Mitsubishi Electric MELSERVO-J2S-S061 User manual

BCN-B11127-479*
Section Mgr.
Section Mgr.Section Mgr.
Section Mgr. Design Eng.
Design Eng.Design Eng.
Design Eng.
APPROVALS:
APPROVALS:APPROVALS:
APPROVALS: H.Ogi
H.OgiH.Ogi
H.Ogi
MITSUBISHI
General Purpose AC Servo
MELSERVO-J2S-S061
Built-In Positioning Function
Specifications and Instruction Manual
For Engineering Sample
MITSUBISHI
ELECTRIC

1 BCN-B11127-479*
Table of Contents
1. FUNCTION AND CONFIGURATION 2
1.1 Overview 2
1.2 Features 3
1.3 System configuration 3
2. WIRING DIAGRAM 5
3. TERMINALS 7
3.1Terminal blocks 7
3.2 Connection example 8
3.3 Power-on sequence 8
3.4 Signal explanations 12
3.5 Additional function devices 14
4.INTERFACES 16
5. AUTOMATIC OPERATION MODE 18
5.1 Positioning via point table with digital input 18
5.2 Positioning operation in accordance with point tables 22
5.3 Positioning operation via communication 23
5.4 Manual operation mode 24
5.5 Zeroing 26
6. DISPLAY AND OPERATION 27
6.1 Display flowchart 27
7. PARAMETERS 28
8. COMMUNICATIONS 47
8.1Configuration 47
8.2 Communication specifications 49
8.3 Protocol 50
8.4 Character codes 52
8.5 Error codes 53
8.6 Checksum 53
8.7 Time-out operation 54
8.8 Retry operation 54
8.9 Initialization 55
8.10 Communication procedure example 55
8.11 Command and data No. list 56
8.12 Detailed explanation of commands 66
REVISIONS 85

2 BCN-B11127-479*
1. FUNCTIONS AND CONFIGURATION
1.1 Overview
The MR-J2S- A-S061 AC servo amplifier with built-in positioning functions is the MR-J2S-A general-
purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform
positioning operation by merely setting the position data (target positions), motor speeds, acceleration
and deceleration time constants, etc. to point tables as if setting them in parameters. The servo amplifier
is the most appropriate to configure a program-free, simple positioning system or to simplify a system, for
example.
There are up to 31 points. You can choose a configuration suitable for your purpose, e.g. simple
positioning system using external I/O signals (DI/O), operation using DI/O and RS-422 serial
communication, or multi drop operation using RS-422 serial communication.
All servo motors are equipped with an absolute position encoder as standard. An absolute position
detection system can be configured by merely adding a battery to the servo amplifier. Once the home
position has been set, zeroing is not required at power on, alarm occurrence, etc.

3 BCN-B11127-479*
1.2 Features
(1) Up to 31 point tables
(2) Stopper type zeroing operation
(3) Point table output function
1.3 System configuration
1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Servo amplifier (axis 1)
External I/O
signals
Power supply
3-phase 200VAC
or single-phase
230VAC
Servo motor
RS–422
Set-up
Software
Personal
computer
CN1A CN1B
CN2 CN3
Servo amplifier (axis 2)
External I/O
signals
Servo motor
CN1A CN1B
CN2 CN3
RS–232C
RS–232C/RS-422 converter
(to be prepared by the customer)
To the next axis
RS–422
Power supply
3-phase 200VAC
or single-phase
230VAC
Communication data
PC to Servo amplifier Servo amplifier to PC
- Positioning data to point table
- Control signals
- Parameter data
- Status monitor
- Parameter data
- Alarm information and so on

4 BCN-B11127-479*
2) The following configuration uses external I/O signals. The external input signals are used to
control all signals (devices) that response delay is less than 15msec.
3) Function list
Contents Description
Operation specification - Positioning up to 31 point via point block #
Position command input - Setting at point block
- Setting range for positioning: +/- 1 [um] to +/- 999.999 [um]
Speed command input
- Setting at point block
- Set at the point block for acc. / dec. time
- Parameter # 14 is for S-Curve acc. / dec. time constant
Point block # input
System - Absolute value command with sign or incremental value command
Operation specification - Positioning via RS-422(232C) communication
Position command input - Setting via RS-422(232C) communication
- Setting range for positioning : +/- 1 [um] to +/- 999.999 [um]
Speed command input
- Setting via RS-422(232C) communication
- Set the acc. / dec. time via RS-422(232C) communication
- Parameter # 14 is for S-Curve acc. / dec. time constant
Command type
Position data input
System - Absolute value command with sign or incremental value command
Automatic mode
- Select the required ones from among 31 preset point blocks and
perform operation in accordance with the set value
(Position block # input, Position data input)
Manual mode JOG - Jogging operation among preset jog speed via RS-422(232C)
communication or external input
Operation mode
Manual zeroing Stopper type zeroing - Stopper type zeroing
Capable set the zero address at parameter setting
Function on positioning control
- Absolute position detection system
- Backlash compensation
- External stroke limit function
- Software stroke limit function
- Teaching function
- Roll feeding function (equivalent)
Servo amplifie
r
External I/O
signals
Power supply
3-phase 200VAC
or single-phase
230VAC
Servo moto
r
CN1A CN1B
CN2 CN3

5 BCN-B11127-479*
2. Wiring Diagram
Emergency stop
Proximity dog
Zeroing completion
Monitor output 1
RA2
RA3
RA4
RA5
Rough match
In position
Trouble
Ready
External torque limit
16
15
17
7
5
14
8
9
10
SON
LSN
LSP
MD0
DI0
DI1
ST1
ST2
SG 20
SG
2
11
1
12
P15R
LG
TLA
VC
Plate
SD
CN1B
10
8
DOG
SG
CN1
A
18
ZP
4
13
6
18
19
CPO
INP
ALM
RD
COM 3
VDD 13
3
Plate LG
SD
CN3
LG
4MO1
14 MO2 A
A
C
D
P
B1
W (Black)
V (White)
U (Red)
(Green) Electromagnetic
brake
Encoder
Encoder cable
(Available as option or to be fabricated)
NFB MC
Regenerative
brake option
L12
L11
L 3
L 2
L1
10 k
2m(78.74inch) max.
Upper limit setting
W
V
U
Servo amplifier
MR-J2S-A-S061
9
RA 1
20
SG
Communication cable
(Available as option or to be fabricated)
CN3
TE1
TE2
When connecting the external regenerative
brake option, always disconnec
t
the jumpe
r
from across P-D.
SM
COM
CN 2
Servo motor
Servo on
Forward rotation stroke end
Reverse rotation stroke end
Automatic/manual selection
Point table No. selection 1
Point table No. selection 2
Forward rotation start
Reverse rotation star
t
3-phase 200VAC
10m(39.37inch) max.
10m (39.37inch) max.
Upper limit setting
To be shut off when servo on signal
switches off
or alarm occurs.
Monitor output 2
B2
10 k

6 BCN-B11127-479*
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo
amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be
faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead
to a fault.
4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external.
5. When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP)
with SG. (Normally closed contacts)
6. Trouble (ALM) is connected with COM in normal alarm-free condition.
7. The pins with the same signal name are connected in the servo amplifier.

7 BCN-B11127-479*
3. Terminals
3.1 Terminal blocks
Symbol Signal Description
Main circuit power input terminals
1) 200V Class
Supply L1, L2and L3with the following power.
For a single-phase 230VAC power supply, connect the power supply to L1 and
L2 and keep L3 open:
Servo amplifier
Power supply MR-J2-10A to 70A MR-J2-100A to 700A
3-phase 200 to 230VAC,
50/60Hz L1•L2•L3
Single-phase 230VAC,
50/60Hz L1•L2
L1, L2, L3Main circuit power supply
Cannot be used for combination with the servo motor HC-SFS52•53.
2) 100V Class
Supply L1, L2 with the single-phase 100 to 120V 50/60Hz power.
U, V, W Servo motor output Servo motor power output terminalss
Connect to the servo motor power supply terminals (U, V, W).
L11, L21 Control circuit power supply
Control circuit power input terminals
1) 200V Class
Supply L11 and L21 with single-phase 200-230VAC, 50/60Hz power.
2) 100V Class
Supply L11 and L21 with single-phase 100-120VAC, 50/60Hz power.
P, C, D Regenerative brake option
Regenerative brake option connection terminals
C and D are factory-connected.
When using the regenerative brake option, always remove wiring from across
P-D and connect the regenerative brake option across P-C.
N Do not connect.
Protective earth (PE) Ground terminal
Connect this terminal to the protective earth (PE) terminals of the servo
motor and control box for grounding.

8 BCN-B11127-479*
3.2 Connection example
Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the
input cables of the power supply.
Design the circuit so that the servo on signal also turns off as soon as the power is shut off on detection of
alarm occurrence.
MC
SK
MC
ON
OFF
Emergency
stop
RA
EMG
SON
SG
VDD
COM
(Note 1) Three-phase
200 to 230VAC
or
Single-Phase
230VAC
RA
Servo amplifier
L21
L11
L3
L2
L1
Trouble
MC
NFB
Note : For a single-phase 230VAC power supply, connect the power supply to L1
and L2 and keep L3 open.
ALM
External
emergency stop
Servo on
3.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V: L1, L2). Configure
up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit
power supply is switched on. Therefore, when SON is switched on simultaneously with the three-
phase power supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will
switch on in further about 20ms, making the servo amplifier ready to operate.
4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.

9 BCN-B11127-479*
(2) Timing chart
20ms 20ms 20ms
10ms 10ms
10ms10ms
10ms
60ms
60ms
SON accepted
(1s)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Power sypply
Base circuit
Servo on
(SON)
Reset
(RES)
Ready
(RD)

10 BCN-B11127-479*
3.4 Signal explanations
1) CN1A
Signal Name Symbol Pin No. Description I/O Division
Digital I/F power supply
input COM 9 Used to input 24VDC±10% for input interface. Driver power input terminal for digital interface.
COM of each connector is connected in the servo amplifier.
When using an external power supply, connect a power supply of
24VDC, 200mA or more to this terminal.
Open collector power
input OPC 11 When using a manual pulse generator, supply 24VDC to this terminal.
Digital I/F common SG 10, 20 Common terminal for VDD and COM and isolated from LG.
DC15V power supply P15R 4 Used to output 15VDC. Power supply terminal for VC and TLA.
Control common LG 1 Common terminal for VC, TLA, MO1, MO2 and P15R.
When terminals DOG-SG are shorted, the proximity dog signal is
detected. The polarity of dog detection input can be changed with the
parameter.
Parameter No.8 Polarity of Proximity Dog Detection Input
0 DOG-SG are opened.
1 (initial value) DOG-SG are shorted.
Proximity dog DOG 8 DI-1
Zeroing completion ZP 18 ZP-SG are connected on completion of zeroing.
In the absolute position system, ZP-SG are connected when the servo
amplifier is ready to operate but are disconnected if:
1) SON-SG are opened;
2) EMG-SG are opened;
3) RES-SG are shorted;
4) Alarm occurs;
5) Limit switch opens;
6) Zeroing has not been made after the purchase of the product;
7) Zeroing has not been made after the occurrence of absolute position
erasure (A. 25) or absolute position counter warning
(A. E3);
8) Zeroing has not been made after the changing of the electronic gear
value;
9) Zeroing has not been made after the absolute position system was
made valid; or
10) The ST1 coordinate system (000 in parameter No.1) has been
changed.
DO-1
19 Empty DI-1
DO-1
Shield SD Plate Connect one end of the shielded cable.

11 BCN-B11127-479*
2) CN1B
Signal Name Symbol Pin No. Description I/O Division
I/F Internal power
supply VDD 3 Used to output 24V 10% to across VDD-COM. When using this power supply for digital interface, connect it with
COM.
Permissible current: 80mA
Digital I/F power supply
input COM 13 Used to input 24VDC 10% for input interface. Driver power input terminal for digital interface.
COM of each connector is connected in the servo amplifier.
When using an external power supply, connect a power supply of
24VDC, 200mA or more to this terminal.
DC15V power supply P15R 11 Used to output 15VDC to across P15R-LG. Used for VC/TLA power
supply.
Digital I/F Common SG 10, 20 24VDC common terminal for VDD, COM, etc. and isolated from LG.
Control common LG 1 Common terminal for VC, TLA, MO1, MO2 and P15R.
Servo on SON 15 When SON-SG are shorted, the base circuit is switched on and the
servo amplifier is ready to operate.
When they are opened, the base circuit is shut off and the servo
motor coasts.
DI-1
Forward rotation stroke
end LSP 16 To start operation, short LSP-SG or LSN-SG. When they are opened, the servo motor is stopped suddenly and servo-locked. DI-1
OperationAcross
LSP-SG Across LSN-SG CCW direction CW direction
1 1
0 1
1 0
0 0
Reverse rotation stroke
end LSN 17
Note. 0:Open,1:Short
DI-1
This signal serves as a forward rotation start signal for the
incremental value command system.
In automatic operation mode, the servo motor rotates in the forward
rotation direction as soon as ST1-SG are shorted.
In zeroing mode, zeroing starts as soon as ST1-SG are shorted.
In jog operation mode, the servo motor rotates in the forward
rotation direction while ST1-SG are shorted.
Forward rotation denotes the direction in which the address is
incremented.
Forward rotation start ST1 8
This signal serves as a start signal for the absolute value command
system. In automatic operation mode, operation starts as soon as
ST1-SG are shorted.
In zeroing mode, zeroing starts as soon as ST1-SG are shorted.
In jog operation mode, the servo motor rotates in the forward
rotation direction while ST1-SG are shorted.
Forward rotation denotes the direction in which the address is
incremented.
DI-1
Reverse rotation start ST2 9 In automatic operation mode, the servo motor rotates in the reverse
rotation direction as soon as ST2-SG are shorted. (Incremental value
command only)
In jog operation mode, the servo motor rotates in the reverse
rotation direction while ST2-SG are shorted.
Reverse rotation denotes the direction in which the address is
decremented.
DI-1

12 BCN-B11127-479*
Signal Name Symbol Pin No. Description I/O Division
Automatic/manual
selection MDO 7 Short MDO-SG to choose the automatic operation mode, or open them to choose the manual operation mode. DI-1
The following table lists the point table numbers which may be
chosen by the combinations of DI0 and DI1:
DI1 DI0 Selected Point Table No.
0 0 Manual zeroing
0 1 Point table No.1
1 0 Point table No.2
1 1 Point table No.3
Point table No. selection DI0
DI1 5 14
Note: 0: DI1/DI0-SG open
1: DI1/DI0-SG shorted
DI-1
Rough match CPO 4 CPO-SG are connected when the remaining command distance falls
within the parameter-set rough match output range.
This signal is not output while the base circuit is off.
DO-1
In position INP 6 INP-SG are connected when the droop pulses fall within the
parameter-set in-position range.
This signal is not output while the base circuit is off.
DO-1
Trouble ALM 18 ALM-SG are disconnected when the protective circuit is activated to
shut off the base circuit at power off.
They are connected in normal condition at power off.
DO-1
Ready RD 19 RS-SG are connected when the servo amplifier is ready to operate
without failure after servo-on. DO-1
Override VC 2 10 to 10V is applied to across VC-LG to limit the servo motor
speed. Apply 10[V] for 0[%] override, 0[V] for 100[%], or 10[V] for
200[%].
Analog
input
External torque limit TLA 12 0 to 10V is applied to across TLA-LG to limit the servo motor-
generated torque.
Apply 0[V] for 0 torque or 10[V] for max. torque.
Analog
input
Shield SD Plate Connect one end of the shielded cable.
3) CN3
Signal Name Symbol Pin No. Description I/O Division
Analog monitor 1 MO1 4 Used to output the data set in parameter No.17 to across MO1-LG in
terms of voltage. Resolution 8 bits Analog output
Analog monitor 2 MO2 14 Used to output the data set in parameter No.17 to across MO2-LG in
terms of voltage. Resolution 8 bits Analog output
SDP 9
SDN 19
RDP 5
RDN 15
RS-422 I/F
TRE 10
RS-422 communication terminal
RS-422 and RS-232C functions cannot be used together.
Short "15" and "10" at the last axis.
RXD 2RS-232C I/F TXD 12 RS-232C communication terminal
Use parameter No.16 for selection.
Monitor common LG 1, 3,
11, 13 Monitoring common for control common
Ground SD Plate Connect one end of the shielded cable.

13 BCN-B11127-479*
3.5 Additional function devices
By parameter setting, you can assign the signals given in this section to the pins of connectors CN1A and
CN1B, in addition to the signals in Section 3.2.
(1) Pins which accept different signals
Pin Type Connector Pin No. Device in Initial Status Device Symbol
CN1B-5 Point table No. selection 1 DI0
CN1B-14 Point table No. selection 2 DI1
CN1A-8 Proximity dog DOG
CN1B-15 Servo on SON
CN1B-16 Forward rotation stroke end LSP
CN1B-17 Reverse rotation stroke end LSN
CN1B-7 Automatic/manual selection MDO
CN1B-8 Forward rotation start ST1
Input-only pins
CN1B-9 Reverse rotation start ST2
I/O pin CN1A-19 Empty
CN1B-4 Rough match CPO
CN1B-6 In position INP
CN1B-18 Trouble ALM
CN1B-19 Ready RD
Output-only pins
CN1A-18 Zeroing completion ZP
(2) Assignable devices
1) Input devices
Device Name Symbol Description I/O Division
No assigned function No function is assigned.
Emergency stop EMG When EMG-SG are opened, the servo amplifier is placed in the emergency
stop status, the servo switches off, and the dynamic brake is operated to bring
the servo motor to a sudden stop.
Short EMG-SG in the emergency stop status to cancel the emergency stop
status.
DI-1
Alarm reset RES Short RES-SG to deactivate the alarm.
If RES-SG are shorted in no alarm status, the base circuit is not shut off.
Set 0 in parameter No. 55 to shut off the base circuit.
Some alarms cannot be deactivated by the reset signal.
Since this device is not designed for stopping, do not switch it on during
operation.
DI-1
Point table No. selection DI2
DI3
DI4
Valid in the automatic mode.
The following table lists the point table numbers that may be chosen by the
combinations of DI0, DI1, DI2, DI3 and DI4:
DI4 DI3 DI2 DI1 DI0 Selected point table No.
0 0 0 0 0 Zeroing operation
0 0 0 0 1 Point table No.1
0 0 0 1 0 Point table No.2
0 0 0 1 1 Point table No.3
: : : : : :
1 1 1 0 1 Point table No.28
1 1 1 0 1 Point table No.29
1 1 1 1 0 Point table No.30
1 1 1 1 1 Point table No.31
Note:0: DI3/DI2/DI1/DI0-SG open
1: DI3/DI2/DI1/DI0-SG shorted
DI-1
External torque limit
selection TL0 Short TL0-SG to make external analog torque limit valid. DI-1
Internal torque limit
selection TL1 Open TL1-SG to make the torque limit value set in parameter No.28 (TL1) valid, or short them to make the value set in parameter No.29 (TL2) valid. DI-1

14 BCN-B11127-479*
Device Name Symbol Description I/O Division
Proportion control PC Short PC-SG to switch the speed amplifier from proportional integral type to
proportional type. DI-1
Temporary stop/Restart STP Short STP-SG during automatic operation to make a temporary stop.
Short STP-SG again to make a restart.
Shorting the forward/reverse rotation start signal during a temporary stop is
ignored.
Switching from automatic mode to manual mode during a temporary stop
clears the remaining moving distance.
During zeroing and jog operation, the temporary stop/restart input is ignored.
DI-1
Gain changing CDP Gain changing device
Short CDP-SG to switch the gain that changing condition depends on the
setting in parameter No. 68
DI-1
2) Output devices
Device Name Symbol Description I/O Division
No assigned function No function is assigned.
Electromagnetic brake
interlock MBR Used to output the interlock signal for electromagnetic brake. MBR-SG are disconnected at servo-off or alarm occurrence. DO-1
Dynamic brake
interlock DBR Dynamic brake interlock output device. DO-1
Position range POT POT-SG are connected when the actual current position is within the
parameter-set range.
The output is open when zeroing is incomplete or the base circuit is off.
DO-1
Warning WNG WNG-SG are connected when warning occurs.
Open in normal condition. DO-1
Battery warning BWNG BWNG-SG are connected when the open battery cable warning (A. 92) or
battery warning (A. 9F) occurs.
Open in normal condition.
DO-1
Limiting torque TLC TLC-SG are connected when the internally or externally set torque limit
value is reached. DO-1
Temporary stop PUS PUS-SG are connected when deceleration to a stop is started by the
temporary stop signal. PUS-SG is disconnected when operation is resumed by
making the temporary stop signal valid again.
DO-1
Moving completion MEND MEND-SG are connected when the in-position and rough match signal turned
on DO-1
Point table No. output
PT0
PT1
PT2
PT3
PT4
The following table lists the point block numbers that may be chosen by the
combinations of PT0, PT1, PT2,TP3 and PT4 after positioning complete:
PT4 PT3 PT2 PT1 PT0 Point block No.
0 0 0 0 0
0 0 0 0 1 Point block No.1
0 0 0 1 0 Point block No.2
0 0 0 1 1 Point block No.3
1 1 1 0 0 Point block No.28
1 1 1 0 1 Point block No.29
1 1 1 1 0 Point block No.30
1 1 1 1 1 Point block No.31
These signals will be turned off while Powered off, Servo off, In zeroing
operation and after zeroing complete.
It will be hold previous status if changed operation mode, in manual
operation and in fast zeroing
DO-1

15 BCN-B11127-479*
(4) Device setting of control mode
Automatic operationOperation mode
Signal Absolute command Incremental
command
Manual
drive Manual zeroing
Automatic/Manual MD0 ON ON OFF ON
Point block No. DI0
to
DI4 1 to 31 1 to 31 0
Forward rotation start ST1 ON
(FWD. JOG)
Reverse rotation start ST2 ON
(REV. JOG)
Note: The start signal will respond within 3 ms.
Servo motor will be stopped and cleared moving remain distance when Automatic/Manual signal
changed in positioning.
5ms 5ms 5ms
5ms

16 BCN-B11127-479*
4. Interfaces
This section gives the details of the I/O signal interfaces.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (5) in this section.
For use of internal power supply For use of external power supply
24VDC
SON, etc.
SG
Switch
Servo amplifier
COM
VDD
R: Approx. 4.7k
Approx. 5mA
TR
VCES 1.0V
ICEO 100 A
(Note)
For a transistor
24VDC
200mA or more
SON, etc.
SG
Switch
Servo amplifier
COM R: Approx. 4.7k
VDD
Do not connect
VDD-COM.
Note: This also applies to the use of the external power supply.
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less)
1) Inductive load
For use of internal power supply For use of external power supply
ALM, etc.
24VDC VDD
COM
SG
Load
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
Servo amplifier
ALM, etc. 27VDC or
less
COM
SG
Load
Servo amplifier
VDD
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
Do not connect
VDD-COM.

17 BCN-B11127-479*
For use of internal power supply For use of external power supply
Servo amplifier
ALM, etc.
24VDC VDD
COM R
VDD
Servo amplifier
ALM, etc.
COM
SG
27VDC or
less
R
Do not connect
VDD-COM.
(3) Analog output
MO1
(MO2)
LG
SD
A
Servo amplifier
Output 10V
Max. 1mA
Reading in one or
both directions
1mA meter
10k
(5) Source input interface
When using the input interface of source type, all DI-1 input signals are of source type.
Source output cannot be provided.
For use of internal power supply For use of external power supply
24VDC
SON,
etc.
SG
Switch
Servo amplifier
COM
VDD
R: Approx. 4.7k
Approx. 5mA
TR
(Note)
For a transistor
VCES 1.0V
ICEO 100 A
24VDC
200mA or more
SON, etc.
SG
Switch
Servo amplifier
COM R: Approx. 4.7k
Note: This also applies to the use of the external power supply.

18 BCN-B11127-479*
5. Automatic Operation Mode
5.1 Positioning via point table with digital input
(1) Parameter setting
Set the following parameters to perform automatic operation:
(a) Command mode selection (parameter No.0)
Select the absolute value command system or incremental value command system.
Parameter No. 0 Setting Positioning System
0 Absolute value command
1 Incremental value command
(b) Operation system selection (parameter No.1)
Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal
or reverse rotation start (ST2) signal is switched on.
Parameter No. 1 Setting Servo Motor Rotation Direction
When Forward Rotation Start (ST1) Is Switched On
0 CCW rotation with position data
CW rotation with position data
1 CW rotation with position data
CCW rotation with position data
CCW
CW

19 BCN-B11127-479*
(c) Feed length multiplication selection (parameter No.1)
Set the unit multiplication factor (STM) of position data. The actual moving distance is the result
of multiplying the entered position data by the unit multiplication factor.
Parameter No.1 Setting Feed Length Multiplication STM [Times]
0 Position data 1
1 Position data 10
2 Position data 100
3 Position data 1000
(2) Point table
(a) Point table setting
Up to 31 point tables may be set. The following table lists what to set:
Name Setting Range Unit Description
Position data 999999 to 999999 [ 10SM m]
In the absolute value command system, motion is made to the set address.
In the incremental value command system, motion is made over the set
distance.
Use the parameter to select the incremental value command or absolute
value command.
A negative value cannot be set to the incremental value command.
Motor speed 0 to permissible speed r/min Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible
speed of the servo motor.
Acceleration
time constant 0 to 20000 ms Set the acceleration time constant.
Set the time until the rated speed of the servo motor is reached.
Deceleration
time constant 0 to 20000 ms Set the deceleration time constant.
Set the time until the servo motor running at rated speed comes to a stop.
Dwell time 0 to 20000 ms
Set the dwell time.
Set "0" in the auxiliary function to make the dwell time invalid.
Set "1" in the auxiliary function and 0 in the dwell time to perform
continuous operation.
When the dwell time is set, the position command of the selected point
table is completed, and after the set dwell time has elapsed, the position
command of the next point table is started.
Auxiliary
function 0 • 1
Set the auxiliary function.
Set "1" to execute point tables consecutively without a stop.
0: Automatic operation is performed in accordance with a single point
table chosen.
1: Operation is performed in accordance with consecutive point tables
without a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.15 results in an error.
For full information, refer to Section 4.2.5.