Mitsubishi Electric MELSEC iQ-R Series User Manual page 333

*1 Set the servo parameters related to TPR1. Even if the servo parameters related to TPR2 or later are set, the Motion module does not
detect the signal.
*2 Since the Motion module uses the touch probe function at the connection with a single axis servo amplifier, the following CiA402 objects
are automatically set to the PDO mapping. For details of each object, refer to the manual of the servo amplifier.
For MR-J5(W)-G: MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)
- Touch probe status (Obj. 60B9H)
- Touch probe time stamp 1 positive value (Obj. 60D1H)
- Touch probe time stamp 1 negative value (Obj. 60D2H)
*3 For the manufacturing date of the MR-J5-_G, refer to the following manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
*4 When a multi-axis servo amplifier such as the MR-J5W_-_G/MR-J5W3-_G is connected, the PDO mapping for the CiA402 objects of the
touch probe function is not automatically performed. When TPR1 of the multi-axis servo amplifier is used as a mark detection input
signal, assign TPR1 to CN3 before the connection and select any one of the axes A, B, and C where TPR1 is used. After that, it
becomes enabled by specifying the CiA402 objects for the touch probe to the optional data monitor function of the axis for which TPR1
is selected in the Motion module. However, when Touch probe time stamp 1 positive value (Obj. 60D1H) or Touch probe time stamp 1
negative value (Obj. 60D2H) is not set in the optional data monitor, the detection accuracy becomes the operation cycle.
Setting example
Parameter name
[Pr.91] Optional data monitor: Data type setting 1
[Pr.93] Optional data monitor: Data type setting 3
[Pr.591] Optional data monitor: Data type expansion setting 1
[Pr.593] Optional data monitor: Data type expansion setting 3
• To detect TPR1 in the Motion module, enabling the touch probe function on the servo amplifier is required after the
connection. Even if TPR1 is input before the function enabling cycle or the function is enabled, it is ignored as a mark
detection input signal. Therefore, the Motion module automatically enables the function using SLMP after connecting the
servo amplifier that uses TPR1. When the function cannot be enabled, the warning "Mark detection driver touch probe
function disable" (warning code: 0D3FH) will occur and the mark detection setting in which TPR1 of the axis where the error
has occurred is specified becomes disabled. Whether the touch probe function of the connected servo amplifier is enabled
or not can be checked by monitoring the following. "[Md.125] Servo status3" "b11: Touch probe 1 enabled"
• A delay for approximately two communication cycles will occur from the servo amplifier TPR1 input until "[Md.800] Number
of mark detection" and "[Md.801] Mark detection data storage area (1 to 32)" are updated.
• For checking the TPR1 status of the servo amplifier, perform any one of the following methods.
- Specify "Touch probe status" in the optional data monitor.
- Check the rising/trailing edge latch completion toggle status received from the servo amplifier.
*1 The status can be checked by referring to the corresponding bit of "[Md.126] Servo status4".
- b13: Touch probe 1 leading edge latch completion toggle status
- b14: Touch probe 1 trailing edge latch completion toggle status
■Setting example
When using optional data monitor 1
Parameter name
[Pr.91] Optional data monitor: Data type setting 1
[Pr.591] Optional data monitor: Data type expansion setting 1
• If TPR1 is set to be used for an axis for which the axis setting is not configured or an axis that is set as a virtual servo
amplifier, the warning "Outside the mark detection signal setting range" (warning code: 0D36H) will occur and mark
detection will be disabled.
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Setting value
Touch probe status (Obj. 60B9H)
When "[Pr.811] Mark detection signal detection direction setting" is set to "0:
Rising edge detection": Touch probe time stamp 1 positive value (Obj. 60D1H)
When "[Pr.811] Mark detection signal detection direction setting" is set to "1:
Trailing edge detection": Touch probe time stamp 1 negative value (Obj.
60D2H)
0010H
0020H
Setting value
Touch probe status (Obj.60B9H)
0010H
*1
9 COMMON FUNCTIONS
9.7 Mark Detection Function
9
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