6 DG2AF3N(-P01) Forced stop warning

• DG2AF3N(-P01) forcedstop input

When the forced stop input (PA04) is enabled, the forced stop is input from the input/output connector (CN2) of DG2AF3N(-P01).

Disable the forced stop or cancel the forced stop input.

E7 Controller forced stop warning

• Controller forced stop input The forced stop signal of the controller is input.

Cancel the forced stop signal of the controller.

POINT The servo parameter No. is stored in the following devices if alarm 37 (Parameter error) or E4 (Parameter warning) occurs. •For motion controllers#8009+20n (n= axis No.-1) (For details, refer to the Motion controller manual.)•For Simple Motion modules[Md.107] Parameter error no. (For details, refer to the Simple Motion module manual.)

8. DESCRIPTIONS OF PARAMETER SETTINGS

21


(1) Parameter setting

The controller recognizes DG2AF3N(-P01) as MR-J4-B and performs communication. Thus, set the parameter of DG2AF3N(-P01) as the servo parameter of MR-J4-B. To use DG2AF3N(-P01), configure the following settings. The MT Works2 screen is used as an example for explanation.

(a) Select SSCNET III/H in SSCNET settings(*1) of Basic settings for the system to which DG2AF3N(-P01) isconnected. You cannot connect it to the system to which SSCNET III is selected.

(b) For the axis that connects DG2AF3N(-P01), set "MR-J4(W)-B(-RJ)" in Amplifier model and "Standard" inAmplifier operation mode in the SSCNET configuration(*2). When two axes are used with a single module,configure the settings for two axes: dn and dn+1.

*2 When using the Simple Motion Module Setting Tool, set it in "System configuration" in the navigation window.

*1 When using the Simple Motion ModuleSetting Tool ,double-click "Parameter" in thenavigation window and set "SSCNET setting" in"expansion parameters".


22

(c) On the servo parameter setting screen of MT Works2, the names, units, and setting ranges of MR-J4-Bparameters are displayed.For the SSCNET III/H analog speed command unit (DG2AF3N(-P01), the displayed items (name, unit, andsetting range) are different from those of the actual parameters. Make sure to refer to "(2) Servoparameters" for setting.

(d) On the optional data monitor setting screen(*1) of MT Works2, the data types of MR-J4-B are displayed asoptions.For DG2AF3N(-P01), the displayed item needs to be replaced with the corresponding monitor data. Makesure to refer to "(3) Optional data monitor" for setting.

For DG2AF3N(-P01), PA02 is Control mode and its setting range is as follows. • 0000H: Position/speed/pressure• 0001H: Position/pressure (automatic switch)• 0010H: Position control (with offset)

*1 When using the Simple Motion ModuleSetting Tool ,double-click "Parameter" in thenavigation window and set "optional datamonitor" in "expansion parameters".


23

(e) Operation cycle supported by DG2AF3N(-P01)・For motion controllers

Even when the operating system software is SV13 and the total number of control axes of the controller isless than or equal to 4 axes, if 2-axis control is performed with DG2AF3N (-P01) and the operation cycle is set to 0.222 ms, the major error 1350 occurs on the controller side. When 2-axis control is performed with DG2AF3N (-P01), set the operation cycle to 0.444 ms or more. The number of channels available for analog output of DG2AF3N(-P01) depends on the operation cycle. • For operation cycle 0.222 ms: Only one channel (CH1) among dedicated and general-purpose channels

is available. No output with CH2 and later channels. • For operation cycle 0.444 ms: Only two channels (CH1 and CH2) among dedicated and general-purpose

channels are available. No output with CH3 and later channels. • For operation cycle 0.888 ms: Four channels (CH1 to CH4) among dedicated and general-purpose

channels are available. Set the operation cycle according to the number of analog output channels. For other setting points of the operation cycle setting, also check the manual of the motion controller. To set the operation cycle, double-click [System Setting] - [Basic Setting] in the navigation window and set it in "Operation Cycle" of [System basic setting] tab.

・For Simple Motion modulesSince the operation cycle setting of the simple motion module is 0.888 ms or 1.777 ms, there is norestriction on the operation cycle for the DG2AF3N(-P01) connection. For points of the operation cycle setting, check the manual of he simple motion module. To set the operation cycle, double-click on "Parameter" in the navigation window and set it in "operation cycle setting" in "expansion parameters".


24

(2) Servo parameters

No. Name, setting range, and function description

Initial value (This value is the

initial value of the

servo amplifier MR-

J4-B. Change it as

required.)

Parameter change from the controller

(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PA01 Operation mode 1000: J4 standard

• Specify the J4 standard.The setting other than J4 standard causes a parameter error.

1000H - - - - -

PA02 Control mode 0000H: Position/speed/pressure 0001H: Position/pressure (automatic switch)

When the pressure control is performed with 0000H or 0001H, use the position/torque switching function of the controller. And, the position control is performed without offset.

0010H: Position control (with offset)

0000H - - - - -

PA03 Amplifier setting 0000H: INC 0001H: ABS

• Select the absolute position detection system (ABS) or theincremental system (INC).

• When INC is selected in the setting of the analog encoder(Encoder type (PC04) = 0020H), a parameter error occurs.

0000H -

PA04 Forced stop enabled/disabled 0000H: Enabled/0100H: Disabled

• Set the parameter of the lowest axis (dn).(dn+1) is ignored.

2000H -

PA10 In-position range Setting range: 0 to 65535

• The in-position range is a value obtained by multiplying the in-position range (PA10) and the in-position scale factor (PA25).

1600 -

PA14 Encoder rotation direction 0: The counter value is increased by CW rotation. 1: The counter value is decreased by CW rotation.

• Specify how to reflect a travel distance ∆ in the feedback currentvalue when the encoder counter value is increased.

0 -

PA15 Gears between encoder and motor: numerator Setting range: 1 to 65535

• This parameter is used for the calculation of the analog output ofposition control (with offset). (For details, refer to proportional (P)gain/position loop P gain (Kp) (PE20).)

4000 - -

PA16 Gears between encoder and motor: denominator Setting range: 1 to 65535


1 - -

(*) For the parameters with this function enabled, their setting values can be changed from the program. For the servo parameter change function, refer to manuals of controllers.


25




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PA17 Pulses of one rotation of encoder Setting range: 1 to 65535

• Specify the number of pulses per revolution of encoder.Q171ENC-W8 does not use this parameter and uses 4194304automatically.

• This parameter is used for the calculation of the analog output ofposition control. (For details, refer to proportional (P)gain/position loop P gain (Kp) (PE20).)

0 - -

PA18 General-purpose input signal setting b11-b0:0: General-purpose/1: Dedicated (auto) b12-15:Ignored

• Set general-purpose/dedicated of input signal (X).• Bit 0 to 11 correspond to 12 points of X0 to XB.• When controlling two axes, set the parameter of the lowest axis

(dn). (dn+1) is ignored.• When controlling one axis, X0 to 2 can be assigned as dedicated.

For bit3 to 11 (X3 to XB), set "0".• When controlling two axes, X0 to 2 and X6 to 8 can be assigned

as dedicated.For bit3 to 5 (X3 to X5) and bit9 to 11 (X9 to XB), set "0".

0000H -

PA21 Analog output method specification 0: Output within 0 to 10 V 1: Output within ±10 V

1 -

PA23 System reservation This parameter is for system reservation. Set "0".

0 -

PA24 Serial encoder type 0: Rotary type/ 1: Linear type

• When PC04 is 0000H or 1000H, PA24 is the linear type (1), andPA03 is INC, the parameter error (alarm 37) occurs.

• When PC04 is a value other than 0000H or 1000H, thisparameter is ignored.

0000H -

PA25 In-position scale factor Setting range: 0 to 100

• The in-position range is a value obtained by multiplying the in-position range (PA10) and the in-position scale factor (PA25).

0 -

PA27 Zero point passage in home position return disabled 0: Enabled 1: Disabled

0 -

(*)For the parameters with this function enabled, their setting values can be changed from the program. For the servo parameter change function, refer to manuals of controllers.


26




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PB04 Feed forward gain Setting range: 0 to 100

• When the machine operates at a constant speed, droop pulsesdecrease as the setting value increases.However, sudden acceleration/deceleration will increase theovershoot.

0 - -

PB27 Position control I control effective value (IN) Setting range: 0 to 65535

• Specify the position deviation level that disables the control.When the droop pulse is equal to or larger than the settingvalue, I = 0 (When the absolute value of droop (command -feedback) in the position loop is equal to or larger than thesetting value of this parameter, the integral compensation isdisabled. The integral cumulative value is cleared.)

10 - - -

PB31 Pressure loop P gain Setting range: 0 to 32767

• Set the proportional gain of the pressure loop.• Increase the setting value to improve track ability in response to

the command.

0 - - -

PB37 Pressure control (I) compensation Setting range: 0 to 32767

• Set the integral compensation amount of the pressure loop.Increase the setting value to decrease the offset in response tothe command.

1600 - - -

PC01 Position error excessive alarm level Setting range: 0 to 1000

• When the encoder is Q171ENC-W8The unit of parameter is rev.Setting "0" will apply 3rev.Setting "200" or more will apply 200rev.

• When the encoder is a model other than Q171ENC-W8The unit of the parameter is pulse."Setting value × 1000" is applied.

0 - - -

PC03 D/A polarity when address increment/pressure command is increased 0: + when address increment/pressure command is increased. 1: - when address increment/pressure command is increased.

0 -

PC04 Encoder type/Encoder cable communication method 0000H: Serial, two-wire type 0010H: ABZ phase differential 0020H: Analog encoder 0030H: A/B-phase differential 0040H: No encoder 1000H: Serial, four-wire type

0000H -



27




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PC08 Pressure excessive alarm level Setting range: 0 to 2000 (when PF35 = 0)

0 to 10000 (when PF35 = 1)

• The value multiplied by PE05 is used for control.Example: When PC08 = 8000 and PE05 = 4, it is treated as

32000. • When the pressure feedback exceeds this parameter setting

value, the pressure excessive alarm is output.

0 - - - -

PC09 Pressure sensor to use 0: ch1 (axis dn)/ch3 (axis dn+1) 2: ch2 (axis dn)/ch4 (axis dn+1)

• Set the pressure sensor to use.(When a single pressure sensor is used, this setting is ignored.)

• The pressure sensor can be switched at any timing by theparameter change function of the controller.

0 - - -

PC10 Number of pressure sensors in use 0: No pressure sensor is used. 1: One pressure sensor is used. 2: Two pressure sensors are used.

1 - - - -

PC12 D/A output offset (Enabled only for dedicated.) Setting range: -999 to 999 (mV)

• This setting is effective only for the channel in which thededicated/general-purpose switch for D/A output (PE18) is set todedicated.

• For the axis dn, the offset is applied to ch1.• For the axis dn+1, the offset is applied to ch2.

0

PC13 Forward rotation offset Setting range: -9999 to 9999 (mV)

• After positioning starts and when the positioning direction isforward, the voltage set in this parameter is added to the analogoutput corresponding to the position deviation and output. (Referto section 10-5. for details.)

0 - - -

PC14 Reverse rotation offset Setting range: -9999 to 9999 (mV)

• After positioning starts and when the positioning direction isreverse, the voltage set in this parameter is added to the analogoutput corresponding to the position deviation and output. (Referto section 10-5. for details.)

0 - - -

PC22 Maximum motor speed (rev/min) Setting range: 1 to 5000

• Set the maximum speed of the connected motor.• In speed control, the analog output is controlled to be its

maximum at a motor speed set in this parameter. (Refer tosection 10-2. for details.)


0 - -



28




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PC24 Forced stop/deceleration time constant Setting range: 0 to 20000 (ms)

• Set a deceleration time constant for the forced stop decelerationfunction.

• Set the time per ms from the analog output maximum value (10 Vor -10 V) to 0 V (*1).

• Setting 0 will change the analog output to 0 V (*1) immediately.• In the pressure mode, the analog output will change to 0 V (*1)

immediately while PC24 is ignored.• For the channel in which the dedicated/general-purpose switch

for D/A output is set to general-purpose, PC24 is ignored andthe value specified by PC61-64 is output.

(*1) When a value other than 0 is set in the D/A output offset (PC12), the analog output is controlled to be the value.

0 - -


• Relationship between forced stop/deceleration time constant and deceleration time

The deceleration time constant is the time from the analog output maximum value (PC22 (maximum motor

speed)) to 0 V.

Therefore, if the analog output is smaller than the maximum value, the actual deceleration time is shorter than

the time set in PC24 (forced stop/deceleration time constant).

• The above control is performed for the controller forced stop signal and DG2AF3N(-P01) forced stop input.

t

PC24: Forced stop/deceleration time constant

Analog output 10 V

Command speed

Forced stop ON

OFF

0V

Deceleration time


29




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PC61 PC62 PC63 PC64

D/A general-purpose output for ch1 to ch4 Setting range: -32000 (-10 V) to 32000 (10 V)

• Output is performed from the analog output terminal with theinput value.

• Set ch1 to ch4 with PC61 to PC64.• When controlling two axes, set the parameter of the lowest axis

(dn). (dn+1) is ignored.• This setting is effective only for the channel in which the

dedicated/general-purpose switch for D/A output (PE18) is set togeneral-purpose.

0

PD10 System reservation This parameter is for system reservation. Set "0".

0 -

PD16 PD17 PD18 PD19

System reservation This parameter is for system reservation. Set "0".

0 -


0 -


0 -

PD33 PD34 PD35 PD36

A/D input offset for ch1 to ch4 Setting range: -999 to 999 (when PF35 = 0)

-15999 to 15999 (when PF35 = 1)

• Set ch1 to ch4 with PD33 to PD36.• When controlling two axes, set the parameter of the lowest axis

(dn). (dn+1) is ignored.

0

PE04 Position droop dividing ratio Setting range: 1-65535

• This parameter is used for the PI control of position control(without offset). (Refer to section 10-3. for details.)

1 - - - -

PE05 Pressure factor setting Setting range: 1 to 10

• Control is performed using the value obtained by multiplying thecommand pressure (command torque) from the controller by thisparameter. (Refer to section 10-4.)• The following setting values multiplied by the value set in thisparameter are used to perform control.• PC08 (pressure error excessive alarm level)• PE22 command pressure (for automatic switch of pressure mode)• PE32 (pressure mode switch)• PF31 (pressure in-position range)• PE50 (pressure control I control effective value (IN))

1 - - - -

PE07 System reservation This parameter is for system reservation. Set "1".

1 - - -



30




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PE18 Dedicate/general-purpose switch for D/A output b0: For switching ch1 0: Dedicated/1: General-purpose b1: For switching ch2 0: Dedicated/1: General-purpose b2: For switching ch3 0: Dedicated/1: General-purpose b3: For switching ch4 0: Dedicated/1: General-purpose b4 to b15: (System reservation) 0

• When controlling two axes, set the parameter of the lowest axis(dn). (dn+1) is ignored.

• To use D/A output for control such as an analog speedcommand, select dedicated. When dedicated is selected, theaxis dn occupies ch1. The axis dn+1 occupies ch2.

• For ch3 and ch4, only general-purpose can be used.

0000H -

PE19 Dedicate/general-purpose switch for A/D input b0: For switching ch1 0: Dedicated/1: General-purpose b1: For switching ch2 0: Dedicated/1: General-purpose b2: For switching ch3 0: Dedicated/1: General-purpose b3: For switching ch4 0: Dedicated/1: General-purpose b8: ch1 0: Used/1: Not used (when PF35 = 1) b9: ch2 0: Used/1: Not used (when PF35 = 1) b10: ch3 0: Used/1: Not used (when PF35 = 1) b11: ch4 0: Used/1: Not used (when PF35 = 1) b4 to b15: (System reservation) (when PF35 = 0) 0 b4 to b7 and b12 to b15: (System reservation) (when PF35 = 1) 0

• When controlling two axes, set the parameter of the lowest axis(dn). (dn+1) is ignored.

• To use A/D input for the analog position sensors or pressuresensors, select dedicated.

0000H -


• Channel occupation of A/D input (analog input) in each control mode• When the analog input signal is used for the position sensors or pressure sensors, the sensors areassigned as follows.

Control Axis dn Axis dn+1

Analog position sensor ch2 (analog position sensor) ch4 (analog position sensor) One pressure sensor ch1 ch3 Two pressure sensors ch1, ch2 ch3, ch4 One pressure sensor/analog position sensor ch1, ch2 (analog position sensor) ch3, ch4 (analog position sensor) Two pressure sensors/analog position sensor

ch1, ch2, ch3 (analog position sensor) (*1) -

• With one pressure sensor, it is assigned to ch1 (for dn) or ch3 (for dn+1).• With two pressure sensors, the second pressure sensor is assigned to ch2 (for dn) or ch4 (for dn+1).• The analog position sensor is assigned to ch2 (for dn) or ch4 (for dn+1).

*1 Note that the sensor is assigned to ch3 when two pressure sensors are used with the axis dn.


31




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PE20 Proportional (P) gain/Position loop P gain (Kp) Setting range: 0-32767

• For the position control without offset (proportional (P) gain)The setting value is used as the proportional (P) gain. Increasing thesetting value improves track ability in response to the command.

• For the position control with offset (position loop P gain (Kp))The analog output value is calculated as follows.Output value (V) = 10 V × Droop / Droop at 10 V output(MaxDroop)MaxDroop = (PC22 / 60) * PA15 / PA16 * PA17 (*1) / (PE20 / 10)(*1) For Q171ENC-W8, 4194304 is applied.

0 - -

PE21 Position control I compensation (Ki) Setting range: 0 to 32767

• Set the integral compensation amount of the position loop.Increase the setting to decrease the offset in response to thecommand.

0 - - -

PE22 Command pressure (for automatic switch of pressure mode) Setting range: 0 to 2000 (when PF35 = 0)

0 to 10000 (when PF35 = 1)

• The value multiplied by PE05 is used for control.Example: When PE22 = 8000 and PE05 = 4, it is treated as 32000.• Specify the command pressure at automatic switch to the

pressure mode.• This parameter can be used when the control mode (PA02) is

"0001H".When the control mode (PA02) is "0000H" and the control modeswitches to the torque control on the controller side, set thecommand pressure in the parameter "Torque command device"on the controller side and perform the pressure control.

0 - - -

PE23 Pressure limit value Setting range: 1 to 2000 (when PF35 = 0)

1 to 32000 (when PF35 = 1)

• Regardless of PE05, the setting value in PE23 is handled as thepressure limit value.

0 - - -

PE24 Command pressure time constant positive Setting range: 0 to 65535 (ms)

• Set the time taken for pressure to reach the pressure limit valuefrom 0.

0 - - -

PE25 Command pressure time constant negative Setting range: 0 to 65535 (ms)

• Set the time taken for pressure to reach 0 from the pressure limit value.

0 - - -

PE26 Pressure initial value selection 0: Command pressure (PE22) 1: Feedback pressure

• Set the command pressure when the mode is switched to thepressure mode.

0 - - -



32




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PE27 System reservation This parameter is for system reservation. Set "0".

0 -

PE28 PE29

Position specification at minimum voltage (current) of analog encoder

• Specify the position of when the analog encoder has theminimum voltage of 0 V/-10 V (DG2AF3N) or the minimumcurrent of 4 mA (DG2AF3N-P01).

• Since a value is specified in 32 bits, set the lower 16 bits in PE28and the upper 16 bits in PE29.

0 -

PE30 PE31

Position specification at maximum voltage (current) of analog encoder

• Specify the position of when the analog encoder has the voltageof 10 V (DG2AF3N) or the current of 20 mA (DG2AF3N-P01).

• Since a value is specified in 32 bits, set the lower 16 bits in PE30and the upper 16 bits in PE31.

0 -

PE32 Pressure mode switch value Setting range: FFFFH, 0 to 2000 (when PF35 = 0)

FFFFH, 0 to 10000 (when PF35 = 1)

• When operating with a setting value other than PE32 = FFFFH,the mode is switched to pressure control when the valuereaches the value multiplied by PE05.

Example: When PE32 = 8000 and PE05 = 4, it is treated as 32000. • Operation with the setting value FFFFH

In the position mode: The mode is not switched to the pressuremode.In the pressure mode: The mode is switched to the positionmode from the pressure mode.

To switch back to the position mode after the automatic switch to the pressure mode, use this parameter to switch to the position mode. Do not switch the mode by using the control mode switch request device of the controller.

• Control mode (PA02) is 0001H: This parameter is effective atswitching position/pressure (automatic switch).

0 - - -

PE34 PID control output coefficient numerator Setting range: 1 to 65535

• This parameter is used for the PI control of position control(without offset) and the PID control of pressure control. (Refer tosections 10-3. and 10-4. for details.)

1 - - -

PE35 PID control output coefficient denominator Setting range: 1 to 65535

• This parameter is used for the PI control of position control(without offset) and the PID control of pressure control. (Refer tosections 10-3. and 10-4. for details.)

1 - - -

PE50 Pressure control I control effective value (IN) Setting range: 0 to 2000 (when PF35=0)

0 to 10000 (when PF35 = 1)

• Pressure deviation level that disables the I controlWhen the droop pulse is equal to or larger than the setting value,I = 0 (When the absolute value of droop (command - feedback) in the pressure loop is equal to or larger than the setting value of this parameter, the integral compensation is disabled.)

• The value multiplied by PE05 is used for control.Example: When PE50 = 8000 and PE05 = 4, it is treated as 32000.

0 - - -



33




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PF04 PF05 PF06 PF07

Analog input method specification 0: Input within 0 to 10 V 1: Input within ±10 V

• This parameter is effective only for DG2AF3N. DG2AF3N-P01ignores this parameter.

• Set ch1 to ch4 with PF04 to PF07.• When controlling two axes, set the parameter of the lowest axis

(dn). (dn+1) is ignored.

0 -

PF13 System reservation This parameter is for system reservation. Set "0".

0 -

PF16 System reservation This parameter is for system reservation. Set "0".

0 -

PF21 Pressure control D compensation Setting range: 0 to 32767

• Set the differential compensation amount of the pressure loop.• Increase the setting value to improve the response delay in

response to the command.

0 - - -

PF31 Pressure in-position range Setting range: 0 to 2000 (when PF35=0)

0 to 10000 (when PF35 = 1)

• When the absolute value of droop (command - feedback) ofpressure loop is equal to or smaller than this parameter settingvalue, the in-position output is performed for the controller.

• The pressure in-position signal is output to X0C (axis dn) andX0D (axis dn+1).This signal can be monitored by setting "Effective load ratio" inthe option data monitor setting.

• The value multiplied by PE05 is used for control.Example: When PF31 = 8000 and PE05 = 4, it is treated as 32000.

0 - - - -



34




servo amplifier MR-

J4-B. Change it as

required.)


(*)

Control mode 0/1

0010H

(Position

offset

enabled) Pos

ition

Spe

ed

Pre

ssur

e

PF33 Torque limiting signal enable/disable 0: Disable torque limiting signal 1: Enable torque limiting signal

• When PF33 is set to "1 (enable)" and the position droop becomeslarger than PF46 and PF47 (the position droop setting for thetorque limiting signal), the torque limiting signal of the controllerturns on.

• To use home position return of stopper method 1 and 2, set "1".(*1)

0000

PF35 Analog input mode setting 0: Resolution up to 12 bits of the analog input is applied. 1: Resolution up to 16 bits of the analog input is applied.

• Set the parameter of the lowest axis (dn).(dn+1) is ignored.

0 -

PF46 PF47

Position droop setting for torque limiting signal Setting range: 0 to 838860800 [pulse]

• When PF33 is set to "1 (enable)" and the position droop becomeslarger than PF46 and PF47 (position droop setting for the torquelimiting signal), the torque limiting signal of the controller turns on.

• To set 32 bits, set PF46: Lower 16 bits, PF47: Upper 16 bits.• The parameter can be changed using a parameter write request

from the controller.(This parameter is loaded when PF47 is rewritten. Rewrite PF46and PF47, in that order.)

0


(*1): PF46 and PF47 (position droop setting for the torque limiting signal) cannot be changed from "0" using MT Works2 or the Simple Motion Module Setting Tool. To perform home position return of stopper method 1 and 2, use the following procedure to enable the torque limiting signal to perform control. Procedure: (1) In the program, use the parameter change function to set the "position droop setting for torque limiting signal" for

PF46 and PF47. (2) In the program, use the parameter change function to set "1: Enable torque limiting signal" for PF33. (3) Perform home position return of stopper method 1 and 2. (4) After home position return, in the program, use the parameter change function to set "0: Disable torque limiting

signal" for PF33.


35

(3) Optional data monitor

With the optional data monitor function, the data in DG2AF3N(-P01) can be monitored. • Configure the settings with software or a program compatible with the connected device.

Compatible softwareController Software Number of items that can be

set with the software Motion controller MT Works2 6 Simple Motion module Simple Motion Module Setting

Tool (GX Works2) 4 (Six items can be set with the program.)

• When a Simple Motion is used, Optional data monitor data type setting 5 and 6 cannot be set from thecorresponding software.

After setting extension parameters [Pr.133] and [Pr.134] shown in the following table, make a flash ROM write request. (For details, refer to the Simple Motion module manual.) After a flash ROM write request, it is necessary to reset the CPU module or turn the power off and on.

POINT• When writing parameters from the Simple Motion Module Setting Tool, extension parameters [Pr.133]and [Pr.134] are cleared to 0. When changing parameters other than [Pr.133] and [Pr.134], set [Pr.133]and [Pr.134] again and then make a flash ROM write request.

1) Extension parameters

Setting item Setting availability

Simple Motion setting tool Program [Pr.91] Optional data monitor data type setting 1 Available Available [Pr.92] Optional data monitor data type setting 2 [Pr.93] Optional data monitor data type setting 3 [Pr.94] Optional data monitor data type setting 4 [Pr.133] Optional data monitor data type setting 5 Unavailable Available (Can only be

set from the program.) [Pr.134] Optional data monitor data type setting 6

2) Axis monitor dataMonitor item Setting content/setting value

[Md.109] Regenerative load ratio/ optional data monitor output 1

• Content set for "[Pr.91] optional data monitor data type setting 1". • When it is not set, the regenerative load ratio is stored.

[Md.110] Effective load ratio/optional data monitor output 2

• Content set for "[Pr.92] optional data monitor data type setting 2". • When it is not set, the effective load ratio is stored.

[Md.111] Peak load ratio/optional data monitor output 3

• Content set for "[Pr.93] optional data monitor data type setting 3". • When it is not set, the peak load ratio is stored.

[Md.112] Optional data monitor output 4 • Content set for "[Pr.94] optional data monitor data type setting 4". • When it is not set, "0" is stored.

[Md.515] Optional data monitor output 5 • Content set for "[Pr.133] optional data monitor data type setting 5". • When it is not set, "0" is stored. • When the setting value is abnormal, "0" is stored.

[Md.516] Optional data monitor output 6 • Content set for "[Pr.134] optional data monitor data type setting 6". • When it is not set, "0" is stored. • When the setting value is abnormal, "0" is stored.


36

• Select a data type from that of MR-J4-B, and replace the items with those to be monitored with DG2AF3N(-P01).

Data type Number of words

DG2AF3N(-P01) Monitor data

Description

Effective load ratio 1 Input X signal Pressure in-position

b0-b11:Input signals of input X0 to XB (*1) b12: Pressure in-position of ch1 b13: Pressure in-position of ch2

Regenerative load ratio 1 ch1 A/D conversion value The analog input value can be monitored. (*1) Peak load ratio 1 ch2 A/D conversion value Load to motor inertia ratio 1 ch3 A/D conversion value Model loop gain 1 ch4 A/D conversion value Bus voltage 1 PID P component The proportional component can be monitored. Unit power consumption 1 PID FF component The feed forward component can be monitored. Instantaneous torque 1 PID I component The integral component can be monitored. Servo thermistor temperature

1 PID D component The differential component can be monitored.

Disturbance torque 1 Pressure command value The pressure command value after the time constant processing can be monitored.

*1 When controlling two axes, the input X signal, the pressure in-position, and the analog input values of ch1 to ch4 can be monitored witheither of the axis dn and the axis dn+1.

9. DEVICE LIST

37

9. DEVICE LIST

(1) Input/output devices

1) Input/output device listInput/ output

Device number

Position/speed/pressure Dedicated device for 2-axis control

Position/speed/pressure Dedicated device for 1-axis control

Input

X0 FLS1/General-purpose FLS1/General-purposeX1 RLS1/General-purpose RLS1/General-purposeX2 DOG1/General-purpose DOG1/General-purposeX3 General-purpose General-purposeX4 General-purpose General-purposeX5 General-purpose General-purposeX6 FLS2/General-purpose General-purposeX7 RLS2/General-purpose General-purposeX8 DOG2/General-purpose General-purposeX9 General-purpose General-purposeXA General-purpose General-purposeXB General-purpose General-purposeXC Pressure in-position 1 Pressure in-position 1 XD Pressure in-position 2 Reserved XE Reserved ReservedXF Reserved Reserved

Output

Y0 General-purpose General-purposeY1 General-purpose General-purposeY2 General-purpose General-purposeY3 General-purpose General-purposeY4 General-purpose General-purposeY5 General-purpose General-purposeY6 General-purpose General-purposeY7 General-purpose General-purpose

• To use the signal assigned as dedicated to general-purpose, configure the setting in the parameter PA18.(If a dedicated signal is set as "general-purpose", the signal can be used as general-purpose signal.)

• When controlling two axes, specify general-purpose to devices other than X0 to X2 and X6 to X8.• When controlling one axis, specify general-purpose to devices other than X0 to X2.• General-purpose or dedicated cannot be specified for XC to XF because they are not input from the

external of DG2AF3N(-P01).• X0 to F can be checked with "Effective load ratio" of the optional data monitor.

Also, when controlling two axes, both axes dn and dn+1 can be monitored.

2) Description of positioning dedicated devicesItem Name Remarks

X0 FLS Upper limit The same as the specification of motion controllers or servo amplifiers. X1 RLS Lower limit The same as the specification of motion controllers or servo amplifiers. X2 DOG Limit switch for near point The same as the specification of motion controllers or servo amplifiers. X3 to XB - General-purpose -

XC - Pressure in-position 1 This device turns on when the absolute value of droop (command - feedback) in the pressure loop of the axis dn is equal to or smaller than the specified parameter setting value.

XD - Pressure in-position 2 Pressure in-position signal for the axis dn+1 when controlling two axes XE-XF - - - Y0 to Y7 General-purpose -

9. DEVICE LIST

38

(2) Motion dedicated devices

This section describes the changes to dedicated devices when a motion controller is used. When using a Simple Motion module, refer to section (3). This section describes the changes to Q173DSCPU. 1) Axis statuses

No. Signal name Changes made for DG2AF3N(-P01) Remarks

0 Positioning start completed

No change has been made.

1 axis: M2400 to M2419 2 axes: M2420 to M2439

:::

32 axes: M3020 to M3039

1 Positioning completed 2 In-position 3 Command in-position 4 Speed controlling 5 Speed / position switching latch 6 Zero pass 7 Error detection 8 Servo error detection 9 Home position return request

10 Home position return completed 11 External signal FLS 12 External signal RLS 13 External signal STOP 14 External signal DOG/CHANGE

15 Servo ready

Set the status of DG2AF3N(-P01) instead of the actual status of the servo/inverter. When interlock is necessary, use the general-purpose input/output.

16 Torque limiting Turns on when PF33 = 1 and the position droop is larger than the setting value of PF46 and PF47.

17 Unusable

No change has been made. 18 Virtual mode continuous operation inability warning

19 M-code outputting

2) Axis command signalsNo. Signal name Changes made for DG2AF3N(-P01) Remarks

0 Stop command

No change has been made. 1 axes: M3200 to M3219 2 axes: M3220 to M3239

:::

32 axes: M3820 to M3839

1 Rapid stop command 2 Forward rotation JOG start command 3 Reverse rotation JOG start command 4 Complete signal OFF command 5 Speed/position switching enable command 6 Unusable 7 Error reset command 8 Servo error reset command 9 Command to disable stop input at start

10 Unusable

11 12 Feed current value update command 13 Address clutch reference setting command 14 Cam reference position setting command 15 Servo OFF command 16 Gain switching command DG2AF3N(-P01) is ignored. 17 PI-PID switching command DG2AF3N(-P01) is ignored. 18 Control loop changing command DG2AF3N(-P01) is ignored. 19 FIN signal No change has been made.

9. DEVICE LIST

39

3) Axis monitor deviceNo. Signal name Changes made for DG2AF3N(-P01) Remarks

0 Feed current value


1 axes: D0 to D19 2 axes: D20 to D39

:::

32 axes: D620 to D639

1 2

Actual current value 3 4

Deviation counter 5 6 Minor error code 7 Major error code 8 Servo error code The error of DG2AF3N(-P01) is stored. 9 Home position return re-travel distance

No change has been made. 10

Travel distance after the proximity dog ON 11 12 Execute program No. 14 Torque limit value DG2AF3N(-P01) is ignored. 15 Data set pointer for constant-speed control

No change has been made. 16

Unusable 17 18

Current position when STOP is input 19

(3) Simple Motion dedicated devices

This section describes the changes to dedicated devices when a Simple Motion module is used. When using a motion controller, refer to section (2).

Changes to LD77MS/QD77MS are shown below. 1) [Md.31] Axis statuses

Bit Signal name Changes made for DG2AF3N(-P01) Remarks 0 Speed controlling flag

No change has been made. [Md.31] Axis statuses

1 Speed/position switching latch flag 2 Command in-position flag 3 Home position return request flag 4 Home position return completed flag 5 Position/speed switching latch flag 6 Axis warning detection 7 Speed change 0 flag 8 M code ON

LD77MS16 QD77MS16 only

9 Error detection 10 Start completed 11 Positioning completed

9. DEVICE LIST

40

2) [Md.108] Servo statuses

Bit Signal name Changes made for DG2AF3N(-P01) Remarks

0 Ready ON Set the status of DG2AF3N(-P01) instead of the actual status of the servo/inverter. When interlock is necessary, use the general-purpose input/output.

[Md.108] Servo statuses

1 Servo ON


2 Control mode

3

4 Gain switching

5 During fully closed loop control

6 In alarm

7 In-position

8 Limiting torque Turns on when PF33 = 1 and the position droop is larger than the setting value of PF46 and PF47.

9 Absolute position undetermined

No change has been made. 10 Warning

11 Positioning completed

3) Axis control data

The following shows axis control data having different operation. No change has been made for items whichare not mentioned.

Signal name Changes made for DG2AF3N(-P01) Remarks Cd.108 Gain switching command

DG2AF3N(-P01) is ignored. Cd.136 PI-PID switching command Cd.133 Semi/full switching request

4) Axis monitor dataThe following shows axis monitor data having different operation. No change has been made for itemswhich are not mentioned.

Signal name Changes made for DG2AF3N(-P01) Remarks

Md.114 Axis error number For errors (2000 to 2999) detected by the servo amplifier, the error numbers of DG2AF3N(-P01) are stored.

Md.35 Torque limit stored value/ forward rotation torque limit stored value

DG2AF3N(-P01) is ignored.

Md.114 Servo alarm The errors of DG2AF3N(-P01) are stored.

9. DEVICE LIST

41

(4) Monitoring

Item RemarksControl mode

0/1 0010H Position Speed Pressure

Current position These items can be checked with the monitor, digital oscilloscope, etc. Droop pulse Motor speed Always 0 when PC04 = 0040H Servo error This item can be checked with the monitor, digital oscilloscope, etc. Input signal (X) DI is monitored by the optional data monitor function (effective load ratio).

(*1)

A/D value (Analog input)

Monitored by the optional data monitor. (*1) ch1: Regenerative load ratio ch2: Peak load ratio ch3: Load to motor inertia ratio ch4: Model loop gain

The monitor values corresponding to each analog input value are as follows. PF35 = 1 (analog input mode: 16 bits) • DG2AF3N: -10 V (-32000), 0 V (0), 10 V (32000)• DG2AF3N-P01: 4 mA (0), 20 mA (32000)

PF35 = 0 (analog input mode: 12bits) • DG2AF3N: -10 V (-2000), 0 V (0), 10 V (2000)• DG2AF3N-P01: 4 mA (0), 20 mA (1000)

D/A value (Analog output)

The analog output (command output voltage) is monitored by the motor current. (*2) • The motor current is #8001+20n (n = 0: 1 axis, 31: 32 axes)The monitor values for each analog output value are as follows.

• -10 V (-32000) to 10 V (32000)

PID_P component D/A value (*3) Monitored by the optional data monitor (common bus voltage).

-

PID_FF component D/A value (*3) Monitored by the optional data monitor (unit power consumption).

- -

PID_I component D/A value (*3) Monitored by the optional data monitor (instantaneous torque).

- -

PID_D component D/A value (*3) Monitored by the optional data monitor (servo thermistor temperature).

- - -

Pressure command value

Pressure command value after time constant processing Monitored by the optional data monitor (disturbance torque).

- - -

Pressure in-position Monitored by the optional data monitor function (effective load ratio of b12, b13) (*1).

- - -

*1 When controlling two axes, the item can be monitored even when it is set to the optional data monitor of the axis dn or dn+1.*2 With the channel in which the analog output is specified as general-purpose, the D/A value cannot be monitored.*3 The monitor value converted to the D/A value is "-10 V (-32000) to 10 V (32000)".

9. DEVICE LIST

42

(5) Output method of general-purpose Y0-Y7

Use the general-purpose output function of the controller. 1) For motion controllers

For Q173DSCPU, Q172DSCPU, and Q170MSCPU(-S1), the lower 8 bits set to #7900 (1 axis) to #7931 (32axes) are output. (When controlling two axes, the data of the start axis number (dn) is output.)

SSCNET III/H analog speed command unit general-purpose output signal device list (Q173DSCPU/Q172DSCPU/Q170MSCPU(-S1))

Axis No.

Device No. Signal name

1 #7900

Signal name Importing cycle Signal type

SSCNET III/H analog speed command unit general-purpose output signal

Operation cycle is 1.7 [ms] or shorter: Operation cycle Operation cycle is 3.5 [ms] or longer: 3.5[ms]

* For the general-purpose output signal,data in the lower 8 bits is effective.

Command device

2 #79013 #79024 #79035 #79046 #79057 #79068 #79079 #7908

10 #790911 #791012 #791113 #791214 #791315 #791416 #791517 #791618 #791719 #791820 #791921 #792022 #792123 #792224 #792325 #792426 #792527 #792628 #792729 #792830 #792931 #793032 #7931

* For Q172DSCPU and Q170MSCPU(-S1), even if #7916 to #7931 are changed, the change is ineffective.

POINT While the PLC ready flag (M2000) is off, the general-purpose output of DG2AF3N(-P01) turns off in all devices.

9. DEVICE LIST

43

2) For Simple Motion modulesFor LD77MS and QD77MS, the lower 8 bits set to "[Cd.210] SSCNET III/H analog speed command unitgeneral-purpose output signal" are output.(When two axes are used with a single unit, the data of the start axis number is output.)

Signal name Importing cycle Signal type

[Cd.210] SSCNET III/H analog speed command unit general-purpose output signal

Operation cycle is 1.7 [ms] or shorter: Operation cycle Operation cycle is 3.5 [ms] or longer: 3.5 [ms] * For general-purpose output signal, data in the lower 8 bits is effective.

Command device

SSCNET III/H analog speed command unit general-purpose output signal device list (LD77MS/QD77MS)

POINT While the PLC READY signal (Y0) is off, the general-purpose output of DG2AF3N(-P01) turns off in all devices.

Axis No. Buffer memory

QD77MS2/ LD77MS2

QD77MS4/ LD77MS4

QD77MS16/ LD77MS16

1 1583 1583 4383 16832 1683 4483 3 1783 4583

4 1883 46835 - 47836 - 48837 - 49838 - 50839 - 518310 - - 528311 - - 538312 - - 548313 - - 558314 - - 568315 - - 578316 - - 5883

-------

10. OPERATIONAL DESCRIPTIONS

44


10-1. Function list

The following modes are supported. Control mode Function Remarks

(1) Speed (without position loop) * The speed control mode of the controller

is used.

Voltage output for command speed

• With/without the encoder connection is selectable.(*1)

• When the encoder is connected, the position data isalso updated during the speed control.

(2) Position (without offset) * The position control mode of the

controller is used.

PI control using position deviation

• P control at I = 0Always servo-lock when the servo is on

(3) Pressure * The torque control mode of the

controller is used.

PID control using pressure deviation

• P control at I = 0, D = 0Output clamp at the speed limit

(4) Position control (with offset) P control using position deviation

• Offset voltage output in operational direction at start* Reciprocation by the CPSTART command andothers is unavailable.

• After positioning, controlled by offset voltage outputin operational direction.The servo off signal stops the control.

• Servo-lock is enabled before start or when the servois on.

*1 When "Without encoder connection" is selected, only the control of "speed mode" is available.

POINT • When PA02 (control mode) is set to 0000H, the control mode is switched to the speed control mode or the

pressure control mode by using the position, speed, and torque switching control function of the controller.• When PA02 (control mode) is set to 0001H, the position and pressure modes can be switched from the

DG2AF3N(-P01) side.• The stopper control mode is not supported. (Even if the control mode is switched to the stopper control mode

with the controller, the pressure control mode is not applied.)• The servo-lock function cannot be used in the speed control mode.


45

10-2. Speed control (without position loop)

(1) Basic specification

• The voltage is output for the speed command from the controller.• This control is for when PA02 (control mode) is set to "0000H (position/speed/pressure)" and the controller is

in the "speed control mode".• The analog output becomes the maximum when the command speed is the maximum motor speed (PC22).• The analog output for the speed command is calculated as follows.

Analog output voltage (V) = 10 (V) × Speed command / Maximum motor speed

(2) Supplemental specifications

• The position data is updated even during the speed control.

(3) I/O signal connection example

The following example shows the connection with FR-A800 that uses the general-purpose input/output (X/Y) of DG2AF3N-P01)

• Input signals other than X0 to X2 are general-purpose input/output (X/Y). Read and output them with theprogram as necessary.

• Use "effective load ratio" of the optional data monitor for the input signal (X) and the general-purpose outputfunction for the output signal (Y). Refer to "Chapter 8 (3) Optional data monitor" and "Chapter 9 (5) Outputmethod of general-purpose Y0-Y7" for details.

• When the analog output method specification (PA21) is "0: Output within 0 to 10 V", input the reversecommand (STR) to start in the reverse direction.

(4) Inverter parameters

• FR-A800Pr Description Specifications Setting value73 Analog input (speed command) ±10 V (polarity reversible) 10 17 Output shut-off signal Normally closed contact specification 2

192 Operation ready Turned on by the STF signal when the operation is ready. 11

Motioncontroller

SSCNETⅢ/H

DG2AF3(-P01) FR-A800 MR-J4-A

M

FLS

RLS

DOG

EMG

X0

X1

X2

X3

X4

X5

X6

Y0

Y1

Y2

Y4

ENC

AO1

SG

EMG

STF

MRS

RES

1

5

Normal

RY

RUN

FU

MC BrMC

M MST1

SON

VC

RES

LG

ALM

RY

RD

ZSP

* The encoder (ABS) is not necessary.ENC

DG2AF3N(-P01)


46

10-3. Position control (without offset)


• Output voltage is based on a result of the PI control for position deviation.• This control is for when PA02 (control mode) is "0000H (position/speed/pressure)" or "0001H

(position/pressure (automatic switch))" and the controller is in the "position mode".

Symbol Name SpecificationsPE04 Position droop

dividing ratio Divides the position droop input to adjust the input value when it is too large.

PE34 PID control output coefficient numerator

Adjusts the output of the PI control to an appropriate value.

PE35 PID control output coefficient denominator

Kp Proportional (P) gain Uses the value of the parameter PE20 without any change. Increase the setting value to improve track ability in response to the command.

Ki Integral (I)compensation

Uses the value of the parameter PE21 without any change. Increase the setting value to decrease the offset in response to the command.

IN Integral effective value

Uses the value of the parameter PB27 without any change. When the input value from the position droop exceeds the setting value, the integral compensation is disabled and the integral cumulative value is cleared.


• Each component (PID_P component and PID_I component) of the PI control can be monitored with theoptional data monitor. For details, refer to "Chapter 8 (3) Optional data monitor".

1/256

1PE4

PE34/PE35

IN

Kp

Ki++ ++

Scaling valueconversion

Z-1

++

+_

Position sensorinput

Positioncommand

16-bit clamp

16-bit clamp

Analog outputoffset

±32000clamp Gain/offset

correctiondigital value:

Analog outputconversion

Analog output

PI control block diagram

±10V → ±32000

±32000 → ±10V


47


The following example shows the connection with FR-A800 that uses the general-purpose input/output (X/Y) of DG2AF3N(-P01).



• When the analog output method specification (PA21) is "0: Output within 0 to 10 V", input the reversecommand (STR) to start in the reverse direction.


• FR-A800

Pr Description SpecificationsSetting value

73 Analog input (speed command) ±10 V (polarity reversible) 10 17 Output shut-off signal Normally closed contact specification 2

192 Operation ready Turned on by the STF signal when the operation is ready 11

Motioncontroller

SSCNETⅢ/H


M

FLS

RLS

DOG

EMG

X0

X1

X2

X3

X4

X5

X6

Y0

Y1

Y2

AO1

SG

EMG

STF

MRS

RES

1

5

Normal

RY

RUN

FU

Y4 MC Br

MC

M MST1

SON

VC

RES

LG

ALM

RY

RD

ZSP

ENC ENC

DG2AF3N(-P01)


48

10-4. Pressure control


• This control is performed as the pressure control mode when PA02 (control mode) is "0000H(position/speed/pressure)" or "0001H (position/pressure (automatic switch))" and the controller is in the"torque control mode".* The "stopper control mode" is not supported.

• When PA02 (control mode) is "0001H (position/pressure (automatic switch)" (*1), the position control isautomatically switched to the pressure control after the feedback reaches the pressure mode switch value.(The controller automatically switches to the torque control mode.)In addition, when the pressure control is switched to the position control by the servo parameter changefunction (*2) (PE32: Pressure mode switch value is changed to FFFFH), the control mode of the controller isautomatically switched to the position control from the torque control.

*1 When PA02 (control mode) is "0001H position/pressure (automatic switch)", do not switch thecontrol mode by using the control mode switch request device or the control mode specificationdevice of the controller.

*2 PE22 (command pressure) or PE32 (pressure mode switch value) can be changed by the servoparameter change function of the controller.For how to change the setting values, refer to manuals of controllers.

• When PA02 (control mode) is "0000H (position/speed/pressure)", the torque command of the controller is setas a pressure command.

Control mode

(servo status 1 : b2, b3) [0, 0]: Position control [0, 1]: Torque control [0, 0]: Position control

Control mode automatic switch at Control mode (PA2): 0001H (position/pressure (automatic switch))

200 -1(FFFFH)Pressure mode switch value (PE32)

300 400 0Command pressure (PE22) (For automatic switch of pressure mode)

200

0

400

100

300

Pressure mode

switch value

t

Pressure feedback

Position control Pressure control (torque control) Position control


49

• Output voltage is based on a result of the PID control for pressure deviation.

Symbol Name SpecificationsPE34 PID control output

coefficient numerator Adjusts the output of the PID control to an appropriate value.

PE35 PID control output coefficient denominator

Kp Proportional (P) gain Uses the value of the parameter PB31 without any change. Increase the setting value to improve track ability in response to the command.

Ki Integral (I) compensation Uses the value of the parameter PB37 without any change. Increase the setting value to decrease the offset in response to the command.

Kd Differential (D) compensation

Uses the value of the parameter PF21 without any change. Increase the setting value to improve the response delay in response to the command.

IN Integral effective value Uses the value of the parameter PE50 without any change. When the input value from the pressure droop exceeds the setting value, the integral compensation is disabled and the integral cumulative value is cleared.

PE05 Pressure factor setting The value obtained by multiplying the pressure command by PE05 is the pressure command value.


• With the pressure control, the feedback control is always performed while the servo is on.• Each component (PID_P component and PID_I component) of the PID control can be monitored with the

optional data monitor. For details, refer to "Chapter 8 (3) Optional data monitor".• The value of "Input from the pressure sensor" for the same pressure differs depending on the setting value of

"PF35: Analog input mode setting". Adjust each parameter in accordance with the input value from thepressure sensor.

PE34/PE35

IN

Kp

Ki

Z-1

1/256

Z-1

Kd

+

+

_+

+

+

+_

+

++

+ +PE34/PE35Pressure sensor

input

Pressurecommand

Offset

16-bit clamp

16-bit clamp

Analog outputoffset

Scaling valueconversion

±32000clamp Gain/offset

correctiondigital value:

Analog outputconversion

Analog output

PI control block diagram

±10V → ±32000

±32000 → ±10V

PID control block diagram


50






• FR-A800Pr Description Specifications Setting

value 73 Analog input (speed command) ±10 V (polarity reversible) 10 17 Output shut-off signal Normally closed contact specification 2


Motioncontroller

SSCNETⅢ/H


M

FLS

RLS

DOG

EMG

X0

X1

X2

X3

X4

X5

X6

Y0

Y1

Y2

AO1

SG

EMG

STF

MRS

RES

1

5

Normal

RY

RUN

FU

Y4 MC BrMC

M MST1

SON

VC

RES

LG

ALM

RY

RD

ZSP

ENC ENC

Al1

AGPressure sensor

DG2AF3N(-P01)


51

10-5. Position control (with offset)


• This control is for when the controller is in the "position mode".• When positioning is started, the voltage is output as the P control result for position deviation.

In addition, the offset set in PC13 (forward rotation offset) or PC14 (reverse rotation offset) is added to thevoltage to be output.

• The offset voltage continues to be output after positioning stops. To stop the voltage output, execute servoOFF.


• After the positioning, the reverse positioning cannot be performed. For the reverse positioning, execute servoOFF, and then servo ON.






• FR-A800

Pr Description Specifications Setting value

73 Analog input (speed command) ±10 V (polarity reversible) 10 17 Output shut-off signal Normally closed contact specification 2


Motioncontroller

SSCNETⅢ/H


M

FLSX4

RLSX5

DOGX6

Y0

Y1

Y2

STF

MRS

RES

AO1 1

SG 5

X0 Normal

X1 RY

X2 RUN

X3 FU

EMGEMG Y4 MC Br

MC

M MST1

SON

VC

RES

LG

ALM

RY

RD

ZSP

ENC ENC

X0

X1

X2

X3

X4

X5

X6

DG2AF3N(-P01)

11. EXTERNAL DIMENSIONS

52


6

30 (80) 100

(84)

84

DINレール中心

6

615

6

168

6(4)

6

6

2-φ6取付け穴

6

Mounting hole ø6 × 2

The center of DIN rail

取付けねじ　ねじサイズ: M5　締付けトルク: 1.87 [N•m]

2-M5ねじ

(168

)

取付け穴加工図

(30)

(6)

(6)

(6)

156

± 0.

5

Mounting screw Screw size: M5 Tightening torque: 1.87 [N•m]

M5 screw × 2

Mounting hole drilling diagram


53

MEMO

APPENDICES

App. -1

Appendix-1

WARRANTY

Please confirm the following product warranty details before using this product.

Gratis Warranty Term and Gratis Warranty Range

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arising during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product.

Gratis Warranty TermThe term of warranty for Product is one (1) year after your purchase or delivery of the Product to a placedesignated by you or eighteen (18) months from the date of manufacture whichever comes first.

Gratis Warranty RangeThis limited warranty applies only when the condition, method, environment, etc. of use are in compliance withthe terms and conditions and instructions that are set forth in the instruction manual, user manual for the Product,and the caution label affixed to the Product.

Onerous Repair Term after Discontinuation of Production

(1) We may accept the repair at charge for another seven (7) years after the production of the Product isdiscontinued. The announcement of the discontinuation of production for each model is issued by ourdistributors.

(2) Please note that the Product (including its spare parts) cannot be ordered after its discontinuation of production.

Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Whether under or after the term of warranty, we are not liable for any damage arising from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damage, secondary damage or compensation for accidents arising under a specific circumstance that are foreseen or unforeseen by our company, any damage to products other than the Product, and any other operations conducted by you.

Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

APPENDICES

App. -2

Appendix-2

Compliance to the EMC and Low Voltage Directives

Compliance to the EMC Directive, which is one of the EU Directives, has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997. To prove the compliance with the EMC and Low Voltage Directives, manufacturers must issue an EC Declaration of Conformity and the products must bear a CE marking.

(1) Authorized representative in EuropeThe authorized representative in Europe is shown below.Name: Mitsubishi Electric Europe B.V.Address: Gothaer strase 8, 40880 Ratingen, Germany

(2) Installation to the control panelThe analog speed command unit is an open type device. Ensure the analog speed command unit isinstalled inside a control panel for use. Also, install the remote stations of each network inside the controlpanel.Waterproof type remote stations can be installed outside of the control panel.Installing the analog speed command unit inside a control panel ensures both safety and effective shieldingof electromagnetic noise generated by the analog speed command unit.

1) Control panel(a) Use a conductive control panel.(b) When attaching the control panel's top plate or base plate using bolts, mask the area used for

grounding so that the area is not painted.(c) To ensure good electrical contact with the control panel, mask the mounting bolt area of the inner

plate in the control panel so that contact between surfaces can be ensured over the widest possiblearea.

(d) Ground the control panel with a thick wire to ensure a low impedance connection to ground even athigh frequencies.

(e) Holes in the control panel must measure 10 cm or less in diameter, or radio frequency noise may beemitted.In addition, because radio waves leak through a clearance between the control panel door and themain unit, reduce the clearance as much as practicable.

2) Connection of power line and ground wire(a) Provide a grounding point near the FG terminals. Ground the FG terminals with the thickest and

shortest possible wire (wire length: 30 cm or shorter, diameter: 2 mm or less).(b) Twist the grounding wire from the grounding point with the power supply wire. This enables more

noise from the power supply wire to run off to the ground. However, when a noise filter has beeninstalled on the power supply wire, twisting with the grounding wire is not required.

SSCNET,SSCNETⅢ,SSCNETⅢ/H and MELSOFT MT Works2 are registered trademarks or trademarks of Mitsubishi Electric Corporation.

1-13-5 Kudankita, Chiyoda-ku, Tokyo, Japan 102-0073

URL http://www.mee.co.jp/

Before using this product, ensure the safety in case of failure. We shall not bear any responsibility for consequential damages caused by failure of the product.

Model DG2AF3N-MAN-E

50GR-041219-A(1808) MEE

New publication, effective Aug. 2018 Specifications subject to change without notice.

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