sh030106u.pdf - 第679页
APPENDIX App. - 48 Data type Descr iptio n Load-side enc oder information 2 (Note) The item to be displayed depends on t he encoder being c onnected to t he load side as follows . For a rotary s ervo motor (HG-KR, HG-MR)…
APPENDIX
App. - 47
App. 13.2 Transient command
Data type Description
Motor serial number (First 8 characters) The servo motor serial number is displayed.
The serial number is not displayed for linear servo motors.
This data type is available with servo amplifier with software version C8 or later.
Motor serial number (Last 8 characters)
Servo motor ID (SSCNET III)/Encoder ID The servo motor ID and encoder ID sent from the encoder are displayed.
The types of the connected servo motor and encoder can be checked by referring to the ID.
For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
Servo motor ID (SSCNET III/H) The servo motor ID sent from the encoder is displayed.
The type of the connected servo motor can be checked by referring to the ID.
For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
Encoder resolution The encoder resolution is displayed.
Servo amplifier serial number (First 8
characters)
The servo amplifier serial number is displayed.
Servo amplifier serial number (Last 8
characters)
Servo amplifier recognition information
(First 8 characters)
The servo amplifier name is displayed.
Servo amplifier recognition information
(Last 8 characters)
Servo amplifier software number (First 8
characters)
The software version of the servo amplifier is displayed.
Servo amplifier software number (Last 8
characters)
Power ON cumulative time The cumulative time after power on of the servo amplifier is displayed.
Inrush relay ON/OFF number The number of on and off for inrush relay of the servo amplifier is displayed.
Read alarm history number The maximum number of alarm histories of the connected servo amplifier is displayed.
Alarm history/Detail #1, #2 The alarm history/detail #1, #2 are displayed. (Hexadecimal)
Alarm history/Detail #3, #4 The alarm history/detail #3, #4 are displayed. (Hexadecimal)
Alarm history/Detail #5, #6 The alarm history/detail #5, #6 are displayed. (Hexadecimal)
Alarm history/Detail #7, #8 The alarm history/detail #7, #8 are displayed. (Hexadecimal)
Alarm history/Detail/Occurrence time The alarm history data of specific number # is displayed.
Alarm occurrence time #1, #2 The alarm occurrence time #1, #2 are displayed.
Alarm occurrence time #3, #4 The alarm occurrence time #3, #4 are displayed.
Alarm occurrence time #5, #6 The alarm occurrence time #5, #6 are displayed.
Alarm occurrence time #7, #8 The alarm occurrence time #7, #8 are displayed.
Alarm history clear command Used for alarm history clear.
Home position [command unit] The home position is displayed.
Main circuit bus voltage The voltage of main circuit converter (between P+ and N-) is displayed.
Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in %.
Effective load ratio The continuous effective load current is displayed.
The effective value is displayed considering a rated current as 100%.
Peak load ratio The maximum torque generated is displayed.
The highest value in the past 15 s is displayed, with the rated torque being 100 %.
Estimate inertia moment ratio
The set ratio of the load inertia moment to the servo motor shaft inertia moment is
displayed.
Model loop gain The model loop gain value is displayed.
LED display The value shown on the 7-segment LED display of the servo amplifier is displayed.
Load-side encoder information 1 (Note)
The item to be displayed depends on the encoder being connected to the load side as
follows.
For a rotary servo motor (HG-KR, HG-MR) or synchronous encoder (Q171ENC-W8), the
multi-revolution ABS counter is displayed.
For an absolute position linear encoder, the absolute position data is displayed.
For an incremental linear encoder, the free-run counter of the load-side encoder is
displayed (the position at power-on is 0).
For an A/B/Z-phase differential output linear encoder, the free-run counter of the load-side
encoder is displayed (the position at power-on is 0).
For an A/B/Z-phase differential output rotary encoder, the free-run counter of the load-side
encoder is displayed (the position at power-on is 0).
APPENDIX
App. - 48
Data type Description
Load-side encoder information 2 (Note)
The item to be displayed depends on the encoder being connected to the load side as
follows.
For a rotary servo motor (HG-KR, HG-MR) or synchronous encoder (Q171ENC-W8), the
cycle counter is displayed.
For an absolute position linear encoder, "0" is displayed.
For an incremental linear encoder, the Z-phase counter (distance from the linear encoder
home position (reference mark)) (32-bit data) is displayed after the Z-phase is passed. The
value before the Z-phase is passed is undefined.
For an A/B/Z-phase differential output linear encoder, the free-run counter displayed is the
one latched at the time the Z-phase is passed.
For an A/B/Z-phase differential output rotary encoder, the free-run counter displayed is the
one latched at the time the Z-phase is passed.
Speed feedback The servo motor speed is displayed.
Servo motor thermistor temperature The thermistor temperature is displayed for the servo motor with a thermistor.
For the servo motor without thermistor, "9999" is displayed.
For the servo motor with a thermistor, refer to each servo motor instruction manual.
Z-phase counter
The item to be displayed depends on the linear encoder being connected to the motor side
as follows.
For an absolute position linear encoder, "0" is displayed.
For an incremental linear encoder, the Z-phase counter (distance from the linear encoder
home position (reference mark)) (32-bit data) is displayed after the Z-phase is passed. The
value before the Z-phase is passed is undefined.
For an A/B/Z-phase differential output linear encoder, the Z-phase counter (distance from
the linear encoder home position (Z-phase)) (32-bit data) is displayed after the Z-phase is
passed. Before the Z-phase is passed, the free-run counter is displayed (the position at
power-on is 0).
Module power consumption The module power consumption is displayed.
The positive value is displayed in power running. The negative value is displayed in
regeneration.
Module integral power consumption The module integral power consumption is displayed.
Disturbance torque
The difference between the torque necessary to drive the servo motor and the actually
required torque (Torque current value) is displayed as the disturbance torque.
Instantaneous torque The instantaneous torque is displayed.
The value of torque being occurred is displayed in real time considering a rated torque as
100%.
Overload alarm margin
The margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] are
displayed in percentage.
Error excessive alarm margin
The margin to the level which triggers the error excessive alarm is displayed in units of
encoder pulses.
The error excessive alarm occurs at 0 pulses.
Settling time
The time (Settling time) after command is completed until INP (In-position) turns on is
displayed.
Overshoot amount The overshoot amount during position control is displayed in units of encoder pulses.
Servo motor side/load-side position
deviation
During fully closed loop control, a deviation between servo motor side position and load-
side position is displayed.
The number of pulses displayed is in the load-side encoder pulse unit.
Servo motor side/load-side speed
deviation
During fully closed loop control, a deviation between servo motor side speed and load-side
speed is displayed.
Internal temperature of encoder
The internal temperature of encoder is displayed. "0" is displayed for the linear servo
motor. When an encoder communication error occurs, the last value will be displayed
before the error.
This is available with servo amplifiers with software version C4 or later.
Machine diagnostic status The current status of the machine diagnostic function is displayed.
Friction estimation data The friction estimation data estimated by the machine diagnostic function is displayed.
Vibration estimation data The vibration estimation data estimated by the machine diagnostic function is displayed.
Note. The contents of "Load-side encoder information 1" and "Load-side encoder information 2" differ from those described in app. 13.1.
APPENDIX
App. - 49
App. 14 STO function with SIL 3 certification
The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the
IEC 61508:2010 functional safety standard.
App. 14.1 Target models
MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6)
App. 14.2 Change of the compliance
The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).
Table app. 3 Compliance with SIL 3
Before change After change
Safety performance
(Standards certified by CB)
EN ISO 13849-1:2015 Category 3 PL d,
IEC 61508 SIL 2,
EN 62061 SIL CL 2,
EN 61800-5-2 STO function
EN ISO 13849-1:2015 Category 3 PL e,
IEC 61508 SIL 3,
EN 62061 SIL CL 3,
EN 61800-5-2 STO function
App. 14.3 Schedule
For the products manufactured in Japan, this change has been made sequentially from the June 2015
production.
For the products manufactured and sold in China, this change has been made sequentially from the
December 2015 production.
There may be cases where both the former and new products exist in the distribution stage.
App. 14.4 Use with SIL 3
Set the safety level with [Pr. PF18 STO diagnosis error detection time].
To use the servo amplifier with SIL 3, set [Pr. PF18 STO diagnosis error detection time] within the range of 1
to 60, connect the TOFB output (CN8) of the servo amplifier to the input of a SIL 3-certified controller and
execute the diagnosis. SIL 3 functional safety of the servo amplifiers is certified by TÜV SÜD.
App. 14.5 Use with SIL 2 (as conventional)
The servo amplifiers are still capable of SIL 2 as before regardless of whether the STO diagnosis function is
enabled or not.
Either of the conventionally-used TÜV Rheinland certification or the new TÜV SÜD certification may be used.