Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 Series User Manual Download

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3.11

Forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

3.12

Electromagnetic brake interlock function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Base circuit shut-off delay time function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

3.13

Vertical axis freefall prevention function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

3.14

Acceleration/deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Acceleration/deceleration time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
S-pattern acceleration/deceleration time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Acceleration/deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

3.15

Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

3.16

Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

CHAPTER 4 APPLICABLE FUNCTIONS

106

4.1

Tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Instantaneous power failure tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

4.2

Machine diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Friction vibration estimation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

4.3

Drive recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

4.4

Software reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Software reset in MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Software reset via network communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

4.5

Software position limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

4.6

Torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Checking "Limiting torque" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

4.7

Speed limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Checking "Limiting speed" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Summary of Contents for MELSERVO-JET MR-JET-G-N1 Series

Page 1: ...MR JET User s Manual Function MR JET _G MR JET _G N1 Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ... Please follow the instructions of both levels because they are important to personnel safety Forbidden actions and required actions are indicated by the following diagrammatic symbols In this manual precautions for hazards that can lead to property damage instructions for other functions and other information are shown separately in the POINT area After reading this manual keep it accessible to t...

Page 4: ...efore wiring To prevent an electric shock connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the cabinet then connect the grounding lead wire to the ground To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the sw...

Page 5: ...o ensure that the servo is used safely The manuals used differ depending on the interface of the servo amplifier For details refer to the User s Manual Introduction This manual covers the following servo amplifiers MR JET _G MR JET _G N1 Rotary Servo Motor Linear Servo Motor Partner Encoder Function Adjustment Object Dictionary Troubleshooting This manual is necessary primarily for installing wiri...

Page 6: ...e unit can be changed using Pr PT01 1 as shown in the following table U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Setting value Unit 0 0 01 r min 0 01 mm s 1 1 pulse s Setting value Unit 0 ms 1 pulse s2 Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 ...

Page 7: ...nary 64 3 2 Rotation travel direction selection 65 Setting methods of functions 66 3 3 Stroke limit function 69 Explanation of the stroke limit signal names 69 Setting methods of functions 70 Stop method at stroke limit detection 73 Servo parameter list 74 3 4 Limit switch release position assessment function 75 Outline 75 Precautions 75 Setting methods of functions 75 3 5 Command unit selection f...

Page 8: ...bjects for setting 103 Timing chart 104 3 16 Halt 105 Objects for setting 105 Timing chart 105 CHAPTER 4 APPLICABLE FUNCTIONS 106 4 1 Tough drive function 107 Vibration tough drive 107 Instantaneous power failure tough drive 107 4 2 Machine diagnosis 111 Friction vibration estimation function 111 4 3 Drive recorder 116 Specification outline 118 How to use the function 118 Servo parameter object di...

Page 9: ...CHAPTER 5 MONITORING 142 5 1 Explanation of monitor signals 142 Name and description of the monitor signals 142 Signal block diagram 146 5 2 Checking with MR Configurator2 147 Display all function 147 Graph function 147 I O monitor display 148 System configuration display 149 CHAPTER 6 NETWORK FUNCTION 150 6 1 IP address setting 150 Setting an IP address 150 6 2 Managing accounts 151 Setting an ac...

Page 10: ...que mode cst Profile position mode pp This function operates the servo motor in the profile position mode B2 Page 19 Profile position mode pp Profile velocity mode pv This function operates the servo motor in the profile velocity mode B2 Page 23 Profile velocity mode pv Profile torque mode tq This function operates the servo motor in the profile torque mode B2 Page 27 Profile torque mode tq Homing...

Page 11: ...h acceleration deceleration A4 Page 100 Acceleration deceleration function S pattern acceleration deceleration time constant This function performs smooth acceleration and deceleration B2 Page 101 S pattern acceleration deceleration time constant Torque limit This function limits the servo motor torque A4 Page 132 Torque limit Speed limit This function limits the servo motor speed in the torque co...

Page 12: ... stop deceleration function This function decelerates the servo motor to a stop at EM2 Forced stop 2 off or when there is an alarm A4 Page 91 Forced stop deceleration function Drop protection Electromagnetic brake interlock function This function operates the electromagnetic brake at servo off and error occurrence and prevents the vertical axis from dropping A4 Page 93 Electromagnetic brake interl...

Page 13: ... times It gives an indication of the replacement time for parts on the servo amplifier with a service life such as the capacitor and the relay before they malfunction MR Configurator2 is required for this function A4 Page 135 Servo amplifier life diagnosis function Motor life diagnosis function This function predicts failures of the equipment and the servo motor based on the machine total travel d...

Page 14: ...hronous communication with a controller Cyclic synchronous torque mode cst This is a control mode to drive servo motors by receiving a torque command at a constant period in the synchronous communication with a controller Profile position mode 2 pp This is a positioning mode to drive servo motors by receiving an end position command via either synchronous or asynchronous communication with a contr...

Page 15: ... internal value Current position Unit Enc inc 6064h VAR Position actual value Current position Unit pos units 606Ch VAR Velocity actual value Current speed Unit vel units 6077h VAR Torque actual value Current torque Unit 0 1 with rated torque being 100 6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft 1 Feed Travel distance setting 2 Shaft revolutions Number of servo mo...

Page 16: ...Position POL Bit 6 Velocity POL Bit 5 Torque POL Page 65 Rotation travel direction selection 60A8h VAR SI unit position SI unit position 00000000h 1 pulse 60A9h VAR SI unit velocity SI unit velocity The SI unit velocity is returned FB010300h 0 01 mm s FEB44700h 0 01 r min 00000300h pulse s 60B0h VAR Position offset Position offset Unit pos units 60B1h VAR Velocity offset Velocity offset Unit vel u...

Page 17: ... of an output shaft 1 Feed Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions 60E0h VAR Positive torque limit value Torque limit value forward Unit 0 1 with rated torque being 100 60E1h VAR Negative torque limit value Torque limit value reverse Unit 0 1 with rated torque being 100 6091h 0 ARRAY Gear ratio Gear ratio 1 Motor revolutions Number of revolutions of the ...

Page 18: ...0A9h VAR SI unit velocity SI unit velocity The SI unit velocity is returned FB010300h 0 01 mm s FEB44700h 0 01 r min 00000300h pulse s 60B1h VAR Velocity offset Velocity offset Unit vel units 60B2h VAR Torque offset Torque offset Unit 0 1 with rated torque being 100 Bit Symbol Description 4 reserved The value at reading is undefined Set 0 when writing 5 reserved 6 reserved 8 reserved 9 reserved Bi...

Page 19: ...r of servo motor shaft revolutions 60E0h VAR Positive torque limit value Torque limit value forward Unit 0 1 with rated torque being 100 60E1h VAR Negative torque limit value Torque limit value reverse Unit 0 1 with rated torque being 100 6091h 0 ARRAY Gear ratio Gear ratio 1 Motor revolutions Number of revolutions of the servo motor shaft numerator Page 77 Electronic gear function 2 Shaft revolut...

Page 20: ...Bit cst 60A9h VAR SI unit velocity SI unit velocity The SI unit velocity is returned FB010300h 0 01 mm s FEB44700h 0 01 r min 00000300h pulse s 60B2h VAR Torque offset Torque offset Unit 0 1 with rated torque being 100 Bit Symbol Description 4 reserved The value at reading is undefined Set 0 when writing 5 reserved 6 reserved 8 reserved 9 reserved Bit Symbol Description 10 reserved The value at re...

Page 21: ...ter acceleration finished Unit vel units 6083h VAR Profile Acceleration Acceleration at start of movement to target position Unit acc units 6084h VAR Profile deceleration Deceleration at arrival to target position Unit acc units 6085h VAR Quick stop deceleration Deceleration at deceleration to a stop with Quick stop Unit acc units Positive torque limit value Obj 60E0h Negative torque limit value O...

Page 22: ... pos units 60FAh VAR Control effort Position control loop output speed command Unit vel units 60E0h VAR Positive torque limit value Torque limit value forward Unit 0 1 with rated torque being 100 60E1h VAR Negative torque limit value Torque limit value reverse Unit 0 1 with rated torque being 100 6091h 0 ARRAY Gear ratio Gear ratio 1 Motor revolutions Number of revolutions of the servo motor shaft...

Page 23: ...605Dh 9 Change on set point Enabled only when Set of set points Bit 5 0 0 Shifts to the next positioning after completing stopping the current positioning operation 1 Shifts to the next positioning after performing positioning up to the current set point with the setting of profile velocity Obj 6081h Page 22 Set of set points Bit Symbol Description 10 Target reached 0 Halt Bit 8 0 Target position ...

Page 24: ... the first positioning point when the positioning servo parameter is updated before completion of the positioning operation Target position set point Profile velocity Actual speed Current target position processed New set point Controlword Obj 6040h bit 4 Set point acknowledge Statusword Obj 6041h bit 12 Target reached Statusword Obj 6041h bit 10 t t t t t t t Target position set point Profile vel...

Page 25: ...upported 3 Jerk limited ramp not supported 605Ah VAR Quick stop option code Operation setting for Quick stop Page 103 Quick stop 6063h VAR Position actual internal value Current position Unit Enc inc 6064h VAR Position actual value Current position Unit pos units 606Bh VAR Velocity demand value Speed command after trajectory generation 606Ch VAR Velocity actual value Current speed Unit vel units 6...

Page 26: ... 77 Electronic gear function 607Eh VAR Polarity Polarity selection Bit 7 Position POL Bit 6 Velocity POL Bit 5 Torque POL Page 65 Rotation travel direction selection 606Dh VAR Velocity window Speed error threshold for judging Target reached Unit vel units 606Eh VAR Velocity window time Target reached judgment time Unit ms 606Fh VAR Velocity threshold Zero speed threshold for judging Speed Unit vel...

Page 27: ...g is undefined Set 0 when writing Bit Symbol Description 10 Target reached 0 Halt Bit 8 0 Target velocity not reached 0 Halt Bit 8 1 Axis decelerates 1 Halt Bit 8 0 Target velocity reached 1 Halt Bit 8 1 Velocity of axis is 0 Judgment condition of Target velocity reached If the difference between the current position and Target velocity Obj 60FFh has stayed within Velocity window Obj 606Dh for Vel...

Page 28: ... 606Ch Target velocity Obj 60FFh Speed Statusword Obj 6041h bit 12 Target reached Statusword Obj 6041h bit 10 Velocity window time Obj 606Eh Velocity threshold time Obj 6070h t t t t Deceleration with Profile deceleration Obj 6084h Acceleration with Profile deceleration Obj 6083h ...

Page 29: ...units 6077h VAR Torque actual value Current torque Unit 0 1 with rated torque being 100 6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft 1 Feed Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions 60E0h VAR Positive torque limit value Torque limit value forward Unit 0 1 with rated torque being 100 60E1h VAR Negative torque limit value Tor...

Page 30: ...locity The SI unit velocity is returned FB010300h 0 01 mm s FEB44700h 0 01 r min 00000300h pulse s 60B2h VAR Torque offset Torque offset Unit 0 1 with rated torque being 100 Bit Symbol Description 4 reserved The value at reading is undefined Set 0 when writing 5 reserved 6 reserved 8 HALT 0 Drives the servo motor 1 Stops the servo motor according to Halt option code Obj 605Dh 9 reserved The value ...

Page 31: ...trol mode 29 2 Operation sequence HALT Controlword Obj 6040h bit 8 Torque demand value Obj 6074h Target torque Obj 6071h t t t Change in accordance with Torque slope Obj 6087h Change in accordance with Torque slope Obj 6087h ...

Page 32: ...uning function Precautions The relation between the setting value of the command torque and the servo motor torque generation direction can be changed with the setting values of Pr PA14 Travel direction selection and Pr PC29 3 Torque POL reflection selection The servo motor outputs the torque calculated by adding up the command torque and the values set in Pr PE47 Unbalanced torque offset and Torq...

Page 33: ...nstant Travel distance per revolution of an output shaft 1 Feed Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions 60E0h VAR Positive torque limit value Torque limit value forward Unit 0 1 with rated torque being 100 60E1h VAR Negative torque limit value Torque limit value reverse Unit 0 1 with rated torque being 100 6091h 0 ARRAY Gear ratio Gear ratio 1 Motor revo...

Page 34: ...control mode use the initial value of Pr PB03 Torque feedback loop gain for the torque feedback gain If the response is not satisfactory adjust the torque feedback gain Page 34 Parameter adjustment method 60A8h VAR SI unit position SI unit position 00000000 1 pulse 60A9h VAR SI unit velocity SI unit velocity The SI unit velocity is returned FEB44700h 0 01 r min FB010300h 0 01 mm s 00000300h pulse ...

Page 35: ...control mode Position actual internal value Obj 6063h and Position actual value Obj 6064h are continuously updated even in the continuous operation to torque control mode However since the software position limit is disabled AL 098 Software position limit warning will not occur even if Position actual value Obj 6064h exceeds the software position limit value Switching between the CSP mode and cont...

Page 36: ...orque feedback loop gain to the initial value 3 Adjusting the torque feedback gain If the servo motor speed or torque fluctuates when a workpiece comes into contact with a target object decrease the value of Pr PB03 Decreasing the value of Pr PB03 will help suppress fluctuation in servo motor speed or torque when a workpiece comes into contact with a target object However doing so will decrease tr...

Page 37: ...ed upon completion of the homing operation or when the servo amplifier connects to the network The setting is not reflected when homing is incomplete 6098h 0 VAR Homing Method Specify a homing method Refer to the following for the supported homing methods Page 37 Homing method list 6099h 0 ARRAY Homing Speeds Number of entries of the homing speed 1 Speed during search for switch Specify the travel...

Page 38: ...word in the hm mode Bit Symbol Description 4 HOS Homing operation start 0 Do not start homing procedure 1 Start or continue homing procedure 5 reserved The value at reading is undefined Set 0 when writing 6 reserved 8 HALT Halt 0 Drives the servo motor 1 Stops the servo motor according to Halt option code Obj 605Dh 9 reserved The value at reading is undefined Set 0 when writing Bit Symbol Descript...

Page 39: ...ignal shifted by the set home position shift distance is set as the home position 34 Reverse rotation 3 Data set type homing The current position is set as the home position This is the same as Homing method 37 4 Stopper type Stopper position reference Forward rotation A workpiece is pressed against a mechanical stopper and the stop position is set as the home position 36 Reverse rotation 6 Dog ty...

Page 40: ...ion This is the same as the dog cradle type homing 19 Homing without index pulse Forward rotation This is the same as the dog type front end reference homing Note that if the stroke end is detected during homing AL 090 Homing incomplete warning occurs 20 Homing without index pulse Forward rotation Although this type is the same as the dog cradle type homing the stop position is not on the Z phase ...

Page 41: ...ccurs If the electronic gear Pr PA06 or Pr PA07 is changed If the setting of Pr PA03 0 Absolute position detection system selection is changed If Pr PA14 Travel direction selection is changed If Pr PA01 1 Operation mode is changed 34 Homing on index pulse Forward rotation Although this type is the same as the dogless Z phase reference homing the creep speed is applied as the movement start speed 3...

Page 42: ...ard rotation stroke end is detected before the Z phase signal is detected AL 090 Homing incomplete warning will occur Method 2 Homing on positive limit switch and index pulse This homing method uses the stroke end as reference and sets the Z phase right after the stroke end as a home position After the forward rotation stroke end is detected the position is shifted away from the stroke end at cree...

Page 43: ... Z phase right before and right after the dog as a home position Method 5 and 6 are the same as Method 3 and 4 except that the starting direction is forward in Method 3 and 4 and reverse in Method 5 and 6 Method 7 8 11 12 Homing on home switch and index pulse These methods include the operation at stroke end detection in addition to the operation of Method 3 to Method 6 Thus the home position is t...

Page 44: ...pe front end reference homing Method 20 has the same operation as the dog cradle type homing however the stop position is on the dog but not on the Z phase Method 33 and 34 Homing on index pulse These homing methods set the Z phase detected first as a home position The operation is the same as that of the dogless Z phase reference homing except that the creep speed is applied at the start Method 3...

Page 45: ...ng method 2 When homing is started from the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start ON OFF 0 r min Homing speed Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position ...

Page 46: ...OFF ON OFF Controlword bit 4 Homing operation start ON OFF 0 r min Homing speed Acceleration time constant Deceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position shift distance Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position ...

Page 47: ...t ON OFF 0 r min Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Acceleration time constant Deceleration time constant Home position shift distance Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Homing position data Forwa...

Page 48: ...FF Controlword bit 4 Homing operation start ON OFF 0 r min Homing speed Acceleration time constant Deceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position shift distance Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position The homi...

Page 49: ...usword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Deceleration time constant Acceleration time constant Home position shift distance Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo mot...

Page 50: ...g operation start Deceleration time constant Homing speed Travel distance after proximity dog home position shift distance Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Proximity dog DOG Proximity dog 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position The homing start posi...

Page 51: ... bit 12 Homing attained ON OFF Deceleration time constant Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog Acceleration time constant Home position shift distance travel distance after proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo motor speed R...

Page 52: ...rolword bit 4 Homing operation start Acceleration time constant Deceleration time constant Homing speed Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Proximity dog DOG Proximity dog Travel distance after proximity dog home position shift distance 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position Th...

Page 53: ...ng attained ON OFF Deceleration time constant Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog Acceleration time constant Home position shift distance travel distance after proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo motor speed Reverse rotat...

Page 54: ...he operation of Homing method 35 and Homing method 37 These methods can be performed in the servo off status Statusword bit 10 Target reached Statusword bit 12 Homing attained 0 r min ON OFF ON OFF ON OFF ON OFF Controlword bit 4 Homing operation start Acceleration time constant Deceleration time constant Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed H...

Page 55: ...dog When the servo motor returns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min td 1 ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Deceleration time constant Homing speed Home position shift distance Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotatio...

Page 56: ...nce after proximity dog enough for the servo motor to decelerate from the homing speed to the creep speed When homing is started from the proximity dog When the servo motor returns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min 1 ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF De...

Page 57: ...e torque limit value has been reached TLC remains on even after homing finishes When the stroke end is detected ON OFF ON OFF Statusword bit 12 Homing attained Controlword bit 4 Homing operation start 0 r min Homing position data Forward rotation Servo motor speed Reverse rotation Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start ON OFF Statusword bit 10 Target reac...

Page 58: ... revise both the homing speed and creep speed When homing is started from the proximity dog When the servo motor returns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min ON OFF ON OFF Controlword bit 4 Homing operation start 1 Travel distance after proximity dog home position shift distance Acce...

Page 59: ...turns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min ON OFF ON OFF Controlword bit 4 Homing operation start Travel distance after proximity dog home position shift distance Acceleration time constant Deceleration time constant Homing speed Creep speed Forward rotation Servo motor speed 3 ms or...

Page 60: ...0 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Deceleration time constant Acceleration time constant Home position shift distance Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo motor speed Rev...

Page 61: ...oftware limit Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF 0 r min 1 Homing speed Acceleration time constant Deceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position shift distance Proximity dog Z phase DOG Proximity ...

Page 62: ...tware limit Statusword bit 10 Target reached Statusword bit 12 Homing attained 0 r min ON OFF ON OFF ON OFF ON OFF Controlword bit 4 Homing operation start 1 Deceleration time constant Homing speed Travel distance after proximity dog home position shift distance Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Proximity...

Page 63: ...ting the servo motor about a half turn away from the homing direction When the stroke end is detected Statusword bit 10 Target reached Statusword bit 12 Homing attained 0 r min ON OFF ON OFF ON OFF ON OFF Controlword bit 4 Homing operation start Deceleration time constant Homing speed Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotatio...

Page 64: ...values are set for the servo parameters in the factory setting Change the setting with engineering tools or other methods as necessary The servo parameters related to the basic functions explained in this manual are shown in the following example If the servo parameter name is Travel direction selection and the number is PA14 Pr PA14 Travel direction selection In addition the servo parameters in w...

Page 65: ...etting digit name is Forced stop deceleration function selection and the setting digit is the forth last digit in PA04 the servo parameter is expressed as shown below Pr PA04 3 Forced stop deceleration function selection Servo parameter Symbol Name Outline PA04 3 AOP1 Forced stop deceleration function selection Set Forced stop deceleration function to enabled disabled Initial value 1h enabled Pr P...

Page 66: ...er through objects as well as operations that notify status to the controller through objects When using a controller manufactured by Mitsubishi Electric any concern regarding the Objects is alleviated as the controller itself has the functions to set and obtain the Object values necessary to implement each function When the respective object values are needed to be obtained and set specifically u...

Page 67: ...as follows When the setting of the servo motor rotation direction is changed the status changes to Homing incomplete Execute homing again Precautions The setting of the rotation travel direction selection does not change the Display All function and Graph function in MR Configurator2 Some objects can be changed with the setting of the rotation travel direction selection and some cannot Refer to th...

Page 68: ...tline PA14 POL Travel direction selection The rotation direction of the servo motor and the travel direction of the linear servo motor can be set Initial value 0 CCW or positive direction PC29 3 COPB Torque POL reflection selection Torque POL reflection selection can be set The torque polarity can be changed with the combination of this servo parameter and Pr PA14 Initial value 1h disabled Pr PA14...

Page 69: ...s and the servo parameters Settings can only be made with the combinations indicated here The below table shows the relations between the object setting value of Polarity Obj 607Eh and the servo parameters Bit Description 0 reserved The value at reading is undefined Set 0 when writing 1 2 3 4 5 0 Servo motor CCW rotation at positive torque 1 Servo motor CW rotation at positive torque 6 0 Servo mot...

Page 70: ...077h Position offset Obj 60B0h Velocity offset Obj 60B1h Torque offset Obj 60B2h Positive torque limit value Obj 60E0h With the settings of Pr PA14 and Pr PC29 3 the corresponding servo parameters are changed as follows Negative torque limit value Obj 60E1h With the settings of Pr PA14 and Pr PC29 3 the corresponding servo parameters are changed as follows Digital inputs Obj 60FDh The correspondin...

Page 71: ...troke limit signal being detected during operation If the home position is erased perform homing again Explanation of the stroke limit signal names There are two sets of stroke limit signals FLS Upper stroke limit RLS Lower stroke limit and LSP Forward rotation stroke end LSN Reverse rotation stroke end The characteristics of both signals are shown in the following table The signal names differ de...

Page 72: ...creasing positioning address or travel in the positive direction When Pr PA14 Travel direction selection is set to 1 travel in CW direction with an increasing positioning address Item Reference When wiring the limit switch to the servo amplifier Page 70 When wiring the limit switch to the servo amplifier When wiring the limit switch to equipment other than the servo amplifier Page 72 When wiring t...

Page 73: ...on This example shows a case where CCW or the positive direction of the servo amplifier is different from the positioning address increasing direction of the controller The on off status of LSN Reverse rotation stroke end is outputted as FLS Upper stroke limit to the controller and the on off status of LSP Forward rotation stroke end is outputted as RLS Lower stroke limit CN3 12 FLS RLS LSP LSN CN...

Page 74: ...nfiguration example The following shows an example where the limit switch is wired to the controller To FLS Upper stroke limit input the limit signal which suppresses the operation in the positioning address increasing direction against the command from the controller The limit switch does not need to be wired to the servo amplifier When setting the movable range with the position data Use softwar...

Page 75: ...in Control mode Return method Cyclic synchronous position mode After following up Target position Obj 607Ah with Position actual value Obj 6061h input the position command of the direction opposite to the limit Make sure that Bit 12 of Statusword Obj 6041h is 0 before inputting the position command Cyclic synchronous velocity mode Input the speed command of the direction opposite to the limit to T...

Page 76: ...signal or Enabled automatic ON Initial value 0h Disabled Use for an external input signal PD03 0 1 DI1 Device selection Any input device can be assigned to the CN3 2 pin Initial value 0Ah LSP Forward rotation stroke end PD04 0 1 DI2 Device selection Any input device can be assigned to the CN3 12 pin Initial value 0Bh LSN Reverse rotation stroke end PD05 0 1 DI3 Device selection Any input device ca...

Page 77: ...er while the moving part is outside the area between the limit switches Performing homing while the moving part is outside the area between the limit switches Switching the control mode while the moving part is outside the area between the limit switches The limit switches are on for less than 10 ms Setting methods of functions Pr PT38 4 Limit switch release position assessment function selection ...

Page 78: ...t s Pr PT01 1 Speed acceleration deceleration unit selection Object interlocked with servo parameter 0 1 Pr PT65 Profile speed command Pr PV01 Profile speed command extension setting Profile velocity Obj 6081h Pr PT66 Maximum profile speed Pr PV03 Maximum profile speed extension setting Max profile velocity Obj 607Fh Pr PT49 Speed acceleration time constant Pr PV05 Profile acceleration Profile acc...

Page 79: ...ur depending on the value of the electronic gear ratio Setting method Setting with servo parameters Setting with object dictionary Set the electronic gear numerator for Motor revolutions Obj 6091h 01h and electronic gear denominator for Shaft revolutions Obj 6091h 02h For details on the objects refer to the User s Manual Object Dictionary Servo parameter Symbol Name Outline PA06 CMX Electronic gea...

Page 80: ...be used for the setting Pt Servo motor encoder resolution pulse rev ΔS Travel distance per servo motor revolution command unit rev CMX Electronic gear Numerator CDV Electronic gear Denominator CMX CDV Pt ΔS The following setting example shows how to calculate the electronic gear The following specification symbols are necessary for calculation of the electronic gear Pb Ball screw lead mm 1 n Reduc...

Page 81: ...CMX 1644167168 and CDV 703125 If the servo motor rotates in one direction endlessly on systems such as an index table the error in rounding off accumulates resulting in the index position mismatch For example even if 36000 pulses are input for the command in the previous example the following result is obtained for the table Therefore a positioning to the same position cannot be performed on the t...

Page 82: ...ion pulse rev ΔS Travel distance per servo motor revolution command unit rev CMX Electronic gear Numerator CDV Electronic gear Denominator CMX CDV Pt ΔS The following setting example shows how to calculate the electronic gear To calculate the electronic gear the following specification symbols are required Pb Ball screw lead mm 1 n Reduction ratio Pt Servo motor encoder resolution pulse rev ΔS Tra...

Page 83: ...duction ratio 1 n Z1 Z2 1 3 Z1 Number of gear teeth on servo motor side Z2 Number of gear teeth on load gear Servo motor encoder resolution Pt 4194304 pulse rev Reduce CMX and CDV to the setting range or less and round off each value to the nearest whole number Therefore set CMX 524288 and CDV 20944 1 When the command unit is pulse convert as α 1 4194304 pulse rev Pb 10 mm Z1 1 n Z1 Z2 1 2 Z2 1 n ...

Page 84: ...e gain and reviewing the operation pattern In the super trace control droop pulses are near 0 during the servo motor control Thus the INP In position signal may remain on To prevent the INP In position signal from remaining on set the servo parameters as follows Pr PD13 2 INP output signal ON condition selection 1 Within the in position range and at the completion of command output Setting method ...

Page 85: ... safety in the entire system Setting method Servo parameter list Input output device selection input signal automatic ON selection input signal filter selection and DI pin polarity selection settings can be performed directly with servo parameters MR JET_G_ Servo parameter Symbol Name Outline PD01 2 DIA1 Input signal automatic ON selection LSP Forward rotation stroke end and LSN Reverse rotation s...

Page 86: ...regenerative options MR JET User s Manual Hardware Regenerative option For the regenerative options select the Mitsubishi Electric specified regenerative resistor MR RB series Precautions To prevent a fire from occurring use servo amplifiers with regenerative options in the specified combinations Setting method Servo parameter Symbol Name Outline PA02 0 1 REG Regenerative option selection Select a...

Page 87: ... servo motor stops safely with the methods specified in accordance with the alarm No Page 88 Stop method at occurrence of alarms warnings The occurred alarm is recorded as the alarm history In the alarm history the latest 16 alarms are recorded so that the types of alarms that have occurred in the past can be checked Page 87 Alarm history The conditions of the servo amplifier such as the servo mot...

Page 88: ... from a warning Some warnings are automatically canceled after the cause is removed and other warnings are canceled after the cause is removed and the alarm is reset Remove the cause of the warning in accordance with the following manual MR JET User s Manual Troubleshooting Alarm deactivation Explanation Alarm reset Error reset command from the controller Click Occurred Alarm Reset in the Alarm Di...

Page 89: ...RECORD Alarm history 1 The number of sub objects 7 is returned 1 RECORD Alarm No The Alarm No and detail number of the second alarm are returned 32 bits 2 RECORD Alarm time Hour The occurrence time of the second alarm is returned 3 RECORD Alarm2 No The value 0000h is returned 16 bits 4 RECORD Alarm time second The occurrence time of the second alarm is returned as a 32 bit integer time passed from...

Page 90: ...otor coasts Stop with electronic dynamic brake When a specific servo motor is used the servo motor stops with the electronic dynamic brake without forced stop deceleration When other than the specific servo motor is used the servo motor stops with dynamic brake The specific servo motors are as follows 2A45h 0 ARRAY Parameter error list The number of sub objects 254 is returned 1 ARRAY Parameter er...

Page 91: ...function selection is set to 2 Forced stop deceleration function enabled Stopping with forced stop deceleration function When an alarm is detected the servo motor stops using forced stop deceleration and MBR and ALM are turned off 1 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor ON OFF ON OFF ON OFF 0 r min ALM Alarm occu...

Page 92: ...n selection is set to 0 Forced stop deceleration function disabled The operation status during an alarm occurrence or network communication shut off is the same as in the stop method with dynamic brake shown in this section Page 90 Stopping with dynamic brake ON OFF ON OFF ON OFF 0 r min ALM Alarm occurrence Braking with dynamic brake Braking with dynamic brake and electromagnetic brake Servo moto...

Page 93: ...rced stop 2 to alternate between stop and drive Doing so may shorten the service life of the servo amplifier If an alarm that operates the dynamic brake occurs during forced stop deceleration the braking distance until the servo motor stops will be longer than the braking distance when the forced stop deceleration is properly operated To prevent a malfunction in the dynamic brake or fire do not dr...

Page 94: ...omes below Pr PC07 Zero speed after completion of the deceleration command the base circuit will be shut off and the dynamic brake will activate ON OFF ON OFF 0 r min Pr PC24 ON OFF EM2 Forced stop 2 Enabled Dynamic brake electromagnetic brake Normal operation Forced stop deceleration Rated speed Servo motor speed Command Zero speed Pr PC07 Deceleration time Base circuit Energy supply to the servo...

Page 95: ...ion does not operate on alarms that are not subject to the forced stop deceleration function When the forced stop deceleration function is disabled this function does not operate at forced stop EM2 is turned off or upon an alarm occurrence or network communication shut off Setting method For specifications such as the power supply capacity and operation delay time of the electromagnetic brake refe...

Page 96: ...OFF Electromagnetic brake is activated 2 The electromagnetic brake is released after the release delay time of the electromagnetic brake and the operation time of external circuit relay or other operations For the release delay time of electromagnetic brake refer to Characteristics of electromagnetic brake in the following manual Rotary Servo Motor User s Manual HG KNS HG SNS 3 Give an operation c...

Page 97: ...on then the base circuit is turned off after the base circuit shut off delay time 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor ON OFF ON OFF ON OFF 0 r min ALM ON OFF ON OFF Model speed command 0 and equal to or less than zero speed 2 B...

Page 98: ...ake is activated ON OFF ON OFF ON OFF 0 r min ALM ON OFF ON OFF Controller command is not received Alarm occurrence Alarm No No alarm Model speed command 0 and equal to or less than zero speed 1 Base circuit Energy supply to the servo motor Servo amplifier display Servo motor speed no alarm alarm Electromagnetic brake interlock Malfunction Operation delay time of the electromagnetic brake Electrom...

Page 99: ...d with the dynamic brake and electromagnetic brake 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated OFF ON OFF ON OFF 0 r min 10 ms ON OFF Dynamic brake Dynamic brake electromagnetic brake Servo motor speed Electromagnetic brake Base circuit Operation delay time of electromagnetic brake Ready on command from controller Electromagnetic brake interlock 1 MBR ...

Page 100: ...en an alarm occurs the servo motor stops using the same method as with the dynamic brake Page 90 Stopping with dynamic brake Power off The same timing chart shown in Power off when using the forced stop deceleration function also applies here Page 96 Power off Ready off command from controller The same timing chart shown in Ready off command from controller when using the forced stop deceleration ...

Page 101: ...meter has been set If not set this function does not operate Check that the forced stop deceleration function is enabled If disabled this function does not operate Setting method Set the freefall prevention compensation amount with Pr PC31 Vertical axis freefall prevention compensation amount After that turn off the EM2 Forced stop 2 during a servo motor stop then adjust the base circuit shut off ...

Page 102: ...his method Page 100 Acceleration deceleration time constant Page 101 S pattern acceleration deceleration time constant Acceleration deceleration method This is a method for performing acceleration deceleration in accordance with the specified acceleration deceleration command unit s2 Using this method together with S pattern acceleration deceleration time constant enables smoother acceleration dec...

Page 103: ...on time is too long the timing error may occur on the arc part against the setting of the S pattern acceleration deceleration time constant If the S pattern acceleration deceleration time constant is set longer than the constant speed time the speed may not reach the command speed The upper time limit on the arc part of the S pattern acceleration deceleration is limited by the acceleration time an...

Page 104: ...eration deceleration data varies depending on the unit selected in Pr PT01 1 Speed acceleration deceleration unit selection However the same object is used for setting the acceleration deceleration data regardless of the unit selected Refer to Pr PT01 1 for details For the precautions for each acceleration deceleration data refer to the setting parameters and objects Setting method Select an accel...

Page 105: ...on Obj 6085h and the state shifts to Switch On Disabled cst The state shifts immediately to Switch On Disabled and the servo motor stops with the dynamic brake hm The servo motor decelerates to a stop in accordance with Homing acceleration Obj 609Ah and the state shifts to Switch On Disabled 2 In the cyclic synchronous positioning velocity mode csp csv profile positioning velocity mode pp pv and h...

Page 106: ...on Obj 6085h and the state shifts to Switch On Disabled MBR ON OFF ON OFF 0 r min Quick stop deceleration Obj 6085h ON OFF Switch On Disabled Quick Stop Active Operation Enabled Quick stop command Enabled Rated speed Servo motor speed Command Zero speed Pr PC17 Deceleration time Base circuit Energy supply to the servo motor Electromagnetic brake interlock Enabled ...

Page 107: ...llowing table shows descriptions of Halt option code Obj 605Dh Timing chart Index Sub Object Name Description 605Dh VAR Halt option code Setting for executing the Halt function Refer to the following table for the description 6084h 1 VAR Profile deceleration Deceleration at arrival to target position Unit acc units 609Ah VAR Homing acceleration Acceleration deceleration time constant at homing Uni...

Page 108: ...on Diagnoses encoder communication circuit failure Page 137 Encoder communication diagnosis function Disconnection detection function Detects disconnection of the servo motor power supply wires Page 138 Disconnection incorrect wiring detection function Applicable function Outline Reference Tough drive function Prevents the equipment from being stopped by an instantaneous power failure or a vibrati...

Page 109: ...y can be changed by Pr PF25 Instantaneous power failure tough drive Detection time In addition AL 010 2 Voltage drop in the main circuit power detection level for the bus voltage is changed automatically Precautions MBR Electromagnetic brake interlock is on during the instantaneous power failure tough drive When the load of instantaneous power failure is large AL 010 2 caused by the bus voltage dr...

Page 110: ...aneous power failure tough drive Detection time MTTR During tough drive turns on after the instantaneous power failure is detected MBR Electromagnetic brake interlock turns off when the alarm occurs ALM Pr PF25 MTTR MBR ON OFF ON OFF ON OFF WNG ON OFF ON OFF ON OFF DC 158 V Power supply Bus voltage Undervoltage level Time for instantaneous power failure Base circuit Warning Tough drive in progress...

Page 111: ...es When the bus voltage does not decrease to the undervoltage level or lower within the instantaneous power failure time the operation continues as is without setting off the alarm ALM Pr PF25 MTTR MBR ON OFF ON OFF ON OFF WNG ON OFF ON OFF ON OFF Power supply Bus voltage Undervoltage level Time for instantaneous power failure Base circuit Warning Tough drive in progress Electromagnetic brake inte...

Page 112: ...tage decreases to the undervoltage level or lower within the instantaneous power failure time ALM Pr PF25 MTTR MBR ON OFF ON OFF ON OFF WNG ON OFF ON OFF ON OFF Power supply Bus voltage Undervoltage level Time for instantaneous power failure Base circuit Warning Tough drive in progress Electromagnetic brake interlock Malfunction Energization Power failure 158 V DC ...

Page 113: ... is vibration with multiple frequencies at the same time such as multiple mechanical resonances the vibration frequency may not be estimated properly Vibration frequency may not be estimated properly if the torque reaches the limit value To prevent the excessive torque vibrations set a longer acceleration deceleration time for the command or slightly decrease the gains Precautions It is recommende...

Page 114: ...meter Symbol Name Description Pr PF31 FRIC Machine diagnosis function Friction judgment speed Set the servo motor speed to divide the friction estimation area between low speed and high speed in the friction estimation process of machine diagnosis When the maximum operation speed is under the rated speed it is recommended to set half the value of the maximum operation speed 1 2 Setting Pr PF34 6 F...

Page 115: ...iction estimation The friction estimation function estimates the static friction both at forward rotation and reverse rotation and the dynamic friction at rated speed both at forward rotation and reverse rotation To estimate these values it is unnecessary to perform to and fro positioning operation When the servo motor is operated in acceleration deceleration for forward rotation only the static f...

Page 116: ...n level and a change in the vibration frequency due to excess play or deterioration in guides ball screws and belts can be observed The vibration estimation function estimates the vibration level and vibration frequency respectively during servo motor operation and at a servo motor stop Vibration levels and frequencies during servo motor operation and during servo motor stop are estimated separate...

Page 117: ...riction estimation warning 5 The acceleration deceleration time constants may be too short for friction estimation warning 6 The operation time may be insufficient warning Bit 8 to 11 Vibration estimation status 0 Vibration is being estimated 1 Estimation has finished Bit 12 to 15 reserved 2C21h 0 VAR Static friction torque at forward rotation Static friction at forward rotation torque is returned...

Page 118: ... When using the machine analyzer function When Pr PF21 Drive recorder switching time setting is set to 1 Drive recorder function disabled To read recorded data from the drive recorder by using the FTP server function use a network supporting the function When the drive recorder data JSON files on the server are listed by using the FTP server function the file size will appear as 0 bytes MR Configu...

Page 119: ...shorten the sampling cycle If the power supply of the servo amplifier is turned off during data storage of the drive recorder immediately after alarm occurrence data at alarm occurrence may not be recorded normally The storage area of the servo amplifier has a limit for the number of writings When using the manual setting mode with the drive recorder be sure to consider the number of writings If t...

Page 120: ...er than the alarm trigger Alarm occurrence data is not saved Page 129 List of auxiliary recording data How to use the function The automatic setting mode is enabled for the drive recorder function in the factory settings If the initial setting does not meet your needs set Pr PA23 Drive recorder desired alarm trigger setting and collect data suitable for analyzing the occurrence factors of alarms I...

Page 121: ...erring files with direct connection or via a hub Ethernet GX LogViewer To read recorded data from the drive recorder by using the FTP server function use a network supporting the function Engineering tool MR Configurator2 Ethernet hub Servo amplifier Drive recorder data Personal computer Ethernet cable Ethernet cable Engineering tool MR Configurator2 Servo amplifier Drive recorder data Personal co...

Page 122: ...ers 1 Set Pr PF80 0 Drive recorder Operation mode selection to 1 manual setting mode 2 Set the sampling cycle trigger condition and other areas with servo parameters 3 Set Pr PF81 0 Drive recorder Sampling start selection to 1 start a single sampling or 2 continuous sampling start Sampling starts Reconfiguring parameters Servo parameters that set the sampling cycle trigger condition and other area...

Page 123: ...er binding condition selection Select the binding condition of the trigger 0 Disabled initial value 1 Logical AND of trigger signals 2 Logical OR of trigger signals PF82 2 DRTM Drive recorder Trigger operation selection 1 Select whether sampling starts when the channel set in Pr PF84 0 1 Drive recorder Trigger channel selection 1 exceeds the set trigger level rising or starts when it falls below t...

Page 124: ...nnel 4 selection Set the data to be assigned to digital channel 4 Initial value 8005h INP 3 PF93 0 3 DRDC3 Drive recorder Digital channel 5 selection Set the data to be assigned to digital channel 5 Initial value 800Ah MBR 3 PF93 4 7 DRDC3 Drive recorder Digital channel 6 selection Set the data to be assigned to digital channel 6 Initial value 8000h RD 3 PF94 0 3 DRDC4 Drive recorder Digital chann...

Page 125: ...alog channel 1 02 Analog channel 2 03 Analog channel 3 04 Analog channel 4 05 Analog channel 5 06 Analog channel 6 07 Analog channel 7 81 Digital channel 1 82 Digital channel 2 83 Digital channel 3 84 Digital channel 4 85 Digital channel 5 86 Digital channel 6 87 Digital channel 7 88 Digital channel 8 ...

Page 126: ...unit 0 1 r min 022 Command pulse frequency 0 1 r min speed unit 0 1 r min 023 Speed command 0 1 r min unit 0 1 r min 024 Torque command 0 1 025 Speed limit value 1 r min 026 Speed limit value 0 1 r min unit 0 1 r min 035 Internal temperature of encoder 1 C 049 Operation mode 1LSB 04C 2 U phase current feedback unit of the rated current 0 1 04D 2 V phase current feedback unit of the rated current 0...

Page 127: ...utted 004A CRLS Controller lower stroke limit signal being inputted 8000 RD Ready DO 8001 SA Speed reached 8002 ZSP Zero speed detection 8003 TLC Limiting torque 8004 VLC Limiting speed 8005 INP In position completion 8007 WNG Warning 8008 ALM Malfunction 8009 OP Z phase output 800A MBR Electromagnetic brake interlock 800B DB External dynamic brake 800F BWNG Battery warning 8010 ALM2 Malfunction 2...

Page 128: ...r Returns the number of the alarm that occurred when data was recorded using the drive recorder 03h Drive recorder history power on time Returns the power on cumulative time when data was recorded using the drive recorder 04h Drive recorder history time second Returns the recording time of the drive recorder as a 32 bit integer time passed from January 1 1970 0 00 00 000000000 05h Drive recorder h...

Page 129: ...tion within one revolution Current command Encoder error counter 1 Encoder error counter 2 0 500 ms 512 ms CSON EM2 EM1 ALM2 INP MBR RD STO 1 IPF AL 024 Servo motor speed Torque Current command Position within one revolution Bus voltage U phase current feedback V phase current feedback 0 500 ms 512 ms CSON EM2 EM1 ALM2 INP MBR RD STO 1 IPF AL 030 Servo motor speed Torque Current command Droop puls...

Page 130: ...0 Servo motor speed Torque Current command Droop pulses 100 pulses Overload alarm margin Bus voltage Effective load ratio 32 ms 32768 ms CSON EM2 EM1 ALM2 INP MBR RD STO 1 IPF AL 051 Servo motor speed Torque Current command Droop pulses 100 pulses Overload alarm margin Bus voltage Effective load ratio 32 ms 32768 ms CSON EM2 EM1 ALM2 INP MBR RD STO 1 IPF AL 052 Servo motor speed Torque Current com...

Page 131: ...dentification information for the servo amplifier is displayed Servo amplifier serial No Indicates the serial number of the servo amplifier Servo amplifier S W No The servo amplifier software number is displayed MAC address Indicates the MAC address of the servo amplifier IP address Indicates the IP address of the servo amplifier Motor model The model of the servo motor is displayed Motor ID Indic...

Page 132: ...mplifier via a network reconnection may not be possible if the software reset is performed after changing the setting of the network Precautions Canceling alarms is not the main purpose of the software reset function Use of this function is not recommended for alarms that would ordinarily be canceled by cycling the power Software reset in MR Configurator2 The servo amplifier can be reset with the ...

Page 133: ...led Change the settings of this function during servo off homing mode velocity mode and torque mode When the setting is changed during servo on in the position mode AL 035 Command frequency error AL 069 Command error and AL 098 Software position limit warning may occur Setting method Servo parameter setting Related objects The following table shows the related objects Pr PT15 Software position lim...

Page 134: ...g servo lock the servo motor may suddenly rotate depending on the amount of the position deviation from the command position When using the torque limit check that Pr PB06 Load to motor inertia ratio load to motor mass ratio is set properly Improper settings may cause an unexpected operation such as an overshoot When 0 0 is set no torque is generated Item Outline Internal torque limit The maximum ...

Page 135: ...he servo parameter when limiting the torque of the servo motor for CCW power running or CW regeneration PA12 TLN Reverse rotation torque limit Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration PE53 TLMX1 Maximum torque limit 1 When Pr PC78 1 Maximum torque limit 1 selection is set to 1 enabled the torque generated by the servo motor can be limi...

Page 136: ...ection are the same direction There is no speed limit in the torque command direction and the opposite direction Pr PT67 is used for Velocity limit value Obj 2D20h If Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 command unit s set the maximum speed in Pr PV21 Speed limit extension setting Checking Limiting speed status When the servo motor speed reaches the speed set in Pr ...

Page 137: ...ervo amplifier off on frequently within this time there is a possibility that the cumulative value of energization time deviates from the actual value This function displays the approximate service life Since the service life varies by the method of use and environmental conditions replace the servo amplifier after discovering an error Setting method No setting is required to use the cumulative en...

Page 138: ...f times the inrush relay has been turned on off and the usage count of the dynamic brake The servo amplifier always measures the number of times the inrush relay has been turned on off and the number of times the dynamic brake has been used Service life check method How to check with MR Configurator2 To check the number of times the inrush relay has been turned on off and the number of times the d...

Page 139: ...fier turned off MR Configurator2 is required for this function AL 118 1 Encoder communication circuit diagnosis in progress occurs when the encoder communication circuit diagnosis is in progress Usage To enable the diagnosis mode set 1 enabled in Pr PC05 4 Encoder communication circuit diagnosis mode selection and cycle the power Remove the encoder cable at power off During the diagnosis mode AL 1...

Page 140: ...in or faster The output open phase will not be detected even if the open phase of the servo motor power supply U V W occurs while in the servo off state or if the command speed is under 50 r min The output open phase detection is not performed when the MBR is on If 1 speed command is set in Pr PC19 6 Output open phase Judgment speed selection the output open phase may be detected incorrectly when ...

Page 141: ...e servo motor servo amplifier and servo motor power wires from overloads AL 050 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve AL 051 Overload 2 occurs if the maximum current is applied continuously for several seconds due to a machine collision etc Precautions After AL 050 Overload 1 or AL 051 Overload 2 occurs allow about 30 minutes of cooling ...

Page 142: ...orque offset Obj 60B2h can be used simultaneously with Pr PE47 Unbalanced torque offset If a value other than 0 is set for both the parameter and the object the setting values of both Torque offset Obj 60B2h and Pr PE47 Unbalanced torque offset are added to the torque command If the velocity offset is used in the position mode a position deviation may occur at the command stop and positioning may ...

Page 143: ... command offsets are invalid In the test operation mode command offset is disabled Enabled Disabled Function block diagram Page 12 Control mode Index Sub Object Name Description 60B0h VAR Position offset Position offset Unit pos units 60B1h VAR Velocity offset Velocity offset Unit vel units 60B2h VAR Torque offset Torque offset Unit 0 1 with rated torque being 100 Control mode Command offset Posit...

Page 144: ...iption of the monitor signals used in the servo amplifier and the signal block diagram are as follows Name and description of the monitor signals The following shows the types of monitor signals This chapter shows the name and description of each monitor signal The unit and other areas may differ depending on the control mode and display method For Display All and the display of the graph in the m...

Page 145: ...rer setting is displayed The linear servo motor control mode is available on servo amplifiers with firmware version A8 or later ABS counter The travel distance from the home position is displayed as a multi revolution counter value of the absolution position encoder in the absolution position detection system For the linear servo motor control mode the value of manufacturer setting is displayed Th...

Page 146: ...ion to torque control mode is displayed 0 is displayed in the position mode and velocity mode U phase current feedback 1 This indicates the U phase current value applied to the servo motor in internal units V phase current feedback 1 This indicates the V phase current value applied to the servo motor in internal units Encoder error counter 1 This indicates the cumulative number of errors during co...

Page 147: ...og DI EM1 Forced stop 1 DI EM2 Forced stop 2 DI INP In position DO LSN Reverse rotation stroke end DI LSP Forward rotation stroke end DI MBR Electromagnetic brake interlock DO MTTR During tough drive DO PC Proportional control DI RD Ready DO RDY In ready on state RDY is turned on during ready on DO SA Speed reached Refer to Signal device explanations in the following manual MR JET User s Manual Ha...

Page 148: ...p control PWM M Droop pulses Speed command input 1 Position control Speed control Current control Current command Bus voltage Speed command Current detector Servo motor Encoder Current feedback Position feedback Position command received from controller Position feedback data returned to controller Differen tiation Internal temperature of encoder Servo motor speed Torque Speed command input 2 ...

Page 149: ...us of the I O signals of the servo amplifier the status of the wiring and signals can be checked Refer to the following for the signals which can be checked with the Display all function and the graph function Page 142 Explanation of monitor signals The signals set in the I O device are displayed in the I O monitor display Display all function The analog data signals of the servo amplifier can be ...

Page 150: ...isplayed on completion of measurement The obtained data can be checked by clicking Zoom Cursor and other buttons I O monitor display The I O signals of the servo amplifier and the on off status of the I O device can be displayed The input output status of the signals and wiring can be checked at device startup and throughout the project creation progress ...

Page 151: ...amplifier the values are displayed Displayed items The following items can be checked in the system configuration window Servo amplifier identification information Servo amplifier serial No Servo amplifier S W No Optional unit identification information Optional unit serial No Optional unit S W No MAC address IP address Motor model Motor ID Motor serial No Encoder resolution Encoder maximum multi ...

Page 152: ...s as follows Precautions To prevent unauthorized access from an external network place a firewall between the external network and the network connected to the servo amplifier 6 1 IP address setting Setting an IP address Refer to IP address setting function in the following manual MR JET G User s Manual Communication Function Function Description FTP server function This function enables file tran...

Page 153: ...No 1 Pr NPB04 Pr NPB05 Pr NPB06 User information No 2 Pr NPB07 Pr NPB08 Pr NPB09 User information No 3 Pr NPB10 Pr NPB11 Pr NPB12 User information No 4 Pr NPB13 Pr NPB14 Pr NPB15 User information No 5 Pr NPB16 Pr NPB17 Pr NPB18 User information No 6 Pr NPB19 Pr NPB20 Pr NPB21 User information No 7 Pr NPB22 Pr NPB23 Pr NPB24 User information No 8 Pr NPB25 Pr NPB26 Pr NPB27 Network parameter Initial...

Page 154: ...ssword according to the following rule Precautions To prevent unauthorized access it is recommended to change the default account Ensure that no duplicate user names are set among accounts Accounts with duplicate user names may be unavailable To disable the account setting performed via an Ethernet connection set Pr NPB01 User authentication and authorization setting to 1 USB only In the initial s...

Page 155: ...owing requirements Only files with a name meeting the requirements can be used Precautions Restrictions are applied to each directory Page 154 Directory structure If the authorization level is set to 00000000h the relevant account cannot log into the FTP server To make the account access the FTP server function set the authorization level to a value other than 00000000h Files and directories can b...

Page 156: ... cannot be created in the drvrec directory Additionally files in the directory cannot be deleted or changed The size of files in the drvrec directory appears as 0 bytes regardless of the actual size Steps of accessing the FTP server 1 IP address setting Set an IP address to connect the servo amplifier to the network Page 150 IP address setting 2 Account setting Set an account to log into the FTP s...

Page 157: ...amplifier has a function to update the firmware This function can update the servo amplifier firmware to the desired version To update the firmware a special firmware update tool is required For information on the firmware update tool and firmware update file contact your local sales office ...

Page 158: ... mode linear control mode continuous operation to torque control mode limit switch release position assessment function network function Added Section 3 4 and Chapter 6 This manual confers no industrial property rights or any 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 righ...

Page 159: ...ou acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of pro...

Page 160: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies IB NA 0300458ENG B ...

Page 161: ......

Page 162: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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