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Mitsubishi Electric MELSERVO MR-J5-G-N1 Series, User Manual

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Mitsubishi Electric MELSERVO MR-J5-G-N1 Series User Manual Download Page 90

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7  SERVO PARAMETERS
7.9  Lists of supported control modes

I/O setting servo parameters group ([Pr. PD_ _ ])

PC71

PC72

PC73

PC76

PC76.1

PC76.2

PC76.3

PC78

PC78.1

PC79

PC79.0-1

No.

Detail No. Operation mode

Control mode

Semi closed

Fully closed

Standard Linear

DD

Standard DD

csp

csv

cst

pp

pv

tq

hm

pt

jg

PD01

PD01.0-7

PD03

PD03.0-1

PD04

PD04.0-1

PD05

PD05.0-1

PD05.4

PD07

PD07.0-1

PD08

PD08.0-1

PD08.2

PD08.3

PD09

PD09.0-1

PD09.2

PD09.3

PD11

PD11.0

PD12

PD12.3

PD13

PD13.2

PD14

PD14.1

PD38

PD38.0-1

PD39

PD39.0-1

PD41

PD41.2

PD41.3

PD51

PD51.0-1

PD51.4

PD60

PD60.0-7

No.

Detail No. Operation mode

Control mode

Semi closed

Fully closed

Standard Linear

DD

Standard DD

csp

csv

cst

pp

pv

tq

hm

pt

jg

Summary of Contents for MELSERVO MR-J5-G-N1 Series

Page 1: ...MR J5D G N1 User s Manual Introduction MR J5D_ _G_ _N1 Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ...stallation wiring Setting adjustment CAUTION To prevent injury transport the products correctly according to their mass WARNING To prevent an electric shock turn off the power and wait for 20 minutes or more before starting wiring and or inspection To prevent an electric shock ground the converter unit drive unit To prevent an electric shock any person who is involved in wiring should be fully com...

Page 4: ...at the same time manual cross searching Jumping from a link in a manual to another manual for reference Browsing for hardware specifications by scrolling over the components shown in product illustrations Bookmarking frequently referenced information Copying sample programs to engineering tools WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an el...

Page 5: ...tion Function SH NA 030371ENG 8 MR J5 User s Manual Adjustment SH NA 030306ENG 9 MR J5 User s Manual Troubleshooting SH NA 030312ENG 10 MR J5 G MR J5W G User s Manual Parameters SH NA 030308ENG 11 MR J5 G N1 MR J5W G N1 User s Manual Object Dictionary SH NA 030376ENG 4 Rotary Servo Motor This manual is necessary primarily for installing wiring and using options The manual is necessary for adjustme...

Page 6: ...ame is Function selection A 1 the setting digit name is Forced stop deceleration function selection and the setting digit is the fourth last digit in PA04 the servo parameter is expressed as shown below Pr PA04 3 Forced stop deceleration function selection U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Servo par...

Page 7: ...tions 21 Drive units without the dynamic brake ED 21 CHAPTER 2 FUNCTION 22 2 1 Restrictions on the MR J5_ _G_ 22 2 2 Function list 22 2 3 Security 31 CHAPTER 3 STRUCTURE 32 3 1 Parts identification 32 3 2 Switch setting and display of the drive unit 35 Switches 35 7 segment LED 36 Status LEDs 39 LED display 40 CHAPTER 4 STARTUP 41 4 1 Turning on drive unit for the first time 49 Test operation of t...

Page 8: ...HAPTER 7 SERVO PARAMETERS 72 7 1 Basic setting servo parameters group Pr PA_ _ 72 Pr PA01_Operation mode STY 72 7 2 Gain filter setting servo parameters group Pr PB_ _ 73 Pr PB03_For manufacturer setting 73 Pr PB82_Position command smoothing filtering time constant PFT 73 7 3 Extension setting servo parameters group Pr PC_ _ 74 Pr PC42_Function selection C 10 COP10 74 Pr PC43_Forward rotation torq...

Page 9: ...up Pr PB_ _ 85 Extension setting servo parameters group Pr PC_ _ 87 I O setting servo parameters group Pr PD_ _ 88 Extension setting 2 servo parameters group Pr PE_ _ 89 Extension setting 3 servo parameters group Pr PF_ _ 90 Motor extension setting servo parameters group Pr PL_ _ 91 Positioning control setting servo parameters group Pr PT_ _ 92 Network setting servo parameters group Pr PN_ _ 92 Po...

Page 10: ...urer setting 113 Pr NPB24_For manufacturer setting 113 Pr NPB25_For manufacturer setting 113 Pr NPB26_For manufacturer setting 113 Pr NPB27_For manufacturer setting 113 CHAPTER 9 FUNCTIONAL SAFETY PARAMETERS 114 9 1 Safety sub function 1 parameters group Pr PSA_ _ 114 Pr PSA01_Safety sub function mode selection SOA 114 Pr PSA05_For manufacturer setting 114 Pr PSA06_For manufacturer setting 114 Pr ...

Page 11: ...cturer setting 116 Pr PSB18_For manufacturer setting 116 9 3 Network parameters group Pr PSC_ _ 117 Pr PSC01_For manufacturer setting 117 Pr PSC03_For manufacturer setting 117 Pr PSC06_For manufacturer setting 117 9 4 Safety I O device parameters group Pr PSD_ _ 118 Pr PSD01_For manufacturer setting 118 Pr PSD02_Input device selection DI1 SDI1 118 Pr PSD08_Output device selection DO1 SDO1 120 9 5 ...

Page 12: ...5D2 _G_ N1 and MR J5D3 _G_ N1 drive units can drive two or three servo motors with one drive unit The footprint of MR J5D2 _G_ N1 and MR J5D3 _G_ N1 drive units is considerably smaller than that of two or three MR J5D1 _G_ N1 drive units 1 2 Model designation Rating plate The following shows an example of the rating plate for explanation of each item Serial number Model Capacity Applicable power s...

Page 13: ...e Item Special specifications 1 Detailed explanation Not attached standard model ED MR J5D1 MR J5D2 MR J5D3 MR J5D1 MR J5D2 MR J5D3 CN2AL connector Page 34 External encoder connector Fully closed loop system Scale measurement function Two wire type Four wire type A B Z phase differential input Built in dynamic brake Page 21 Special specifications 100 1 200 2 350 3 5 500 5 700 7 1 2 3 5 5 7 2 1 M R...

Page 14: ...gnals 1 Control method Sine wave PWM control current control method Dynamic brake Built in EtherCAT Communication cycle 125 μs 250 μs 500 μs 1 ms 2 ms 4 ms 8 ms Communication function USB Connection to a personal computer or other devices MR Configurator2 compatible Encoder output pulses Compatible A B Z phase pulse Analog monitor Two channels Fully closed loop control Supported Scale measurement ...

Page 15: ...or signals 1 Control method Sine wave PWM control current control method Dynamic brake Built in EtherCAT Communication cycle 250 μs 250 μs 500 μs 1 ms 2 ms 4 ms 8 ms Communication function USB Connection to a personal computer or other devices MR Configurator2 compatible Encoder output pulses Compatible A B phase pulse Analog monitor Two channels Fully closed loop control Supported Scale measureme...

Page 16: ...cluding CN8 connector signals 1 Control method Sine wave PWM control current control method Dynamic brake Built in EtherCAT Communication cycle 250 μs 250 μs 500 μs 1 ms 2 ms 4 ms 8 ms Communication function USB Connection to a personal computer or other devices MR Configurator2 compatible Encoder output pulses Not supported Analog monitor Two channels Fully closed loop control Not supported Scale...

Page 17: ...cted r min command unit s The acceleration deceleration unit can be selected ms command unit s2 Torque limit Setting by the servo parameter or object dictionary Point table mode pt One positioning operation Point table number input method Perform one positioning operation based on the position command and speed command Continuous positioning operation Speed change operation 2nd gear to 255th gear ...

Page 18: ...ts to perform self diagnosis Item Specifications Safety performance Satisfied standards 1 EN ISO 13849 1 2015 Category 4 PL e IEC 61508 SIL 3 EN 62061 SIL CL 3 EN 61800 5 2 Mean time to dangerous failure MTTFd MTTFd 100 years 750a Diagnostic coverage DC DC Medium 96 5 Probability of dangerous Failure per Hour PFH PFH 3 10 9 1 h Mission time TM 2 TM 20 year Item Specifications Safety sub function 1...

Page 19: ... 3 Item Operation Transportation Storage Ambient temperature 0 C to 60 C non freezing Class 3K3 IEC 60721 3 3 25 C to 70 C non freezing Class 2K12 IEC 60721 3 2 25 C to 70 C non freezing Class 1K4 IEC 60721 3 1 Ambient humidity 5 RH to 95 RH non condensing 5 RH to 95 RH non condensing 5 RH to 95 RH non condensing Ambience Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust...

Page 20: ...A CN3 L CN40B Servo motor Dynamic brake circuit Current detector Power supply Cooling fan Control circuit power supply STO Control circuit STO switch Encoder Overcurrent protection Base amplifier Current detection Step down circuit Control engine I F control Personal computer Digital I O control Network Network Analog monitor 2 channels Drive unit From L of converter unit From L of converter unit ...

Page 21: ...ector Power supply Dynamic brake circuit A A axis F B Cooling fan STO circuit Control circuit power supply B axis servo motor Base amplifier Current detection A Overvoltage Overcurrent A B axis output Control engine STO switch B axis F B Controlling B axis Network C axis servo motor Controlling C axis C axis output I F control Network C axis F B Step down circuit Digital I O control Analog output ...

Page 22: ...t and cooling fan for MR CV_ do not supply power between the MR CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor Connect them closer to the power supply side than the broken line area FR BLF 1 MCCB MCCB R S T MC MR AL _K MR Configurator2 W L1 L2 L3 V U E W V U E L CN4 CN5 CN1A CN40A CN40A CN2A CN2A CN1A L L11 L21 L L L11 L21 L L L11 L21 CN1B CN40B CN3 M...

Page 23: ...vo motor stop at power supply shut off When specific servo motors are being used the electronic dynamic brake may be activated at an alarm occurrence For the specific servo motors refer to Precautions relating to the dynamic brake characteristics in the following manual MR J5D User s Manual Hardware Setting the following servo parameter disables the electronic dynamic brake When Pr PA04 3 is set t...

Page 24: ... position mode csp This function operates the servo motor in the cyclic synchronous position mode C0 Refer to CONTROL MODE in the following manual MR J5 User s Manual Function Cyclic synchronous velocity mode csv This function operates the servo motor in the cyclic synchronous velocity mode C0 Cyclic synchronous torque mode cst This function operates the servo motor in the cyclic synchronous torqu...

Page 25: ...lue detection system to be configured without battery C0 Refer to ABSOLUTE POSITION DETECTION SYSTEM in the following manual MR J5D User s Manual Hardware Functions Detailed functions Description Ver 1 Detailed explanation Open network EtherCAT communication This function connects the drive unit to equipment such as a controller through EtherCAT communication C0 MR J5 G N1 MR J5W G N1 User s Manua...

Page 26: ...lection This function sets the rotation direction of the servo motor without changing the command polarity C0 Refer to Rotation travel direction selection in the following manual MR J5 User s Manual Function Electronic gear This function performs positioning control with the value obtained by multiplying the position command from the upper controller by a set electronic gear ratio C0 Refer to Elec...

Page 27: ...ft resonance suppression filter in the following manual MR J5 User s Manual Adjustment Robust filter This function improves a disturbance response when a response performance cannot be increased because of a large load to motor inertia ratio such as a roll feed axis C0 Refer to Robust filter in the following manual MR J5 User s Manual Adjustment Slight vibration suppression control This function s...

Page 28: ...so be performed via a network C0 Refer to One touch tuning in the following manual MR J5 User s Manual Adjustment Custom adjustment Model adaptive control This function enables control according to the ideal model that is both stable and highly responsive This is a two degrees of freedom model and can adjust responses to the command and to the disturbance separately This function can also be disab...

Page 29: ... the drive unit Analog input output Analog monitor This function outputs the servo status in voltage in real time C0 Refer to MONITORING in the following manual MR J5 User s Manual Function Monitor Power monitoring function This function calculates the running power and the regenerative power from the data in the drive unit such as speed and current The power consumption and other values are displ...

Page 30: ...is function detects a disconnection in the main circuit power supply input and the servo motor power supply output C0 For the MR J5D_ _G_ drive unit the input open phase detection function and servo motor incorrect wiring detection function cannot be used Refer to Disconnection incorrect wiring detection function in the following manual MR J5 User s Manual Function Coasting distance reduction Forc...

Page 31: ...he following manual MR J5 User s Manual Function SS1 Safe stop 1 This function starts deceleration with input signals from external devices After the specified time to confirm the motor stop the STO function is executed SS1 This is equivalent to the stop category 1 of IEC EN 60204 1 C0 SBC Safe brake control This function outputs signals for controlling the external brake C0 Functions Detailed fun...

Page 32: ...mber of dynamic brake usage times It gives an indication of the replacement time for parts on the drive unit with a service life such as the capacitor and the relay before they malfunction MR Configurator2 is required for this function C0 Refer to Servo amplifier life diagnosis function in the following manual MR J5 User s Manual Function Motor life diagnosis function This function predicts failur...

Page 33: ...er also must take safety measures Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access Functions Detailed functions Description Ver 1 Detailed explanation Alarm history This function saves information of the alarm that occurred in the drive unit The information is saved in chronological order and used for occasions such as analyzing the cause of...

Page 34: ...dentification MR J5D_ _G_ N1 MR J5D1 _G_ N1 The diagram shows MR J5D1 100G4 N1 1 2 5 6 21 4 3 11 22 16 23 15 12 13 7 17 10 20 14 CN1A L ER CN1A LA CN1B L ER CN1B LA ERR NS RUN MS SFTY Top Inside of the display cover Side Inside of the cover Right side Bottom Front ...

Page 35: ...motor power connector CNP3A Connect the A axis servo motor 8 1 B axis servo motor power connector CNP3B Connect the B axis servo motor 9 2 C axis servo motor power connector CNP3C Connect the C axis servo motor 10 Protective earth PE terminal Connect this terminal to the protective earth PE of the cabinet 11 Ethernet cable connector CN1A IN port Connect the controller drive unit servo amplifier or...

Page 36: ...ware 17 A axis encoder connector CN2A Connect the A axis servo motor encoder or external encoder Page 34 External encoder connector 18 1 B axis encoder connector CN2B Connect the B axis servo motor encoder or external encoder 19 2 C axis encoder connector CN2C Connect the C axis servo motor encoder or external encoder 20 3 External encoder connector CN2AL Connect the external encoder 21 Battery co...

Page 37: ...section To apply the settings of all switches cycle the control circuit power supply or reset the software The following explains the ID setting switches SW1 SW2 and DIP switches SW3 Switch identification 1 axis drive unit 2 axis drive unit 3 axis drive unit 1 ON 2 3 4 3 digit 7 segment LED DIP switch SW3 For manufacturer setting For manufacturer setting Test operation select switch SW3 1 ID setti...

Page 38: ...cates an upper digit and SW2 indicates a lower digit of a hexadecimal The ID setting switches are set to 01h when shipped from the factory For how to set node addresses refer to Node address setting in the following manual MR J5 G N1 MR J5W G N1 User s Manual Communication Function 7 segment LED The network connection status servo status and alarm warning occurrence statuses can be checked on the ...

Page 39: ...fter 0 8 s After 0 8 s After 0 8 s Status display 1 digit Alarm detail 1 digit Alarm No 3 digits After 0 2 s Indicates that an alarm is occurring Network status Blank Status display Alarm No Alarm detail Blank After 1 6 s After 0 2 s After 0 8 s After 0 8 s After 0 8 s A axis status 1 digit Alarm No 3 digits Alarm detail 1 digit After 0 2 s Indicates that an alarm is occurring Status display Alarm...

Page 40: ...cription Indicates that the drive unit is not connected to the controller Indicates the Pre Operational state shown in the state transition diagram of the ESM state machine Indicates the Safe Operational state shown in the state transition diagram of the ESM state machine Indicates the BootStrap state shown in the state transition diagram of the ESM state machine Network status B axis network stat...

Page 41: ...tchdog error has occurred This is for manufacturer setting Initialization in progress Indicates that initialization of settings such as parameters is in progress LED Description CN1AL ER CN1BL ER red Name Line error status On Indicates that erroneous data is being received CN1ALA CN1BLA green Name Link Activity Page 40 LED display RUNMS green Page 40 LED display ERRNS red SFTY green Off Indicates ...

Page 42: ...ry 200 ms Single flash The LED turns on for 200 ms and off for 1000 ms repeatedly Double flash The LED repeats the cycle of turning on for 200 ms off for 200 ms on for 200 ms off for 1000 ms LED Description Status Color Off Indicates the power supply being shut off or the Init state Blinking Green Indicates the Pre Operational state Single flash Indicates the Safe Operational state On Indicates th...

Page 43: ... does not change MR Configurator2 is the software used for purposes such as servo parameter settings graph measurement display and test operation This chapter describes the startup procedure of the drive unit when the drive unit is connected to a personal computer which has MR Configurator2 installed To learn more about using MR Configurator2 refer to Help in MR Configurator2 For USB communication...

Page 44: ...42 4 STARTUP 2 Start MR Configurator2 and create a new project For the connection setting select USB Select the drive unit model For a multi axis drive unit select an axis to be connected ...

Page 45: ...43 4 3 Selecting Parameter from the project tree opens the Parameter Setting screen 4 Select a group of servo parameters in the selection tree of the Parameter Setting window to display and configure the settings ...

Page 46: ... Selected Items Write or Axis Writing 6 Abbreviated servo parameters prefixed with and servo parameters marked with are enabled after the power is cycled or a software reset is performed Click Software Reset in MR Configurator2 to perform the software reset ...

Page 47: ...uit power supply Establish the EoE communication between the EtherCAT controller and drive unit according to the manual of the EtherCAT controller to be used 1 When using a personal computer as the EtherCAT controller connect the drive unit and the personal computer with an Ethernet cable 2 Start MR Configurator2 and create a new project Select the drive unit model Click the Switch to Multi axis P...

Page 48: ...an be selected for the protocol Set the time out and retry as required Set the drive unit and its IP address for the servo amplifier configuration The axis number can be set as desired 5 Selecting Parameter from the project tree opens the Parameter Setting screen T B D ...

Page 49: ...7 4 6 Select a group of servo parameters in the selection tree of the Parameter Setting window to display and configure the settings 7 After changing the servo parameter click Selected Items Write or Axis Writing ...

Page 50: ...Abbreviated servo parameters prefixed with and servo parameters marked with are enabled after the power is cycled or a software reset is performed Click Software Reset in MR Configurator2 to perform the software reset ...

Page 51: ... the servo motor disconnected from the machine operate the servo motor at the lowest speed possible and check whether the servo motor operates correctly Page 50 Test operation of the servo motor alone in test operation mode 3 Equipment configuration setting Set each servo parameter according to the equipment configuration Page 51 Equipment configuration setting 4 Controller related setting Perform...

Page 52: ...ear servo motor control mode the JOG operation cannot be performed Check the linear servo motor operation status by using the positioning operation or by other means Page 56 Motor driving by test operation 1 Turn off the power 2 Turn ON up the test operation select switch SW3 1 When performing test operation with multiple MR J5D_ _G_ connected to one power regeneration converter unit turn ON up th...

Page 53: ...it switches can be used to limit travel intervals of the servo motor Configure the settings according to the connection method of the limit switch In position setting Positioning completion status can be checked with in position Set this as necessary Forced stop deceleration function Stops the servo motor at EM2 Forced stop 2 off Perform settings such as the deceleration time constant Vertical axi...

Page 54: ... ratio 2 Display the I O Monitor window Confirm that there is no error in the I O signal Item Description Reference Command unit selection function This function enables the unit of speed command to be selected The initial setting for the unit of speed command is pulses s Refer to Command unit selection function in the following manual MR J5 User s Manual Function Electronic gear setting Perform t...

Page 55: ...etwork in the following manual MR J5 G N1 MR J5W G N1 User s Manual Communication Function 4 3 Troubleshooting at startup Investigation by using MR Configurator2 The reason that the servo motor does not rotate can be investigated via MR Configurator2 The cause that the servo motor fails to rotate is acquired from the drive unit of the target axis and displayed on No Motor Rotation The window will ...

Page 56: ...n function enables the machine operation to be checked before the actual operation With a personal computer and MR Configurator2 operations such as the JOG operation positioning operation output signal forced output and program operation can be performed Precautions The test operation mode is designed for checking servo operation This mode is not for checking machine operation Do not use this mode...

Page 57: ... power regeneration converter unit turn ON up the test operation select switch SW3 1 of all the MR J5D_ _G_ connected to the power regeneration converter unit 3 Turn on the power supply of the converter unit and drive unit Once initialization is complete the display will change as follows 4 Use MR Configurator2 to perform the test operation Page 56 Motor driving by test operation 5 After the test ...

Page 58: ...eration When changing the speed to the permissible speed set the speed in Pr PA28 4 Speed range limit selection Limit switch automatic ON 2 JOG operation can be performed when the limit switch is not connected Be sure to avoid causing a collision while performing the operation Operation 3 The servo motor can be started CCW CW paused stopped or forcibly stopped Clicking Start starts the operation W...

Page 59: ... to avoid causing a collision while performing the operation Move until Z phase signal 3 When Z phase signal movement is selected the servo motor moves until the first Z phase signal after positioning operation Operation 4 The servo motor can be started CCW CW paused stopped or forcibly stopped Clicking Operation Start starts the operation in the specified operation condition Repeat operation 5 Se...

Page 60: ...m Edit in the program operation screen opens the Program Edit screen Input the program and click OK For program commands refer to Help of MR Configurator2 No Item Screen operation 1 Program display Displays the program To edit the display item click Program Edit 2 Operation The servo motor can be started CCW CW paused stopped or forcibly stopped Clicking Operation Start starts the operation 3 Repe...

Page 61: ...For the point table operation refer to POSITIONING MODE POINT TABLE METHOD CP in the following manual MR J5 User s Manual Function No Item Screen operation 1 Point table No Specify the point table number to be operated 2 Operation The servo motor can be started CCW CW paused stopped or forcibly stopped Clicking Operation Start starts the operation in accordance with the point table 1 2 ...

Page 62: ...ed To terminate the motor less operation set Pr PC05 0 to 0 disabled To apply the motor less operation settings cycle the power or reset the software Load conditions The operation is performed in the following conditions Note that the conditions may differ from those of actual machines Alarm In the motor less operation some alarms and warnings are not generated The following are examples of alarms...

Page 63: ...the servo status Use this function for purposes such as checking output signal wiring Operate this function on the DO Forced Output screen of MR Configurator2 Each output signal can be turned on off by clicking the ON OFF button next to its name After checking click Test Operation Mode Cancel and terminate the output signal DO forced output ...

Page 64: ...nnected from the network and directly connected to MR Mode Change via a USB cable Initialization procedure by MR Mode Change Open MR Mode Change and use a USB cable to connect the drive unit that will be initialized with a personal computer Turn on the drive unit control circuit power supply Confirm that Reset to factory settings is selected then click Write After the writing is completed cycle th...

Page 65: ...rvice life of the following parts is listed below In addition the service life varies depending on the operating methods and environment If any fault is found in a part it is necessary to replace it immediately regardless of its service life For parts replacement please contact your local sales office Relays A relay will reach the end of its service life if the following actions are performed a to...

Page 66: ...ouch conductive areas such as the connector pins and electrical parts The fan unit is composed of a cooling fan and its cover List of applicable fan units Replacement procedure For the replacement procedure of fan units refer to Fan unit replacement procedure in the following manual MR J5D User s Manual Hardware Drive unit Fan units MR J5D1 500G4 N1 MR J5D1 700G4 N1 MR J5D2 200G4 N1 MR J5D2 350G4 ...

Page 67: ...me Organization IMO The above change will not affect the function or performance of the product This section describes the handling of lithium metal batteries in air transportation that has been changed in response to the IATA International Air Transport Association Dangerous Goods Regulations 63rd Edition issued on January 1 2022 and the handling of lithium metal batteries in maritime transportat...

Page 68: ...ication Main requirements Lithium content per cell 1 g Number of cells per package 8 UN3090 PI968 Section II Transitioned to Section IB on or after April 1 2022 The package must pass a 1 2 m drop test and a lithium battery mark size 100 100 mm must be attached on the package Refer to the requirements of Section IB on or after April 1 2022 Lithium content per battery 2 g Number of batteries per pac...

Page 69: ...Figure 1 Lithium battery mark example UN number s Telephone number for additional information Figure 2 Lithium battery hazard label example Transportation precaution for customers For maritime or air transportation the lithium battery mark Figure 1 is required also for the outer package containing several packages of Mitsubishi Electric cells or batteries When the content of a package must be hand...

Page 70: ...and components which can be recycled and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from household waste If a chemical symbol is shown beneath the above symbol a heavy metal of the corresponding chemical symbol is contained in the battery or the accumulator with the following standard concentration or more This will be indicate...

Page 71: ...e national standards which comply with global standards such as those set forth by the IEC International Electrotechnical Commission and CISPR International Special Committee on Radio Interference As part of the State Administration for Market Supervision and Administration Announcement No 18 of 2020 Announcement on the Catalogue of Compulsory Product Certification April 21 2020 a revised list of ...

Page 72: ...tained in all of the homogeneous materials for this part is below the limit requirement of GB T26572 Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit requirement of GB T26572 2 Indications based on Marking for the restriction of the use of hazardous substances in electrical and electronic products SJ T11364 2014 Part na...

Page 73: ...r more lead Electrical and electronic components such as piezoelectric sensors containing lead in glass or ceramic materials but not including the dielectric ceramics used in capacitors Electrical and electronic components containing lead in a glass or ceramic matrix compound e g chip resistors Status of our products for compliance with the China RoHS directive Chinese The following table is given...

Page 74: ...ly closed loop control mode The external encoder communication method of four wire type cannot be used in the fully closed loop control mode on the MR J5D2 _G_ N1 In that case use the MR J5D1 _G_ N1 When this servo parameter is set to 1 in the linear servo motor control mode AL 037 Parameter error occurs Setting 1 on the MR J5D3 _G_ N1 triggers AL 037 0 Disabled semi closed loop control mode 1 Ena...

Page 75: ... setting This servo parameter is for manufacturer setting Pr PB82_Position command smoothing filtering time constant PFT Set the position command smoothing filtering time constant This servo parameter can be used when Pr PB81 4 Position command smoothing filter is set to 1 enabled Initial value Setting range Setting method Ver 0 0 ms 0 0 to 100 0 Each axis A5 ...

Page 76: ...ue limit can be changed with the setting values of Pr PA14 Travel direction selection and Pr PC29 3 Torque POL reflection selection This servo parameter corresponds to Positive torque limit value 2 Obj 2D6Dh 02h Depending on the settings in Pr PC29 and Pr PA14 the corresponding object changes to Negative torque limit value 2 Obj 2D6Dh 03h If a value larger than the maximum torque or maximum thrust...

Page 77: ...ollowing error of Statusword Obj 6041h turns on This function is enabled in the cyclic synchronous position mode profile position mode point table mode and JOG operation mode This servo parameter corresponds to Following error time out Obj 6066h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter val...

Page 78: ...rresponds to Velocity window time Obj 606Eh When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Pr PC78_Function selection C F COPF Pr PC78 1_Maximum torque limit 1 selection Select whether to enable or disable the maximum torque limit 1 0 Disabled 1 Enabled Pr P...

Page 79: ...vo motor can be limited When Pr PC78 1 Maximum torque limit 1 selection is set to 0 the maximum torque limit 1 is disabled The torque limit function using this servo parameter or Max torque Obj 6072h is disabled The setting value of this servo parameter does not match the setting value of Max torque Obj 6072h Max torque Obj 6072h returns the maximum torque of the servo motor When Pr PC78 1 is set ...

Page 80: ...l value Setting range Ver 1h Refer to the text A5 Setting value Speed Acceleration deceleration 0 r min mm s 1 ms 1 Command unit s 2 Command unit s2 2 Setting value 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 prof...

Page 81: ...the profile torque mode This function corresponds to Torque slope Obj 6087h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Pr PT85_Function selection T 14 TOP14 Pr PT85 0_Infinite feed function selection Select whether to enable or disable the infinite feed ...

Page 82: ... are not to be set with the master controller asynchronous mode This servo parameter setting is not required for master controllers that can change the communication cycle with the objects in the asynchronous mode The setting value of this servo parameter will be set in Cycle Time Obj 1C32h 02h and Cycle Time Obj 1C33h 02h as the initial value Once this servo parameter is set to 0 the objects will...

Page 83: ...servo parameter corresponds to Sync Error Counter Limit Obj 10F1h 02h If detection of AL 086 1 is disabled the servo motor cannot be stopped at occurrence of a communication error In addition if the setting value is increased it takes longer for the servo motor to stop at occurrence of a communication error Be careful when changing the set value as there is a danger of collision Pr PN20_For manufa...

Page 84: ...Electronic gear Numerator ACMX Set the electric gear numerator for converting the acceleration command unit s2 into a value in acceleration deceleration units This function is enabled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 Pr PV26_Acceleration unit conversion Electronic gear Denominator ACDV Set the electric gear denominator for converting the acceleration comman...

Page 85: ... Mode List abbreviation Meaning Operation mode Standard Standard control mode Linear Linear servo motor control mode DD Direct drive motor control mode Semi closed Semi closed loop control mode Fully closed Fully closed loop control mode Control mode csp Cyclic synchronous position mode csv Cyclic synchronous velocity mode cst Cyclic synchronous torque mode pp Profile position mode pv Profile velo...

Page 86: ...ly closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg PA01 PA01 0 PA01 1 PA01 4 PA03 PA03 0 PA03 1 PA03 2 PA04 PA04 2 PA04 3 PA06 PA07 PA08 PA08 0 PA08 4 PA08 5 PA08 6 PA09 PA10 PA11 PA12 PA14 PA15 PA16 PA17 PA18 PA18 0 3 PA19 PA20 PA20 1 PA21 PA21 0 PA22 PA22 1 PA22 3 PA23 PA23 0 1 PA23 2 4 PA24 PA24 0 PA24 5 PA25 PA26 PA26 0 PA28 PA28 4 PA34 ...

Page 87: ...ndard Linear DD Standard DD csp csv cst pp pv tq hm pt jg PB01 PB01 0 PB01 3 PB02 PB02 0 PB02 1 PB04 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB14 1 PB14 2 PB15 PB16 PB16 0 PB16 1 PB16 2 PB17 PB17 0 1 PB17 2 PB18 PB19 PB20 PB21 PB22 PB23 PB23 0 PB23 1 PB23 3 PB24 PB24 0 PB24 1 PB25 PB25 0 PB26 PB26 0 PB26 1 PB26 2 PB26 4 PB26 5 PB27 PB28 PB29 PB30 PB31 PB32 PB33 PB34 PB35 PB36 ...

Page 88: ...B49 PB49 0 PB49 1 PB49 2 PB50 PB51 PB51 0 PB51 1 PB51 2 PB52 PB53 PB54 PB55 PB56 PB57 PB58 PB59 PB60 PB65 PB66 PB67 PB68 PB69 PB70 PB71 PB72 PB73 PB74 PB75 PB76 PB77 PB78 PB79 PB81 PB81 4 PB82 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ...

Page 89: ... csv cst pp pv tq hm pt jg PC01 PC02 PC03 PC03 0 PC03 1 PC03 2 PC04 PC04 3 PC05 PC05 0 PC05 4 PC06 PC06 0 PC06 3 PC07 PC08 PC09 PC09 0 1 PC09 3 PC10 PC10 0 1 PC10 3 PC11 PC12 PC16 PC16 5 PC17 PC17 1 PC19 PC19 0 PC19 4 PC19 6 PC20 PC20 2 PC21 PC21 0 PC24 PC26 PC26 3 PC27 PC27 0 PC27 2 PC27 5 PC29 PC29 0 PC29 3 PC29 5 PC31 PC38 PC41 PC41 0 PC41 3 PC42 PC43 PC44 PC46 PC46 1 PC46 2 PC46 3 PC65 PC66 PC...

Page 90: ...rd Linear DD Standard DD csp csv cst pp pv tq hm pt jg PD01 PD01 0 7 PD03 PD03 0 1 PD04 PD04 0 1 PD05 PD05 0 1 PD05 4 PD07 PD07 0 1 PD08 PD08 0 1 PD08 2 PD08 3 PD09 PD09 0 1 PD09 2 PD09 3 PD11 PD11 0 PD12 PD12 3 PD13 PD13 2 PD14 PD14 1 PD38 PD38 0 1 PD39 PD39 0 1 PD41 PD41 2 PD41 3 PD51 PD51 0 1 PD51 4 PD60 PD60 0 7 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear ...

Page 91: ...rs group Pr PE_ _ No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg PE01 PE01 0 PE03 PE03 0 PE03 1 PE03 3 PE04 PE05 PE06 PE07 PE08 PE10 PE10 1 PE41 PE41 0 PE41 6 PE44 PE45 PE46 PE47 PE48 PE48 0 PE48 1 PE49 PE50 PE51 PE53 ...

Page 92: ... Linear DD Standard DD csp csv cst pp pv tq hm pt jg PF02 PF02 0 PF02 4 PF02 5 PF06 PF06 0 PF06 1 PF12 PF18 PF19 PF20 PF21 PF23 PF24 PF24 0 PF25 PF29 PF29 1 PF31 PF32 PF34 PF34 0 PF34 1 PF34 2 PF34 5 PF34 6 PF40 PF40 0 PF40 1 PF40 2 PF40 4 PF40 5 PF41 PF42 PF43 PF45 PF46 PF47 PF62 PF63 PF63 0 PF63 1 PF66 PF66 0 3 PF66 4 7 PF67 PF68 PF69 PF70 PF71 PF71 0 PF71 1 PF72 PF73 PF74 PF75 PF76 ...

Page 93: ...0 2 PF89 4 6 PF90 PF90 0 2 PF91 PF91 0 3 PF91 4 7 PF92 PF92 0 3 PF92 4 7 PF93 PF93 0 3 PF93 4 7 PF94 PF94 0 3 PF94 4 7 PF95 PF95 0 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg PL01 PL01 0 PL01 2 PL02 PL03 PL04 PL04 0 PL04 3 PL05 PL06 PL07 PL08 PL08 0 PL08 2 PL09 PL17 PL17 0 PL17 1 PL18 No Detail No Operation mode Con...

Page 94: ...Linear DD Standard DD csp csv cst pp pv tq hm pt jg PT01 PT01 1 PT01 2 PT02 PT02 7 PT03 PT03 2 PT05 PT06 PT07 PT08 PT09 PT10 PT11 PT12 PT15 PT17 PT19 PT21 PT26 PT26 4 PT29 PT29 0 PT34 PT34 0 PT34 3 PT38 PT38 4 PT41 PT41 0 PT45 PT49 PT50 PT51 PT53 PT55 PT55 0 PT56 PT57 PT65 PT66 PT67 PT68 PT68 0 PT68 2 PT85 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standar...

Page 95: ...ing extension setting servo parameters group Pr PV_ _ No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg PV01 PV03 PV05 PV07 PV09 PV11 PV13 PV15 PV17 PV19 PV20 PV21 PV23 PV24 PV25 PV26 PV29 PV31 ...

Page 96: ... 00000001h PA09 16 PA10 25600 PA11 1000 0 PA12 1000 0 PA13 00000000h PA14 0 PA15 4000 PA16 1 PA17 00000000h PA18 00000000h PA19 000000ABh PA20 00000000h PA21 00000001h PA22 00000000h PA23 00000000h PA24 00000000h PA25 0 PA26 00000000h PA27 00000000h PA28 00000000h PA29 0 PA30 0 PA31 0 PA32 00000000h PA33 0 0 PA34 0 PA35 00000000h PA36 00000000h PA37 00000000h PA38 00000000h PA39 00000000h PA40 000...

Page 97: ...12 0 PB13 4500 PB14 00000000h PB15 4500 PB16 00000000h PB17 00000000h PB18 3141 PB19 100 0 PB20 100 0 PB21 0 00 PB22 0 00 PB23 00001000h PB24 00000000h PB25 00000000h PB26 00000000h PB27 10 PB28 1 PB29 7 00 PB30 0 0 PB31 0 PB32 0 0 PB33 0 0 PB34 0 0 PB35 0 00 PB36 0 00 PB37 1600 PB38 0 000 PB39 0 000 PB40 0 000 PB41 00000000h PB42 00000000h PB43 00000000h PB44 0 00 PB45 00000000h PB46 4500 PB47 00...

Page 98: ...000000h PB63 00000000h PB64 00000000h PB65 10 PB66 1 PB67 7 00 PB68 0 0 PB69 0 PB70 0 0 PB71 0 0 PB72 0 0 PB73 0 00 PB74 0 00 PB75 0 0 PB76 0 0 PB77 0 00 PB78 0 00 PB79 0 0 PB80 177 0 PB81 00000001h PB82 0 0 PB83 00000000h PB84 00000000h PB85 00000000h PB86 00000000h PB87 00000000h PB88 00000000h PB89 00000000h PB90 00000000h PB91 00000000h PB92 00000000h No Initial value ...

Page 99: ...13 0 PC14 0 PC15 0 PC16 00000000h PC17 00000000h PC18 00000000h PC19 00000000h PC20 00000000h PC21 00000000h PC22 0 PC23 00000000h PC24 100 PC25 0 PC26 00000050h PC27 00000000h PC28 00000000h PC29 00101000h PC30 0 PC31 0 PC32 0 PC33 0 PC34 100 PC35 00000000h PC36 00000000h PC37 00000000h PC38 0 PC39 0 0 PC40 0 0 PC41 00000000h PC42 00000000h PC43 1000 0 PC44 1000 0 PC45 00000000h PC46 00000000h PC...

Page 100: ...0h PC61 00000000h PC62 00000000h PC63 00000000h PC64 00000000h PC65 50 00 PC66 10 PC67 00C00000h PC68 00000000h PC69 0 PC70 400 PC71 0 PC72 20 00 PC73 0 PC74 10 0 PC75 10 PC76 00000001h PC77 1000 0 PC78 00000010h PC79 00000000h PC80 00000000h PC81 00000000h PC82 0 PC83 00000000h PC84 00000000h PC85 00000000h PC86 00000000h PC87 00000000h PC88 00000000h PC89 00000000h PC90 00000000h No Initial valu...

Page 101: ...01h PD13 00000000h PD14 00000000h PD15 00000000h PD16 00000000h PD17 00000000h PD18 00000000h PD19 00000000h PD20 0 PD21 0 PD22 0 PD23 0 PD24 00000000h PD25 00000000h PD26 00000000h PD27 00000000h PD28 00000000h PD29 00000000h PD30 0 PD31 0 PD32 0 PD33 00000000h PD34 00000000h PD35 00000000h PD36 00000000h PD37 00110001h PD38 0000002Ch PD39 0000002Dh PD40 0 PD41 00000000h PD42 00000000h PD43 00000...

Page 102: ...D54 00000000h PD55 00000000h PD56 00000000h PD57 00000000h PD58 00000000h PD59 00000000h PD60 00000000h PD61 00000000h PD62 00000000h PD63 00000000h PD64 00000000h PD65 00000000h PD66 00000000h PD67 00000000h PD68 00000000h PD69 00000000h PD70 00000000h PD71 00000000h PD72 00000000h No Initial value ...

Page 103: ...000h PE13 00000000h PE14 00000111h PE15 20 PE16 00000000h PE17 00000100h PE18 00000000h PE19 00000000h PE20 00000000h PE21 00000000h PE22 00000000h PE23 00000000h PE24 00000000h PE25 00000000h PE26 00000000h PE27 00000000h PE28 00000000h PE29 00000000h PE30 00000000h PE31 00000000h PE32 00000000h PE33 00000000h PE34 1 PE35 1 PE36 0 0 PE37 0 00 PE38 0 00 PE39 20 PE40 00000000h PE41 00000000h PE42 0...

Page 104: ... PE60 00000000h PE61 0 000 PE62 0 000 PE63 0 000 PE64 0 000 PE65 0 0 PE66 0 0 PE67 0 0 PE68 00000000h PE69 00000000h PE70 0 00 PE71 0 PE72 1 0000 PE73 00000000h PE74 00000000h PE75 00000000h PE76 00000000h PE77 00000000h PE78 0 PE79 0 PE80 00000000h PE81 00000000h PE82 00000000h PE83 00000000h PE84 00000000h PE85 00000000h PE86 00000000h PE87 00000000h PE88 00000000h No Initial value ...

Page 105: ...000000h PF10 00000000h PF11 00000000h PF12 2000 PF13 00000000h PF14 10 PF15 00000000h PF16 00000000h PF17 00000000h PF18 10 PF19 0 PF20 0 PF21 0 PF22 200 PF23 20 PF24 00000000h PF25 200 PF26 0 PF27 0 PF28 0 PF29 00000000h PF30 0 PF31 0 PF32 50 PF33 00000000h PF34 00000000h PF35 00000000h PF36 00000000h PF37 00000000h PF38 00000000h PF39 00000000h PF40 00000000h PF41 0 PF42 0 PF43 0 PF44 0 PF45 0 P...

Page 106: ...000h PF66 00000000h PF67 0 PF68 0 PF69 0 PF70 0 PF71 00000000h PF72 0 PF73 0 PF74 0 PF75 0 PF76 0 PF77 00000000h PF78 00000000h PF79 00110010h PF80 00000000h PF81 00000000h PF82 00000000h PF83 00000000h PF84 005A8101h PF85 0 PF86 0 PF87 00020201h PF88 02040003h PF89 00090205h PF90 0000000Ch PF91 00120000h PF92 80058010h PF93 8000800Ah PF94 801D8015h PF95 00000000h PF96 00000000h PF97 00000000h PF9...

Page 107: ...L14 00000000h PL15 20 PL16 0 PL17 00000000h PL18 0 PL19 0 PL20 0 PL21 0 PL22 0 PL23 00000000h PL24 0 PL25 0 PL26 00000000h PL27 00000000h PL28 00000000h PL29 00000000h PL30 00000000h PL31 00000000h PL32 00000000h PL33 00000000h PL34 00000000h PL35 00000000h PL36 00000000h PL37 00000000h PL38 00000000h PL39 00000000h PL40 00000000h PL41 00000000h PL42 00000000h PL43 00000000h PL44 00000000h PL45 00...

Page 108: ...00000h PL55 00000000h PL56 00000000h PL57 00000000h PL58 00000000h PL59 00000000h PL60 00000000h PL61 00000000h PL62 00000000h PL63 00000000h PL64 00000000h PL65 00000000h PL66 00000000h PL67 00000000h PL68 00000000h PL69 00000000h PL70 00000000h PL71 00000000h PL72 00000000h No Initial value ...

Page 109: ... 0 PT13 00000000h PT14 0 PT15 0 PT16 00000000h PT17 0 PT18 00000000h PT19 0 PT20 00000000h PT21 0 PT22 00000000h PT23 00000000h PT24 00000000h PT25 00000000h PT26 00000000h PT27 00000000h PT28 8 PT29 00000000h PT30 00000000h PT31 00000000h PT32 00000100h PT33 00000000h PT34 00000000h PT35 00000000h PT36 00000000h PT37 10 PT38 00000000h PT39 100 PT40 0 PT41 00000010h PT42 00000000h PT43 00000000h P...

Page 110: ...00000000h PT64 00000000h PT65 100 00 PT66 20000 00 PT67 3000 00 PT68 00000002h PT69 00000000h PT70 00000000h PT71 00000000h PT72 1 PT73 00000000h PT74 1 PT75 00000000h PT76 00000000h PT77 00000000h PT78 00000000h PT79 00000000h PT80 00000000h PT81 0 PT82 0 PT83 00000000h PT84 00000000h PT85 00000000h PT86 00000000h PT87 00000000h PT88 00000000h PT89 00000000h PT90 00000000h No Initial value ...

Page 111: ... 0 PN05 0 PN06 00000000h PN07 00000000h PN08 00000000h PN09 1 PN10 0 PN11 3600 PN12 00000001h PN13 00000100h PN14 00000000h PN15 00000000h PN16 00000000h PN17 00000000h PN18 9 PN19 00000000h PN20 0 PN21 00000000h PN22 00000000h PN23 00000000h PN24 00000000h PN25 00000000h PN26 00000000h PN27 00000000h PN28 00000000h PN29 00000000h PN30 00000000h PN31 00000000h PN32 00000000h ...

Page 112: ... PV02 0 PV03 2147483647 PV04 0 PV05 0 PV06 0 PV07 0 PV08 0 PV09 0 PV10 0 PV11 500000 PV12 0 PV13 100000 PV14 0 PV15 0 PV16 0 PV17 0 PV18 0 PV19 20000 PV20 20 PV21 2147483647 PV22 0 PV23 1 PV24 1 PV25 1 PV26 1 PV27 1 PV28 1 PV29 0 PV30 0 PV31 0 PV32 0 PV33 0 PV34 0 PV35 00000000h PV36 00000000h PV37 00000000h PV38 00000000h PV39 00000000h PV40 00000000h ...

Page 113: ...turer setting This network parameter is for manufacturer setting Pr NPA04_For manufacturer setting This network parameter is for manufacturer setting Pr NPA08_For manufacturer setting This network parameter is for manufacturer setting Pr NPA09_Node address setting Set the node address of the network When using this network parameter set the ID setting switch to 00h Pr NPA12_For manufacturer settin...

Page 114: ...urer setting This network parameter is for manufacturer setting Pr NPB09_For manufacturer setting This network parameter is for manufacturer setting Pr NPB10_For manufacturer setting This network parameter is for manufacturer setting Pr NPB11_For manufacturer setting This network parameter is for manufacturer setting Pr NPB12_For manufacturer setting This network parameter is for manufacturer sett...

Page 115: ...ting Pr NPB21_For manufacturer setting This network parameter is for manufacturer setting Pr NPB22_For manufacturer setting This network parameter is for manufacturer setting Pr NPB23_For manufacturer setting This network parameter is for manufacturer setting Pr NPB24_For manufacturer setting This network parameter is for manufacturer setting Pr NPB25_For manufacturer setting This network paramete...

Page 116: ...lable For information regarding test operation refer to Test operation in the User s Manual Introduction If the functional safety parameter is set incorrectly AL 537 2 Parameter combination error A safety sub function occurs If the functional safety parameter is set to 1 AL 537 1 Parameter setting range error A safety sub function occurs Pr PSA05_For manufacturer setting This functional safety par...

Page 117: ...ional safety parameter is for manufacturer setting Pr PSA14_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSA17_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSA18_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSA19_For manufacturer setting This functional safety paramet...

Page 118: ...acturer setting This functional safety parameter is for manufacturer setting Pr PSB12_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSB13_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSB14_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSB15_For manufacturer setting This...

Page 119: ...group Pr PSC_ _ Pr PSC01_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSC03_For manufacturer setting This functional safety parameter is for manufacturer setting Pr PSC06_For manufacturer setting This functional safety parameter is for manufacturer setting ...

Page 120: ...et to Pr PSD02 AL 537 2 Parameter combination error A safety sub function occurs If this functional safety parameter is set incorrectly AL 537 2 occurs Pr PSD02 0 1_Safety input device selection DI1 Select the device to be assigned to the input signal of the CN8 4 CN8 5 pin Refer to the following table for setting values If a value other than 00 none 01 STOC or 02 SS1C is selected AL 537 1 Paramet...

Page 121: ...ple STOC C When multiple axes are enabled with this functional safety parameter the input device signal is enabled for multiple axes simultaneously For example when Pr PSD02 3 5h A and C axes enabled and Pr PSD02 0 01h STOC are set for the A axis STOC A and STOC C are enabled with the input signal of the DI1 pin In the following cases AL 537 Parameter setting range error safety sub function occurs...

Page 122: ... device name at this time is C _ _ _ example C STOS For OR output the condition becomes significant on or off when any of A B or C axis satisfies the condition The device name at this time is X _ _ _ example X STOS This functional safety parameter is enabled when Pr PSD08 3 Output axis selection is set to 0 all axes while a multi axis drive unit is used Pr PSD08 3_Output axis selection DO1 0 All a...

Page 123: ...sts of functional safety parameter initial values 121 9 9 5 Lists of functional safety parameter initial values Refer to LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES in the following manual MR J5 G MR J5W G User s Manual Parameters ...

Page 124: ...ction 1 7 Chapter 4 Chapter 6 Section 6 1 Section 6 2 Section 6 4 Section 7 4 Section 7 6 Section 7 7 Section 7 8 Section 7 9 Section 7 10 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 rights which may occur as a result...

Page 125: ...pair 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 production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work...

Page 126: ...tric Corporation in Japan and or other countries EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany All other product names and company names are trademarks or registered trademarks of their respective companies IB NA 0300543ENG B ...

Page 127: ......

Page 128: ...d regulations is current as of the release date of this manual 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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