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Mitsubishi Electric Melservo MR-J5 G Series, User Manual

The Mitsubishi Electric Melservo MR-J5 G Series offers exceptional performance and precision control in motion control applications. To assist users in harnessing its full potential, we provide a comprehensive and user-friendly User Manual that can be effortlessly downloaded for free from our website. Experience absolute proficiency with ease, courtesy of the MR-J5 G Series User Manual, available exclusively at manualshive.com.

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4  APPLICABLE FUNCTIONS
4.13  A/B/Z-phase pulse output function

Encoder output pulse setting

Set [Pr. PC19.1 Encoder output pulse setting selection]. Set the number of output pulses according to the set value.

■

When [Pr. PC19.2] = "0" (servo motor-side encoder)

Setting value of [Pr. 
PC19.1]

For servo motors and direct drive motors

For linear servo motors

"0" (output pulse setting)

Set the output pulses per revolution with [Pr. PA15 Encoder 
output pulses].
Output pulse = Setting value in [Pr. PA15] [pulse/rev]
When [Pr. PC19.2] is set to "1" (load-side encoder), [AL. 037 
Parameter error] occurs.

The output pulse setting cannot be used. When "0" is set, the 
condition is the same as when "1" is set.

"1" (dividing ratio setting)

Set the dividing ratio to the resolution per servo motor 
revolution with [Pr. PA15 Encoder output pulses].

Set the dividing ratio to the travel distance of the linear servo 
motor with [Pr. PA15 Encoder output pulses].

"2" (the same output pulse 
setting as the command 
pulse)

Feedback pulses from the encoder are processed and outputted as follows.
Feedback pulses are outputted in the same pulse unit as the command pulse.

The settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16 Encoder output pulses 2] are not used.

"3" (A-phase/B-phase pulse 
electronic gear setting)

Set the A-phase/B-phase pulse electronic gear with [Pr. PA15 
Encoder output pulses] and [Pr. PA16 Encoder output pulses 
2].

Set the A-phase/B-phase pulse electronic gear with [Pr. PA15 
Encoder output pulses] and [Pr. PA16 Encoder output pulses 
2].

"4" (A/B-phase pulse through 
output setting)

• When a servo amplifier with a firmware version earlier than 

B2 is being used

[AL. 037] occurs.

• A/B-phase pulses of the A/B/Z-phase differential output 

type encoder are outputted.

• Setting [Pr. PA01.1 Operation mode selection] to "0" 

(standard control mode) triggers [AL. 037].

• This is enabled when an A/B/Z-phase differential output 

type encoder is used.

When a different encoder is connected, [AL. 037] occurs.

• Output pulse = A/B-phase pulse of A/B/Z-phase differential 

output type encoder [pulse]

The setting value in [Pr. PC19.0 Encoder output pulse - Phase 
selection] is not applied.
The setting values in [Pr. PA15] and [Pr. PA16] are not 
applied.

• When a servo amplifier with firmware version B2 or later is 

being used

A/B-phase pulses of the A/B/Z-phase differential output type 
encoder are outputted.

• This function is only usable with a direct drive motor.

Setting [Pr. PA01.1 Operation mode selection] to "0" 
(standard control mode) triggers [AL. 037].

• This is enabled when an A/B/Z-phase differential output 

type encoder is used.

When a different encoder is connected, [AL. 037] occurs.

• Output pulse = A/B-phase pulse of A/B/Z-phase differential 

output type encoder [pulse]

The setting value in [Pr. PC19.0 Encoder output pulse - Phase 
selection] is not applied.
The setting values in [Pr. PA15] and [Pr. PA16] are not 
applied.

Output pulse =

Resolution per revolution

Setting value of [Pr. PA15]

[pulse/rev]

Output pulse =

Travel distance of linear servo motor

Setting value of [Pr. PA15]

[pulse]

CDV

CMX

[Pr. PA06]/[Pr. PA07]

Feedback pulse

Encoder

Output pulse

Output pulse =

Resolution per revolution × 

Setting value of [Pr. PA16]

Setting value of [Pr. PA15]

[pulse/rev]

Output pulse =
Travel distance of 
linear servo motor

× 

Setting value of [Pr. PA16]

Setting value of [Pr. PA15]

[pulse]

Summary of Contents for Melservo MR-J5 G Series

Page 1: ...MR J5 User s Manual Function MR J5 _G_ MR J5W_ _G_ MR J5 _A_ 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: ...nterface of the servo amplifier For details refer to the User s Manual Introduction This manual covers the following servo amplifiers MR J5 _G_ MR J5W_ _G_ MR J5 _A_ In this manual the servo amplifier names are abbreviated as shown below Symbol Servo amplifier G MR J5 _G_ WG MR J5W_ _G_ A MR J5 _A_ Rotary Servo Motor Linear Servo Motor Direct Drive Motor Partner Encoder Function Adjustment Object ...

Page 6: ...c units The acceleration unit can be changed using Pr PT01 1 as shown in the following table The command unit can be changed to pulse or 10 3 degree using Pr PT01 2 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 Standard unit 2 degree 3 pulse Setting value Unit 0 0 01 r min 0 01 mm s 1 1 Command un...

Page 7: ...75 Position speed control switching mode P S 78 Speed torque control switching mode S T 80 Torque position control switch mode T P 82 CHAPTER 3 BASIC FUNCTION 83 3 1 Outline of servo parameter and object dictionary 83 Servo parameter 83 Object dictionary G WG 85 3 2 Rotation travel direction selection G WG 86 Setting methods of functions 87 3 3 Rotation travel direction selection A 90 Setting meth...

Page 8: ...Operation status at alarm occurrence A 121 Operation status at warning occurrence G WG 122 Operation status at warning occurrence A 122 Returning from an alarm G WG 123 Returning from an alarm A 123 Returning from a warning 123 Alarm history G WG 123 Alarm history A 125 Stop method at occurrence of alarms warnings 125 Timing chart at alarm occurrence 126 3 15 Forced stop deceleration function 128 ...

Page 9: ... G WG 161 Outline 161 Function block diagram 162 System configuration 163 Scale measurement encoders 165 Setting method 168 Procedure for replacing the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder 170 Related objects 171 4 4 Touch probe G WG 172 Outline 172 Setting method 173 4 5 Machine diagnosis 184 Friction vibration estimation function 185 Friction fail...

Page 10: ...ce 290 4 15 Infinite feed function G WG 291 Outline 291 Setting method 291 When the servo motor rotates 32768 rev or more 291 When using the infinite feed function with a controller 291 4 16 Servo amplifier life diagnosis function 292 Cumulative energization time function 292 Relay usage count display function 293 4 17 Encoder communication diagnosis function 294 Usage G WG 294 Usage A 295 Diagnos...

Page 11: ... 341 6 4 Safety sub function 342 Achievable safety level 342 I O function 344 STO function 354 SS1 function 357 SS2 SOS function 364 SLS function 370 SSM function 374 SBC function 375 SDI function 376 SLI function 379 SLT function 381 Status monitor SM function 385 Multiple operation commands for safety sub functions 385 Simultaneous operation of STO and SS1 functions 386 At alarm occurrence 387 6...

Page 12: ...des 402 Error codes 403 Checksum 403 Time out processing 404 Retry processing 404 Initialization 404 Communication procedure example 405 8 4 Command and data No list 406 Reading command 406 Writing commands 413 8 5 Detailed explanations of commands 415 Data processing 415 Status display 417 Servo parameter 418 External I O signal status DIO diagnosis 421 Input device on off 423 Disabling enabling ...

Page 13: ...le position mode A5 Page 26 Profile position mode pp Profile velocity mode pv 2 This function operates the servo motor in the profile velocity mode A5 Page 30 Profile velocity mode pv Profile torque mode tq 2 This function operates the servo motor in the profile torque mode A5 Page 34 Profile torque mode tq Homing mode hm homing This function either operates the servo motor in the homing mode or p...

Page 14: ...e version or later Functions Detailed functions Description Ver 1 MR J5 Detailed explanation G A Remote maintenance Firmware update This function updates the firmware of the servo amplifier A0 A0 Page 395 Firmware update Functions Detailed functions Description Ver 1 MR J5 Detailed explanation G A Control method Scale measurement function This function connects the scale measurement encoder in the...

Page 15: ...ulse selection The command pulse train form can be selected from among three different types A0 Page 69 Position control mode P Rotation travel direction selection This function sets the rotation direction of the servo motor without changing the command polarity A0 A0 Page 86 Rotation travel direction selection G WG Page 90 Rotation travel direction selection A Electronic gear This function perfor...

Page 16: ...output This function outputs the positions of the encoder and linear encoder in the A B Z phase signal A0 A0 Page 279 A B Z phase pulse output function Analog input output Analog monitor This function outputs the servo status in voltage in real time A0 A0 Page 306 MONITORING Monitor Power monitoring function This function calculates the running power and the regenerative power from the data in the...

Page 17: ...arm history A Power error detection Disconnection detection function This function detects a disconnection in the main circuit power supply input and the servo motor power supply output A0 A0 Page 296 Disconnection incorrect wiring detection function Coasting distance reduction Forced stop deceleration function This function decelerates the servo motor to a stop at EM2 Forced stop 2 off or when th...

Page 18: ... servo motor B2 SLS Safely limited speed This function monitors whether the speed is within the prescribed speed limit If the speed exceeds the specified speed limit the STO will shut off energy B2 Page 370 SLS function SSM Safe speed monitor This function outputs signals when the servo motor speed is below the prescribed speed B2 Page 374 SSM function SBC Safe brake control This function outputs ...

Page 19: ...or to avoid triggering AL 010 Undervoltage in case that an instantaneous power failure occurs during operation Use a 3 phase power supply for the input power supply of the servo amplifier Using a 1 phase 200 V AC for the input power supply will not comply with SEMI F47 standard A0 A0 Page 159 Compliance with SEMI F47 standard Tough drive function This function makes the equipment continue operatin...

Page 20: ...ch as the capacitor and the relay before they malfunction MR Configurator2 is required for this function A0 A0 Page 292 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 distance It gives an indication of the replacement time for the servo motor A0 A0 Machine diagnosis functio...

Page 21: ...e synchronous 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 1 pp This is a positioning mode to drive servo motors by receiving an end position command via either synchronous or asynchronous communication with a...

Page 22: ...R Max motor speed Servo motor maximum speed Unit r min mm s 6063h VAR Position actual 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 ...

Page 23: ... Polarity selection Bit 7 Position POL Bit 6 Velocity POL Bit 5 Torque POL Page 86 Rotation travel direction selection G WG 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 FEB44700h 0 01 r min FB010300h 0 01 mm s 00000300h pulse s 60B0h VAR Position offset Position offset Unit pos units 60B1h VAR Velocity of...

Page 24: ...tput shaft 1 Feed Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions Unit rev 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 25: ... SI unit velocity SI unit velocity The SI unit velocity is returned FEB44700h 0 01 r min FB010300h 0 01 mm s 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 Bit Symbol...

Page 26: ...otor shaft revolutions Unit rev 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 105 Electronic gear function G WG 2 Shaft revo...

Page 27: ...SI unit velocity SI unit velocity The SI unit velocity is returned FEB44700h 0 01 r min FB010300h 0 01 mm s 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 reading is undefined...

Page 28: ...r min mm s 6081h VAR Profile velocity Speed after 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...

Page 29: ...0FAh 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 numerator P...

Page 30: ...ly in Set of set points when the bit 5 of Obj 6040h 00h is 0 0 Shifts to the next positioning after completing the current positioning 1 Shifts to the next positioning after performing positioning up to the current set point with the setting of profile velocity Obj 6081h Page 29 Set of set points Bit Symbol Description 10 Target reached 0 Halt Bit 8 0 Target position not reached 0 Halt Bit 8 1 Axi...

Page 31: ... at 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 ...

Page 32: ... 3 Jerk limited ramp not supported 605Ah VAR Quick stop option code Operation setting for Quick stop Page 149 Quick stop G WG 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 Unit vel units 606Ch VAR Velocity actual value Current speed Unit...

Page 33: ...r Page 105 Electronic gear function G WG 607Eh VAR Polarity Polarity selection Bit 7 Position POL Bit 6 Velocity POL Bit 5 Torque POL Page 86 Rotation travel direction selection G WG 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 judgi...

Page 34: ... 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 When the time set in Velocity window time Obj 606Eh elapses in a state where the difference between the values in Velocity actual value Obj 606Ch and Target velocity Obj 60FFh is equal to or below the value se...

Page 35: ... Obj 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 36: ...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 motor shaft revolutions Unit rev 60E0h VAR P...

Page 37: ...A8h VAR SI unit position SI unit position 00000000h 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 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 ...

Page 38: ...ntrol mode G WG 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 39: ...k tuning 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 T...

Page 40: ...er revolution of an output shaft 1 Feed Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions Unit rev 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 ...

Page 41: ...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 41 Parameter adjustment method 2D20h VAR Velocity limit value Speed limit value Unit vel units 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 F...

Page 42: ...orque 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 csp and continu...

Page 43: ...rque 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 tra...

Page 44: ...6064h are changed The setting made by this object is reflected 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 44 Homing method list 6099h 0 ARRAY Homing Speeds Number of entries of the homi...

Page 45: ...atusword 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 Desc...

Page 46: ...act with the proximity dog Deceleration starts from the front end of the proximity dog After the front end is passed the position specified by the first Z phase signal after the set distance or the position of the Z phase signal shifted by the set home position shift distance is set as the home position 34 Reverse rotation 3 Data set type homing Performs homing without a dog The current position i...

Page 47: ...ing will occur 5 Homing on negative home switch and index pulse Reverse rotation This is the same as the dog type last Z phase reference homing If the stroke end is detected during homing AL 090 Homing incomplete warning will occur 6 Homing on negative home switch and index pulse Reverse rotation This is the same as the dog cradle type homing If the stroke end is detected during homing AL 090 Homi...

Page 48: ...and the home position shift distance The position after the shifts is set as the home position 27 Homing without index pulse Reverse rotation This is the same as the dog type front end reference homing 28 Homing without index pulse Reverse rotation Although this type is the same as the dog cradle type homing the stop position is not on the Z phase Starting from the front end of the dog the positio...

Page 49: ...forward 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 ...

Page 50: ...he 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...

Page 51: ...g type 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 Meth...

Page 52: ...ming 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 Servo motor speed 3 ms or shorter Homing speed Home position shift distance 1 Homing position data Acceleration time constant Stroke end Creep speed Reve...

Page 53: ...ON 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 positi...

Page 54: ...art 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 For...

Page 55: ...N 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 The h...

Page 56: ...atusword 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 m...

Page 57: ...oming 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 ...

Page 58: ...rd 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...

Page 59: ...Controlword 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 positio...

Page 60: ...ming 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 rot...

Page 61: ...s the 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 spee...

Page 62: ... 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 rotati...

Page 63: ...istance 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 OF...

Page 64: ...If the 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...

Page 65: ... or 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 A...

Page 66: ...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 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 ...

Page 67: ...it 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 motor speed...

Page 68: ...software 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 69: ... software 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 Proxi...

Page 70: ...tating 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 rotat...

Page 71: ...F series positioning module Category Control mode Symbol Description Pulse analog DI command Position control mode P This is a control mode which operates the servo motor with the input of the pulse train Speed control mode S This is a control mode which operates the servo motor with the internal speed or with the analog speed command Torque control mode T This is a control mode which operates the...

Page 72: ...r type The following explains about the case where Pr PA13 0 Command input pulse train form selection is set to 0 Forward reverse rotation pulse trains and Pr PA13 1 Pulse train logic selection is set to 1 negative logic The waveforms of PP PG NP and NG are based on LG INP In position When the number of droop pulses falls within the preset in position range Pr PA10 In position range INP turns on I...

Page 73: ...limit and torque The maximum torque is always limited by the values of Pr PA11 Forward rotation torque limit and Pr PA12 Reverse rotation torque limit during operation Refer to the following Page 272 Torque limit A Torque limit value selection By using TL External torque limit selection select the torque limit from Pr PA11 Forward rotation torque limit or Pr PA12 Reverse rotation torque limit and ...

Page 74: ...eleration is 0 ms to 10 ms When a value of 10 ms or larger is set the value is recognized as 10 ms When the linear acceleration deceleration is selected do not change Pr PA01 0 Control mode selection to any setting other than the initial value 0 Position control mode Doing so brings the servo motor or linear servo motor to a quick stop at the time of position control mode switching Usage example W...

Page 75: ...direction can be selected by using ST1 Forward rotation start ST2 Reverse rotation start or VC Analog speed command 1 0 OFF 1 ON 2 If the torque limit is canceled during servo lock the servo motor may suddenly rotate depending on the amount of the position deviation from the command position For linear servo motors CCW is the positive direction and CW is the negative direction Input device 1 Rotat...

Page 76: ...d a speed the speed does not vary with the ambient temperature SA Speed reached SA turns on when the servo motor speed has nearly reached the speed set to the internal speed or analog speed command Torque limit Same as when in position control mode Page 71 Torque limit Input device 1 Speed command value SP2 SP1 0 0 VC Analog speed command 0 1 Pr PC05 Internal speed 1 1 0 Pr PC06 Internal speed 2 1...

Page 77: ...n selection and TC Analog torque command 1 0 OFF 1 ON 2 For linear servo motors CCW is the positive direction and CW is the negative direction Analog torque command offset Using Pr PC38 Analog command input 2 offset the offset voltage of 9999 mV to 9999 mV can be added to the TC applied voltage as follows Input device 1 Rotation direction 2 RS2 RS1 TC Analog torque command Polarity 0 V Polarity 0 ...

Page 78: ...or speed is shown below When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100 r min greater than the desired speed limit value The following table indicates the limit direction according to the combination of RS1 Forward rotation selection and RS2 Reverse rotation selection 1 0 OFF 1 ON 2 For linear servo motors CCW is the posi...

Page 79: ...ot vary with the ambient temperature VLC Limiting speed VLC turns on when the servo motor speed reaches a speed limited with internal speed 1 to 7 or the analog speed limit Input device 1 Speed limit SP3 SP2 SP1 0 0 0 VLA Analog speed limit 0 0 1 Pr PC05 Internal speed 1 0 1 0 Pr PC06 Internal speed 2 0 1 1 Pr PC07 Internal speed 3 1 0 0 Pr PC08 Internal speed 4 1 0 1 Pr PC09 Internal speed 5 1 1 ...

Page 80: ...control mode is enabled at a zero speed status To ensure safety switch modes after the servo motor has stopped When position control mode is switched to speed control mode droop pulses are cleared After LOP is switched at a speed higher than the zero speed the control mode cannot be switched even at a speed lower than the zero speed The following shows a switching timing chart 1 When ZSP is not tu...

Page 81: ... 4 to 7 can be selected 1 0 OFF 1 ON The speed can also be switched during operation Acceleration deceleration is performed with the time constant setting in Pr PC01 Speed acceleration time constant and Pr PC02 Speed deceleration time constant When the internal speed 1 to 7 are used to command a speed the speed does not vary with the ambient temperature SA Speed reached The specifications are the ...

Page 82: ...ed at any time The following shows a switching timing chart 1 When ST1 Forward rotation start and ST2 Reverse rotation start are switched off as soon as the mode is switched to the speed control the servo motor comes to a stop according to the deceleration time constant A shock may occur at switching control modes Speed setting and torque limit in speed control mode The specifications are the same...

Page 83: ...speed can also be switched during operation Acceleration deceleration is performed with the time constant setting in Pr PC01 Speed acceleration time constant and Pr PC02 Speed deceleration time constant When the internal speed 1 is used to command a speed the speed does not vary with the ambient temperature VLC Limiting speed The specifications are the same as those described in the section for th...

Page 84: ...ion control mode is switched to torque control mode droop pulses are cleared After LOP is switched at a speed higher than the zero speed the control mode cannot be switched even at a speed lower than the zero speed The following shows a switching timing chart 1 When ZSP is turned off the control mode cannot be switched even if LOP is turned on off After LOP is turned on off even if ZSP is turned o...

Page 85: ...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 86: ...tting 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 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 87: ...ifier 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 specificall...

Page 88: ... 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 the following for details Page 89 Target object Forward rotation CCW Forward rotat...

Page 89: ...meter Symbol Name Outline 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...

Page 90: ...es 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 mo...

Page 91: ...lifiers with firmware version B6 or later Position offset Obj 60B0h Available on servo amplifiers with firmware version A5 or later Velocity offset Obj 60B1h Available on servo amplifiers with firmware version A5 or later Torque offset Obj 60B2h Available on servo amplifiers with firmware version A5 or later Positive torque limit value Obj 60E0h With the settings of Pr PA14 and Pr PC29 3 the corre...

Page 92: ...ng again In the speed control mode S and torque control mode T the rotation direction setting cannot be changed with the servo parameters Change the rotation direction with the combination of ST1 Forward rotation start and ST2 Reverse rotation start Precautions The setting of the rotation travel direction selection does not change the Display All function and Graph function in MR Configurator2 For...

Page 93: ...tion to be changed by the servo parameter settings Position information For speed and torque control modes The rotation and travel direction cannot be changed with the servo parameter Servo parameter Symbol Name Outline 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 directio...

Page 94: ...d 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 depending on whether the stroke li...

Page 95: ... the positive direction with an increasing positioning address When Pr PA14 Travel direction selection is set to 1 rotating in CW or traveling in the negative direction with an increasing positioning address Item Reference When wiring the limit switch to the servo amplifier Page 93 When wiring the limit switch to the servo amplifier When wiring the limit switch to equipment other than the servo am...

Page 96: ...ion 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 C...

Page 97: ...figuration 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 software...

Page 98: ...ing again 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 lim...

Page 99: ...ut 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...

Page 100: ...en the contact is off open Depending on the stop method setting of the stroke limit and the commands from the controller the home position may be erased when the servo motor is stopped by the stroke limit signal being detected during operation If the home position is erased perform homing again Setting methods of functions Refer to the following table and make the appropriate settings for the syst...

Page 101: ...method Position control mode Input the position command of the direction opposite to the limit Speed control mode Input the speed command of the direction opposite to the limit Servo parameter Symbol Name Outline PC26 0 COP5 AL 099 Stroke limit warning selection Enable or disable AL 099 Stroke limit warning When Disabled is selected AL 099 Stroke limit warning does not occur when LSP Forward rotat...

Page 102: ...hile 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 can ...

Page 103: ...f position data Setting degree will not allow switching to the cyclic synchronous mode Precautions To adjust the rotation amount travel distance of the servo motor relative to the position data in the command unit use the electronic gear function Page 105 Electronic gear function G WG The setting units of servo parameters vary depending on the command unit For details refer to the units of servo p...

Page 104: ...any value from 0 to 359999 A value is automatically set in SI unit position Obj 60A8h in accordance with Unit for position data of Pr PT01 The values of SI unit position are as follows Servo parameter Symbol Name Outline PT01 2 CTY Unit for position data Set the unit of position data 2 degree 3 pulse initial value Index Sub Object Name Description 6092 0 ARRAY Feed constant Travel distance per rev...

Page 105: ...leration unit selection Select a speed unit 0 r min mm s 1 Command unit 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 Spe...

Page 106: ...l value 1 rated torque unit to 0 maximum torque unit check if an appropriate value is set for the torque limit value Setting method Item Explanation Analog torque command The setting unit can be selected from the maximum torque unit or the rated torque unit Torque limit Servo parameter Symbol Name Outline PC50 0 COPB Torque limit unit change Select the setting unit of the torque limit 0 Maximum to...

Page 107: ...ay occur 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 Electron...

Page 108: ...so 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 Re...

Page 109: ... less round off the value to the nearest whole number Therefore set CMX 1753778313 and CDV 46875 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 Theref...

Page 110: ...g 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 To calculate the electronic gear the following specification symbols are required Pb Ball screw lead mm 1 n Reduction ratio Pt Servo motor enc...

Page 111: ...eduction 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 67108864 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 1309 1 When the command unit is pulse convert as α 1 67108864 pulse rev Pb 10 mm Z1 1 n Z1 Z2 1 2 Z2 1 ...

Page 112: ...t Servo motor encoder resolution pulse rev CMX Number of gear teeth on machine side CDV Number of gear teeth on servo motor side Ex If the number of gear teeth on machine side is 25 and the number of gear teeth on servo motor side is 11 set Pr PA06 to 25 and Pr PA07 to 11 Pt servo motor resolution 67108864 pulses rev Z1 Number of gear teeth on servo motor side Z2 Number of gear teeth on machine si...

Page 113: ...ion set Pr PA05 Number of command input pulses per revolution Set the servo parameter of the electronic gear and the electronic gear setting compatibility mode to be used in Electronic gear compatibility selection of Pr PA21 Servo parameter Symbol Name Outline PA05 FBP Number of command input pulses per revolution Set the number of command input pulses per revolution Initial value 10000 pulse PA06...

Page 114: ...device the setting value of CMX can be selected from Pr PA06 Pr PC32 Pr PC33 or Pr PC34 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 ca...

Page 115: ...s round off the value to the nearest whole number Therefore set CMX 1753778313 and CDV 46875 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 ...

Page 116: ...e electronic gear CMX can be selected The electronic gear numerator CMX switches at the same time as CM1 and CM2 are turned on or off If a shock occurs at switching use the position smoothing Pr PB03 Position command speed adjustment time constant position smoothing to relieve the shock 1 0 OFF 1 ON Input device 1 Electronic gear Numerator CM2 CM1 0 0 Pr PA06 0 1 Pr PC32 1 0 Pr PC33 1 1 Pr PC34 ...

Page 117: ...ps being outputted After the in position has fallen to within or below the range the in position may turn on and off repeatedly if the droop pulses exceed the in position range due to overshoot vibration or oscillation In that case take actions such as adjusting the gain and reviewing the operation pattern In the super trace control droop pulses are near 0 during the servo motor control Thus the I...

Page 118: ... condition 0 Within the in position range initial value 1 Within the in position range and at the completion of command output 2 Within the in position range at the completion of command output and at start signal off Servo parameter Symbol Name Outline PA10 INP In position range Set the in position range Initial value 400 pulse PC24 0 COP3 In position range unit selection Select a unit of the in ...

Page 119: ...fer to Pr PD01 Input signal automatic ON selection 1 Pr PD41 Input signal automatic ON selection 3 and Pr PD42 Input signal automatic ON selection 4 Particular devices such as ABS transfer mode ABSM or ABS request ABSR and particular connector pin numbers such as CN3 22 may be changed in functions other than the device setting In addition each control mode has restrictions on its usable devices Pr...

Page 120: ... signal filter selection The input signal filter can be selected Initial value 7h 3 500 ms PD60 0 1 1 DIP DI pin polarity selection The polarity of the DI pins can be selected Initial value 00h ON with 24 V input Servo parameter Symbol Name Outline PD01 2 DIA1 Input signal automatic ON selection LSP Forward rotation stroke end and LSN Reverse rotation stroke end can be set to Disabled use for an e...

Page 121: ...PD17 to PD22 PD43 to PD46 Any input device can be assigned to the specified pin of the CN3 For the initial value refer to each servo parameter PD23 to PD26 PD28 PD47 Any output device can be assigned to the specified pin of the CN3 For the initial value refer to each servo parameter PD29 0 DIF Input signal filter selection The input signal filter can be selected Initial value 7h 3 500 ms PD29 1 DI...

Page 122: ...ymbol Name Outline PA02 0 1 REG Regenerative option selection Select a regenerative option to be used Incorrect setting may cause the regenerative option to burn If a selected regenerative option is not for use with the servo amplifier AL 037 Parameter error occurs Other regenerative options cannot be used together with the FR XC H 00 Regenerative option is not used For 100 W servo amplifiers the ...

Page 123: ...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 123 Alarm history G WG The conditions of the servo amplifier such as the servo motor speed and droop pulses before after alarm occurrence are recorded with the drive recorder This is useful for analyzing the cause of alarm occurrence Page 239 Drive...

Page 124: ...ce signals such as WNG Warning are turned off In addition at an occurrence of a warning to stop the servo motor WNGSTOP Motor stop warning is turned off The occurrence status of alarms and warnings can be monitored with MR Configurator2 or via a network Page 123 Alarm history G WG Status Reference The No of the warning that has occurred is shown on the 7 segment LED The operation is continued Howe...

Page 125: ...e types of alarms that have occurred in the past can be checked The alarm history can be cleared with Pr PC21 0 Alarm clear history selection or on the alarm display of MR Configurator2 For CC Link IE TSN the times at which alarms occurred can be displayed To display exact time set it on the controller If an alarm occurs before the controller is connected or the exact time is not set on the contro...

Page 126: ...cating seconds are returned as a 32 bit integer 6 RECORD Alarm time time zone The time zone at the second alarm occurrence time is returned as a 32 bit integer 7 RECORD Alarm time summer time The daylight saving time at the second alarm occurrence time is returned as a 32 bit integer 2A0Fh 0 RECORD Alarm history 15 The number of sub objects 7 is returned 1 RECORD Alarm No The Alarm No and detail n...

Page 127: ...method at occurrence of alarms warnings The servo motor stop methods at alarm occurrence are as follows forced stop deceleration stop with dynamic brake and stop with electronic dynamic brake For the servo motor stop method of each alarm number refer to the following manual MR J5 User s Manual Troubleshooting Forced stop deceleration The servo motor stops with the dynamic brake after forced stop d...

Page 128: ...n function When Pr PA04 3 Forced stop deceleration 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 serv...

Page 129: ...ction 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 127 Stopping with dynamic brake ON OFF ON OFF ON OFF 0 r min Alarm occurrence Braking with dynamic brake Braking with dynamic brake and electromagnetic brake Servo mot...

Page 130: ...er 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 If STO is turned off during forced stop deceleration the dynamic brake stops the servo motor which may shorten the service life of the dynamic brake relay To prevent a m...

Page 131: ...he servo motor speed becomes below Pr PC07 Zero speed after completion of the deceleration command the base circuit will be shut off and the dynamic brake will activate Servo parameter Symbol Name Outline PA04 3 AOP1 Forced stop deceleration function selection Set Forced stop deceleration function to enabled disabled 0 Forced stop deceleration function disabled EM1 is used 2 Forced stop decelerati...

Page 132: ...ecomes below Pr PC17 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 PC51 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 PC17 Deceleration time Base circuit Energy supply to the ser...

Page 133: ...rs This function 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 G WG For specifications such as the power supply capacity and operation delay time of the electrom...

Page 134: ...ddition when the electromagnetic brake is placed in servo off status MBR and the base circuit both shut off following a short delay Set this delay time Tb in Pr PC16 Electromagnetic brake sequence output Page 133 When using the forced stop deceleration function Servo parameter Symbol Name Outline PC16 MBR Electromagnetic brake sequence output Set the delay time used between the MBR Electromagnetic...

Page 135: ...vated 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 HK series 3 Give an operation...

Page 136: ...agnetic 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 HK series 3 Give a position command after the electromagnetic brake is released 4 When i...

Page 137: ...tion 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 ON OFF ON OFF 1 Model speed command 0 and equal to or less than zero speed 2 B...

Page 138: ...ircuit 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 ON OFF 1 Model speed command 0 and equal to or less than zero speed 2 Base circuit Energy supply t...

Page 139: ...oller 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 Operation delay time of the electromagnetic brake Electromagnetic brake Release Activate Servo on command from controller Ready on command from controller Tb Pr PC02 Elect...

Page 140: ...is turned off the servo motor is stopped with the dynamic brake and the electromagnetic brake 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 The length of time varies depending on the operation status ON OFF ON OFF ON OFF 0 r min 10 ms 1 2 Dynamic brake Dynamic brake electromagnetic brake Servo motor speed Electromagnetic brake Base circuit Operation delay tim...

Page 141: ...off A Turning the quick stop command from controller or EM1 Forced stop 1 on off When the off command is inputted the servo motor is stopped with the dynamic brake and electromagnetic brake 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated ON OFF ON OFF ON OFF 0 r min 10 ms OFF 1 Dynamic brake Dynamic brake electromagnetic brake Servo motor speed Electromagnetic br...

Page 142: ...upply is turned off and the control circuit power supply is on When a voltage drop is detected the servo motor is stopped with the dynamic brake and electromagnetic brake 1 The length of time varies depending on the operation status 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated Ready off command from controller G WG The same timing chart shown in Ready off comm...

Page 143: ...revention compensation amount After that turn off the EM2 Forced stop 2 during a servo motor stop then adjust the base circuit shut off delay time in Pr PC02 Electromagnetic brake sequence output in accordance with the travel distance Pr PC31 Vertical axis freefall prevention compensation amount Adjust the time considering the freefall prevention compensation amount by checking the servo motor spe...

Page 144: ...me Base circuit Energy supply to the servo motor Enabled Disabled Actual operation of electromagnetic brake Enabled MBR Electromagnetic brake interlock ON OFF ON OFF ON OFF EM2 Pr PC16 Pr PC54 Forced stop 2 Enabled Travel distance Position Set the base circuit shut off delay time Base circuit Energy supply to the servo motor Enabled Disabled Actual operation of electromagnetic brake Enabled MBR El...

Page 145: ...ation deceleration unit selection to 0 to enable this method Page 143 Acceleration deceleration time constant Page 145 S pattern acceleration deceleration time constant G WG Acceleration deceleration method 1 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 dec...

Page 146: ...set with Homing acceleration Obj 609Ah Page 42 Homing mode hm and homing Control mode Symbol Setting method Position control mode P Determined by the command pulse frequency from the controller Set according to the manual of the controller to be used Speed control mode S This mode can be set with Pr PC01 Speed acceleration time constant and Pr PC02 Speed deceleration time constant By turning on th...

Page 147: ...is clamped to 1000 ms Precautions If the setting of acceleration or deceleration 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 ...

Page 148: ...attern 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 setting value of the speed acceleration deceleration time constants For details refer to Pr PC03 S pattern accele...

Page 149: ...nit s to 1500 command unit s set 3000 command unit s2 for the acceleration To decelerate at 2 s from 1500 command unit s to 0 command unit s set 750 command unit s2 for the deceleration Precautions The servo parameter for setting the acceleration deceleration data varies depending on the unit selected in Pr PT01 1 Speed acceleration deceleration unit selection However the same object is used for s...

Page 150: ...n Pr PT01 1 Speed acceleration deceleration unit selection Relevant acceleration deceleration data Page 103 Relevant speed data and acceleration deceleration data Servo parameter Symbol Name Outline PT01 1 CTY Speed acceleration deceleration unit selection Select an acceleration deceleration unit 0 ms 1 Command unit s2 ...

Page 151: ...o Switch On Disabled cst tq The state shifts immediately to Switch On Disabled and the servo motor stops with the dynamic brake pp pv The servo motor decelerates to a stop with Profile deceleration 6084h and the state shifts to Switch On Disabled 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 sync...

Page 152: ...ation 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 153: ...are version A5 or later The following 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 acc units 609Ah VAR Homing acceleration Acceleration deceleration ti...

Page 154: ...n signal Assign PEN Command input permission signal to an input device Page 117 Assigning I O devices A command pulse train input is not accepted while PEN is turned off A command pulse train input is accepted by turning on PEN If PEN has not been assigned to the input device a command pulse train input is always accepted If PENS Command pulse train input permitted has been assigned to an output d...

Page 155: ...tion circuit failure Page 294 Encoder communication diagnosis function Disconnection detection function Detects disconnection of the main circuit and the servo motor power supply wires Page 296 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 vibration Page 1...

Page 156: ...rameter automatic setting in the User s Manual Communication Function Software reset The same processing performed at power cycle of the servo amplifier is performed without the need for actual cycling Resets the status of the servo amplifier Page 265 Software reset Applicable function Outline Reference Command offset 1 This function adds an arbitrary offset amount for the position speed torque co...

Page 157: ...of instantaneous power failure is large AL 010 2 caused by the bus voltage drop may occur regardless of the set value of Pr PF25 SEMI F47 function Instantaneous power failure detection time Instantaneous power failure tough drive Detection time The external dynamic brake cannot be used when complying with the SEMI F47 standard Do not assign DB Dynamic brake interlock to the output device If DB is ...

Page 158: ...stantaneous power failure detection time instantaneous 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 1 For the undervoltage level refer to the following table Page 159 Behavior Pr PF25 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Instantaneous power failure...

Page 159: ...tage does not decrease to the undervoltage level or lower within the instantaneous power failure time of the control circuit power supply the operation continues as is without setting off the alarm 1 For the undervoltage level refer to the following table Page 159 Behavior Pr PF25 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Instantaneous power failure time of control circuit power supply Control cir...

Page 160: ...us power failure time of the control circuit power supply 1 For the undervoltage level refer to the following table Page 159 Behavior Pr PF25 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Instantaneous power failure time of control circuit power supply Energization Control circuit power supply Power failure Bus voltage Undervoltage level 1 Base circuit ALM Malfunction MTTR During tough drive MBR Elect...

Page 161: ...and a detailed check of the equipment for the SEMI F47 power instantaneous power failure standard Setting method Setting Pr PA20 2 SEMI F47 function selection to 1 enabled and Pr PF25 SEMI F47 function Instantaneous power failure detection time instantaneous power failure tough drive detection time to 200 ms enables the SEMI F47 standard compliant function Behavior When the SEMI F47 standard compl...

Page 162: ... L2 L3 are connected by delta connection apply an instantaneous power failure to one of the three pairs of line voltages e g between L1 and L2 Star connection When the three phases L1 L2 L3 are connected by star connection from a total of six pairs of voltages being 1 3 pairs of line voltages between L1 and L2 L2 and L3 L3 and L1 and 2 3 pairs of phases and a neutral point between L1 and N L2 and ...

Page 163: ...unction in the fully closed loop control mode triggers AL 037 Parameter error The scale measurement encoders can be used as HK KT servo motor encoders linear encoders or A B Z phase differential output type encoders For scale measurement encoders that can be used with this servo amplifier contact your local sales office If the network communication cycle is less than 125 μs when the scale measurem...

Page 164: ...t Motor side droop pulse Current position absolute position Position within one revolution of scale measurement encoder ABS counter of scale measurement encoder Scale measurement encoder Servo motor Controller Encoder pulse settings Pr PA15 Pr PA16 and Pr PC03 Control Monitoring Load side feedback pulse in resolution unit of scale measurement encoder Position command Target position Obj 607Ah Foll...

Page 165: ... two wire type serial interface Load side encoder signal Servo motor encoder signal Linear encoder head Servo motor CN2 CN2L Servo amplifier Controller Position command control signal Table Linear encoder compatible with A B Z phase pulse train interface Linear encoder compatible two wire or four wire type serial interface Load side encoder signal A B Z phase pulse train interface or serial interf...

Page 166: ...2L 1 CN2 Servo motor Two wire type rotary encoder Driving part Load side encoder signal Servo motor encoder signal Controller Position command control signal Servo amplifier CN2 CN2L A B Z phase differential output two wire type or two wire type rotary encoder or synchronous encoder Load side encoder signal Servo motor encoder signal Servo motor Driving part Controller Position command control sig...

Page 167: ...following motor as the encoder For the MR J5 _G_ and MR J5W2 _G_ servo amplifiers use two wire type encoder cables If using Pr PA22 3 Scale measurement function selection by setting it to 1 use with absolute position detection system and connecting a battery backup type rotary encoder to the servo amplifier an encoder battery must be mounted to the servo amplifier to hold the load side absolute po...

Page 168: ... s Encoder User s Manual Servo amplifier without CN2L Servo amplifier with CN2L The linear encoder can be connected without using an MR J4FCCBL03M branch cable In addition a four wire type linear encoder can be also used CN2 MOTOR SCALE Servo amplifier Linear encoder Rotary servo motor encoder Encoder cable Scale measurement encoder MR J4FCCBL03M branch cable CN2 CN2L Servo amplifier Linear encode...

Page 169: ...ations list in the following manual Rotary Servo Motor User s Manual HK series Servo amplifier with CN2L The linear encoder can be connected without using an MR J4FCCBL03M branch cable In addition a four wire type linear encoder can be also used 1 When the motor type of the servo motor is HK KT_W a maximum of 240 V is output from the power cable and when the motor type is HK KT_4_W a maximum of 48...

Page 170: ... Scale measurement encoder Absolute position erased When using the device in an absolute position detection system AL 25 2 occurs at initial power on after the encoder cable is connected After allowing the alarm to occur for 5 s cycle the power to cancel the alarm Selecting a communication method for the scale measurement encoder The communication method varies depending on the scale measurement e...

Page 171: ... setting of scale measurement encoder When using an A B Z phase differential output rotary encoder as a scale measurement encoder set the resolution in Pr PE51 Load side encoder resolution setting Selection of use of A B Z phase differential output type encoder as scale measurement encoder If a serial encoder is connected to CN2 and an A B Z phase differential output type encoder is connected to C...

Page 172: ...scale measurement encoder use the following procedure 1 Replacing the servo motor Turn off the power and replace the servo motor 2 Canceling AL 01A Servo motor combination error After the power is turned on AL 01A 6 Servo motor combination error 4 occurs After setting Pr PA03 2 Scale measurement encoder replacement preparation to 1 enabled cycle the power and then deactivate AL 1A 6 3 Homing The a...

Page 173: ...ifferential output type incremental type Fixed to 0 Rotary encoder A B Z phase differential output type incremental type Fixed to 0 2D3Ch 0 VAR Scale measurement encoder alarm Scale encoder alarm data 0 Normal Correct data is stored in each object Other than 0 Abnormal The previous value is stored in each object 2D38h 0 VAR Scale measurement encoder resolution Scale encoder resolution For example ...

Page 174: ...t the touch probe function has restrictions on pins that can be set Page 173 Setting method For the MR J5W2 _G_ and MR J5W3 _G_ servo amplifiers when input devices TPR1 Touch probe 1 TPR2 Touch probe 2 and TPR3 Touch probe 3 are set and the network communication cycle is less than 250 μs AL 09E Network warning occurs For the MR J5W3 _G_ servo amplifiers when input devices TPR1 TPR2 and TPR3 are se...

Page 175: ...it range Name Symbol Touch probe 1 60B8h Touch probe function Bit 0 to 7 Touch probe 1 TPR1 60B9h Touch probe status Bit 0 to 7 60BAh Touch probe 1 positive edge 60BBh Touch probe 1 negative edge 60D1h Touch probe time stamp 1 positive value 60D2h Touch probe time stamp 1 negative value Touch probe 2 60B8h Touch probe function Bit 8 to 15 Touch probe 2 TPR2 60B9h Touch probe status Bit 8 to 15 60B...

Page 176: ... probe function Obj 60B8h instead of an input device the position of the set axis is latched only and the position of any other axes cannot be latched The following table shows the connector pin numbers to which input devices TPR1 TPR2 and TPR3 can be assigned and the servo parameters used for the assignment Connector pin No Servo parameter Initially assigned device CN3 10 Pr PD38 Input device sel...

Page 177: ...input pin CN3 15 C axis 2Ch TPR1 0h automatic selection C axis TPR1 C Assign TPR1 to the C axis input pin Axis to be latched Object Touch probe 1 Touch probe 2 Touch probe 3 A axis B axis CN3 9 CN3 22 CN3 15 C axis Connector pin No Servo parameter setting Device name Setting details Axis to set Pr PD05 0 1 Pr PD05 4 CN3 9 A axis 2Ch TPR1 2h B axis enabled TPR1 B Enable B axis to be used on the A a...

Page 178: ...which axis is used for the input signal of the CN3 22 pin Initial value 0h automatic setting B axis PD51 0 1 DI3W2 Input device selection 3 2 Any input device can be assigned to the CN3 15 pin for the MR J5W2 _G_ Initial value 62h No assigned function PD51 4 Input axis selection 3 2 It is possible to set which axis is used for the input signal of the CN3 15 pin when using the MR J5W2 _G_ Initial v...

Page 179: ... rising edge position of TPR2 Touch probe 2 is stored pos units 60BDh VAR Touch probe 2 negative edge The falling edge position of TPR2 Touch probe 2 is stored pos units 60D3h VAR Touch probe time stamp 2 positive value The time stamp at the rising edge of TPR2 Touch probe 2 is stored ns 60D4h VAR Touch probe time stamp 2 negative value The time stamp at the falling edge of TPR2 Touch probe 2 is s...

Page 180: ...j 60D2h If the zero point of the encoder is set as a trigger bit 2 1 the position feedback at passing the zero point of the encoder 1 is stored in Touch probe 1 negative edge Obj 60BBh 6 reserved The value at reading is undefined Set 0 when writing 7 8 0 Touch probe 2 disabled 1 Touch probe 2 enabled 9 0 Single trigger mode 1 Continuous trigger mode 10 0 Triggered by inputting touch probe 2 1 Trig...

Page 181: ... latched at the rising edge of touch probe 3 is stored in Touch probe 3 positive edge Obj 2DEAh and the time stamp in Touch probe time stamp 3 positive value Obj 2DF8h If the zero point of the encoder is set as a trigger bit 2 1 the position feedback at passing the zero point of the encoder 1 is stored in Touch probe 3 positive edge Obj 2DEAh 5 0 Stop sampling the falling edge of touch probe 3 1 S...

Page 182: ...osition feedback is stored in Touch probe 1 negative edge Obj 60BBh and the time stamp is stored in Touch probe time stamp 1 negative value Obj 60D2h 8 0 Touch probe 2 disabled 1 Touch probe 2 enabled 9 0 The data at the rising edge of touch probe 2 has not been stored 1 The data at the rising edge of touch probe 2 has been stored When the position feedback is stored in Touch probe 2 positive edge...

Page 183: ...amp is stored in Touch probe time stamp 3 negative value Obj 2DF9h 1 is set This bit is cleared to 0 when bit 5 of Touch probe function 2 Obj 2DE8h is set to 0 3 to 5 reserved The value at reading is undefined 6 Toggle status for latch completion at the rising edge of touch probe 3 0 or 1 When bit 1 of Touch probe function 2 Obj 2DE8h is set to 1 continuous trigger mode the status toggles between ...

Page 184: ...g at positive edge 60B8h Bit 5 Enable Sampling at negative edge Touvh probe status 60B9h Bit 0 Touch Probe 1 is enabled 60B9h Bit 1 Touch Probe 1 positive edge stored Touch Probe Signal 0 5 ms or longer 4a 60B9h Bit 2 Touch Probe 1 negative edge stored 60BAh Touch Probe 1 positive edge 60BBh yyyy uuuu xxxx 0000 Touch Probe 1 negative edge 4a 14a 60D2h kkkk 0000 Touch Probe time stamp 1 negative va...

Page 185: ...Touch Probe1 positive edge stored status 8a 60BAh 60D1h Touch probe 1 positive edge and Touch probe time stamp 1 positive value do not change 9 60B8h Bit 4 1 Turns on Sample positive edge Rising edge detection is enabled 10 60BAh 60D1h Touch probe 1 positive edge and Touch probe time stamp 1 positive value do not change 11 Turns on Touch Probe Signal TPR1 12 60B9h Bit 1 1 Turns on the Touch Probe1...

Page 186: ...riction vibration estimation function Vibration failure prediction function The vibration failure prediction function predicts device failure based on the vibration level that has been estimated with the vibration estimation function during servo motor operation Page 200 Vibration failure prediction function Servo motor Equipment parts Motor total travel distance Total travel distance failure pred...

Page 187: ... low frequency vibrations of several 10 Hz cannot be detected on a low rigidity machine When there 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 accelera...

Page 188: ...arameter 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 ...

Page 189: ...rameter 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 PF51 6...

Page 190: ...tion 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 fri...

Page 191: ...on 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 separat...

Page 192: ...small for friction 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 ...

Page 193: ...achine total travel distance exceeds 1 2 of Pr PF41 Failure prediction Servo motor total travel distance The threshold value when using the friction failure prediction function and the vibration failure prediction function can be checked with MR Configurator2 or controller Precautions A To create a dynamic friction threshold with the automatic threshold setting in the friction failure prediction f...

Page 194: ...hreshold with the following servo parameters 2 Pr PF19 Friction failure prediction Compensation coefficient 1 Pr PF20 Friction failure prediction Compensation coefficient 2 Pr PF42 Friction failure prediction Average characteristics Pr PF43 Friction failure prediction Standard deviation Pr PF40 0 Friction failure prediction Threshold multiplication The setting of Pr PF40 Machine failure prediction...

Page 195: ... Pr PF43 Friction failure prediction Standard deviation For the manual threshold setting friction failure prediction starts when the machine total travel distance exceeds 1 2 of Pr PF41 Failure prediction Servo motor total travel distance Thus if the dynamic friction threshold is known or the equipment is configured the same as another piece of equipment used for calculating the threshold with the...

Page 196: ...ction failure prediction warning selection changes to 2 manual threshold setting For the manual threshold setting the upper and lower limit thresholds can be calculated with the equations below When Pr PF40 0 Friction failure prediction Threshold multiplication is 0 the upper and lower limit thresholds are calculated as 5 Upper limit threshold 0 1 Pr PF42 Pr PF43 Pr PF40 0 Lower limit threshold 0 ...

Page 197: ...hreshold with the following servo parameters 2 Pr PF49 Friction failure prediction Compensation coefficient 1 Pr PF50 Friction failure prediction Compensation coefficient 2 Pr PF54 Friction failure prediction Average characteristics Pr PF55 Friction failure prediction Standard deviation Pr PF52 0 Friction failure prediction Threshold multiplication The setting of Pr PF52 Machine failure prediction...

Page 198: ... Pr PF55 Friction failure prediction Standard deviation In manual threshold setting friction failure prediction starts when the servo motor total travel distance exceeds 1 2 of Pr PF53 Failure prediction Servo motor total travel distance Thus if the dynamic friction threshold is known or the equipment is configured the same as another piece of equipment used for calculating the threshold with the ...

Page 199: ...iction failure prediction warning selection changes to 2 manual threshold setting For the manual threshold setting the upper and lower limit thresholds can be calculated with the equations below When Pr PF52 0 Friction failure prediction Threshold multiplication is 0 the upper and lower limit thresholds are calculated as 5 Upper limit threshold 0 1 Pr PF54 Pr PF55 Pr PF52 0 Lower limit threshold 0...

Page 200: ...d Friction failure prediction A When upper and lower limit thresholds are inputted to the servo amplifier the servo amplifier starts friction failure prediction If the dynamic friction at rated speed estimated by the friction estimation function exceeds the upper or lower limit threshold during the friction failure prediction AL 0F7 2 Friction failure prediction warning occurs After the occurrence...

Page 201: ...us 0 Static friction failure prediction disabled 1 During preparation for static friction failure prediction 2 During execution of static friction failure prediction 3 During static friction failure prediction warning Bit 24 to 27 Belt tension deterioration prediction status 0 Belt tension deterioration prediction disabled 1 Belt tension deterioration prediction in progress 2 During belt tension d...

Page 202: ...than 90 hours a threshold is not calculated automatically 2 The data of the estimated vibration level and vibration frequency can be saved on the machine diagnosis screen of MR Configurator2 NO YES Start Startup the system Threshold setting method Manual threshold setting Automatic threshold setting Set Pr PF34 1 Vibration failure prediction warning selection to 1 Automatic threshold setting Set P...

Page 203: ...in the servo amplifier At this time the threshold can be changed with Pr PF40 1 Vibration failure prediction Threshold multiplication If AL 0F7 1 Vibration failure prediction warning is generated with the value calculated by the automatic threshold setting set Pr PF40 1 Vibration failure prediction Threshold multiplication to 6 or more Once the calculation of the threshold inside the servo amplifi...

Page 204: ...be operated for about 90 hours before vibration failure prediction is actually performed AL 0F7 1 does not occur until the calculation of the threshold value in the servo amplifier is complete NO YES Start Startup the system Threshold setting method Manual threshold setting Automatic threshold setting Set Pr PF51 1 Vibration failure prediction warning selection to 1 Automatic threshold setting Set...

Page 205: ...hreshold inside the servo amplifier completes Pr PF51 1 Vibration failure prediction warning selection will change to 2 manual threshold setting For the manual threshold setting the upper and lower limit thresholds can be calculated with the equations below When Pr PF52 1 Vibration failure prediction Threshold multiplication is 0 the threshold is calculated as 5 Threshold 0 1 Pr PF56 Vibration fai...

Page 206: ...Vibration failure prediction A When a threshold is inputted to the servo amplifier the servo amplifier starts vibration failure prediction During vibration failure prediction if the vibration level estimated by the vibration estimation function while the servo motor is in operation exceeds the threshold AL 0F7 1 Vibration failure prediction warning occurs After the occurrence of AL 0F7 1 Vibration...

Page 207: ...tance calculation 1 During calculation of motor total travel distance Bit 16 to 19 reserved Bit 20 to 23 Static friction failure prediction status 0 Static friction failure prediction disabled 1 During preparation for static friction failure prediction 2 During execution of static friction failure prediction 3 During static friction failure prediction warning Bit 24 to 27 Belt tension deterioratio...

Page 208: ...servo amplifier such as offsetting and resetting after replacing the equipment parts By setting Pr PF51 2 Servo motor total travel distance failure prediction warning selection when the servo motor total travel distance exceeds the threshold a warning is outputted by the servo amplifier and the servo motor and mechanical parts failure can be predicted in advance Precautions G WG In the total trave...

Page 209: ...rs of the guides and ball screws being used For example for a rated life of 8 105 rev set Pr PF41 to 80000 10 rev When 0 is set in Pr PF41 servo motor total travel distance failure prediction does not start To carry over the servo motor total travel distance when replacing equipment set Pr PF47 Servo motor total travel distance offset For the setting method of Pr PF47 refer to the following Page 2...

Page 210: ...cing equipment A 1 Startup the system 2 Set Pr PF51 2 Servo motor total travel distance failure prediction warning selection to 1 enabled 3 Based on the rated life set Pr PF53 Failure prediction Servo motor total travel distance 4 When replacing the equipment set Pr PF58 Servo motor total travel distance offset Page 211 When replacing equipment A 5 Drive the servo motor 6 Machine total travel dist...

Page 211: ...ethod are as follows When AL 0F7 3 Failure prediction warning based on servo motor total travel distance occurs take one of the following actions Check that the threshold has been set correctly If the threshold is set incorrectly reset it and restart the equipment Check the equipment When replacing the equipment refer to the following Page 211 When replacing equipment G WG AL 0F7 3 Failure predict...

Page 212: ...n servo motor total travel distance can be deactivated by using one of the following methods Set a value larger than the servo motor total travel distance in Pr PF53 Failure prediction Servo motor total travel distance Set Pr PF51 2 to 0 disabled Set 2 servo motor total travel distance reset in Pr PF51 2 to reset the servo motor total travel distance For the resetting method refer to the following...

Page 213: ...or total travel distance offset Servo amplifier and servo motor the equipment is not replaced Step 1 Check the servo motor total travel distance before replacement 1 Step 2 After replacement set the servo motor total travel distance before the replacement in Pr PF47 Servo motor total travel distance offset Encoder the servo motor the servo amplifier and the equipment are not replaced None Equipmen...

Page 214: ...diction being executed 2 Motor total travel distance failure prediction at warning Bit 12 to 15 Motor total travel distance calculation status 0 During stop of motor total travel distance calculation 1 During calculation of motor total travel distance Bit 16 to 19 reserved Bit 20 to 23 Static friction failure prediction status 0 Static friction failure prediction disabled 1 During preparation for ...

Page 215: ...uring gear diagnosis ensure that the movable part does not collide with the equipment then execute backlash estimation Use the stroke limit or EM2 during the gear diagnosis The gear failure diagnosis function can be used for the gears with backlash amount of 0 1 degree in the servo motor shaft conversion If the backlash estimation is performed on the gears with the backlash amount of less than 0 1...

Page 216: ... the servo amplifier The result of the backlash estimation is saved in the servo amplifier The result of the backlash estimation is displayed on MR Configurator2 The result is stored in Backlash estimation value Obj 2C29h Has the estimated backlash value exceeded the threshold The result of the backlash estimation is displayed on MR Configurator2 The result is stored in Backlash estimation value O...

Page 217: ...merator and Pr PF66 4 7 Gear for backlash estimation Denominator do not affect the accuracy of the backlash estimation even if they are shifted by a fraction Initial value 0000h PF66 4 7 BLG Gear for backlash estimation Denominator Set the gear ratio denominator of the gear connected to the servo motor in hexadecimal If multiple gears are connected to the servo motor set the gear ratio up to where...

Page 218: ... ratio for backlash estimation After the backlash estimation is executed control by the command from the controller is disabled To perform control again using commands from the controller reset the communication cycle the power or execute the software reset Item Description Travel distance Based on the values of Pr PF66 0 3 Gear for backlash estimation Numerator Pr PF66 4 7 Gear for backlash estim...

Page 219: ...t is outputted in consideration of the gear ratio for backlash estimation After the backlash estimation is executed control by the command from the controller is disabled To perform control again using commands from the controller reset the communication cycle the power or execute the software reset Item Description Travel distance Based on the values of Pr PF66 0 3 Gear for backlash estimation Nu...

Page 220: ...uring the backlash estimation Press the backlash estimation start button when the backlash estimation is not performed The backlash estimation start button was pushed during the amplifier command method one touch tuning Push the backlash estimation start button when the amplifier command method one touch tuning is not performed C005 Backlash estimation control mode error Backlash estimation starte...

Page 221: ...minal value to 0 resetting the communication cycling the servo amplifier power or executing software reset AL 0F7 Machine diagnostic warning is outputted after the backlash estimation is complete AL 0F7 Machine diagnostic warning will not be outputted even if the backlash estimation result stored inside the servo amplifier is larger than the backlash threshold Related objects G WG Outline of objec...

Page 222: ...t tension deterioration prediction function AL 0F7 Machine diagnostic warning occurs when the belt tension that is estimated from the servo amplifier internal data is equal to or lower than the inputted threshold of the belt tension servo parameter Although the relationship between the belt tension and the static friction needs to be inputted with servo parameters this function can improve the acc...

Page 223: ...terioration prediction function AL 0F7 Machine diagnostic warning occurs when the belt tension that is estimated from the servo amplifier internal data is equal to or lower than the inputted threshold of the belt tension servo parameter Although the relationship between the belt tension and the static friction needs to be inputted with servo parameters this function can improve the accuracy in det...

Page 224: ...ilure prediction function and static friction failure prediction function are enabled at the same time Precautions The static friction failure prediction function uses the static friction estimated by the friction estimation function to predict failures Therefore in order to estimate the static friction with the friction estimation function set Pr PF31 Machine diagnostic function low speed frictio...

Page 225: ... are estimated The static friction and dynamic friction at rated speed are estimated Save the data of the estimated static friction and dynamic friction 1 Save the data of the estimated static friction and dynamic friction 1 The saved data of static friction and dynamic friction is used for troubleshooting AL 0F7 5 Static friction failure prediction warning The setting of Pr PF40 5 Static friction...

Page 226: ...vel distance When using the automatic threshold setting set the Failure prediction Servo motor total travel distance in Pr PF41 Failure prediction Servo motor total travel distance If the machine total travel distance is smaller than the Failure prediction Servo motor total travel distance the threshold will not be automatically set from the estimated static friction assuming that the belt has bee...

Page 227: ...on warning selection is set to 2 manual threshold setting When Pr PF34 5 Static friction failure prediction warning selection is set to 1 automatic threshold setting the value will be calculated automatically from the estimated static friction torque 3 Enabled when Pr PF34 5 Static friction failure prediction warning selection is set to 2 manual threshold setting When Pr PF34 5 Static friction fai...

Page 228: ...L 0F7 Machine diagnostic warning is outputted when the static friction estimated by the friction estimation function exceeds the upper limit threshold Also AL 0F7 Machine diagnostic warning is outputted even when the static friction falls below the lower limit threshold After AL 0F7 Machine diagnosis warning is outputted if the static friction falls within the range of the upper and lower threshol...

Page 229: ...r total travel distance Bit 16 to 19 reserved Bit 20 to 23 Static friction failure prediction status 0 Static friction failure prediction disabled 1 During preparation for static friction failure prediction 2 During execution of static friction failure prediction 3 During static friction failure prediction warning Bit 24 to 27 Belt tension deterioration prediction status 0 Belt tension deteriorati...

Page 230: ...e estimated The static friction and dynamic friction at rated speed are estimated Save the data of the estimated static friction and dynamic friction 1 Save the data of the estimated static friction and dynamic friction 1 The saved data of static friction and dynamic friction is used for troubleshooting AL 0F7 5 Static friction failure prediction warning The setting of Pr PF52 5 Static friction fa...

Page 231: ...ravel distance When using the automatic threshold setting set the Failure prediction Servo motor total travel distance in Pr PF53 Failure prediction Servo motor total travel distance If the machine total travel distance is smaller than the Failure prediction Servo motor total travel distance the threshold will not be automatically set from the estimated static friction assuming that the belt has b...

Page 232: ...ing selection is set to 2 manual threshold setting When Pr PF51 5 Static friction failure prediction warning selection is set to 1 automatic threshold setting the value will be calculated automatically from the estimated static friction torque 3 Enabled when Pr PF51 5 Static friction failure prediction warning selection is set to 2 manual threshold setting When Pr PF51 5 Static friction failure pr...

Page 233: ...AL 0F7 Machine diagnostic warning is outputted when the static friction estimated by the friction estimation function exceeds the upper limit threshold Also AL 0F7 Machine diagnostic warning is outputted even when the static friction falls below the lower limit threshold After AL 0F7 Machine diagnosis warning is outputted if the static friction falls within the range of the upper and lower thresho...

Page 234: ...her documents of the belt manufacturer When the setting is Pr PF72 Belt tension on installation Pr PF73 Belt tension when extended the belt tension deterioration prediction function is disabled Initial value 0 0 N Start Startup the system Operate the equipment with the belt loosened and complete friction estimation Set a belt tension value in Pr PF73 Belt tension when extended and a static frictio...

Page 235: ...ion of static friction has completed only for the forward rotation side Pr PF74 Static friction during installation Static friction on the forward rotation side When estimation of static friction has completed only for the reverse rotation side Pr PF74 Static friction during installation Static friction on the reverse rotation side When estimation of static friction has completed for both the forw...

Page 236: ...imated by the friction estimation function falls below the threshold After the occurrence of AL 0F7 Machine diagnosis warning if the static friction becomes equal to or higher than the threshold value AL 0F7 Machine diagnostic warning will be canceled Servo parameter Symbol Name Description PF76 BTS Belt tension irregular threshold Set a threshold to generate AL 0F7 Machine diagnosis warning Set t...

Page 237: ...otor total travel distance failure prediction being executed 2 Motor total travel distance failure prediction at warning Bit 12 to 15 Motor total travel distance calculation status 0 During stop of motor total travel distance calculation 1 During calculation of motor total travel distance Bit 16 to 19 reserved Bit 20 to 23 Static friction failure prediction status 0 Static friction failure predict...

Page 238: ...o stretch refer to the catalog or other documents of the belt manufacturer When the setting is Pr PF72 Belt tension on installation Pr PF73 Belt tension when extended the belt tension deterioration prediction function is disabled Initial value 0 0 N Start Startup the system Operate the equipment with the belt loosened and complete friction estimation Set a belt tension value in Pr PF73 Belt tensio...

Page 239: ...iction set Pr PF74 Static friction during installation as follows When estimation of static friction has completed only for the forward rotation side Pr PF74 Static friction during installation Static friction on the forward rotation side When estimation of static friction has completed only for the reverse rotation side Pr PF74 Static friction during installation Static friction on the reverse ro...

Page 240: ...nction falls below the threshold After the occurrence of AL 0F7 Machine diagnosis warning if the static friction becomes equal to or higher than the threshold value AL 0F7 Machine diagnostic warning will be canceled Servo parameter Symbol Name Description PF76 BTS Belt tension irregular threshold Set a threshold to generate AL 0F7 Machine diagnosis warning Set this servo parameter as a percentage ...

Page 241: ...0Q or later supports saving data in GX LogViewer format JSON file with the graph function or drive recorder function When using MR Configurator2 1 Drive recorder data can be saved as a JSON file When using GX LogViewer MR Configurator2 Ethernet USB GX LogViewer Drive recorder data 1 Reading output files Reading data recorded by the drive recorder Alarm occurrence data is automatically recorded Ala...

Page 242: ...ing the graph function with an engineering tool the drive recorder function cannot be used To use the drive recorder function wait until the time set in Pr PF21 Drive recorder switching time setting passes cycle the power of the servo amplifier or perform the software reset after using the graph function If the sampling cycle of an analog trigger or digital trigger is too long the establishment of...

Page 243: ... 4 For auxiliary recording data refer to the following In addition if the trigger established is other than the alarm trigger Alarm occurrence data is not saved Page 264 List of auxiliary recording data How to use the function G WG 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...

Page 244: ...rring 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 com...

Page 245: ...corder 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 areas cannot be changed during s...

Page 246: ...g for using the manual setting mode to record with any data and trigger Page 243 Saving the drive recorder data in manual setting mode Method of reading recorded data Drive recorder data can be read with an engineering tool MR Configurator2 via a network or USB connection A connection example is shown below Transferring files with direct connection USB MR Configurator2 Transferring files with dire...

Page 247: ...cord with desired data and triggers 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 ...

Page 248: ...lue 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 the set trigger level falling 0 Rising initial value 1 Falling PF82 3 DRTM Drive recorder Trigger...

Page 249: ...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 channel 7 selection Set the data to be as...

Page 250: ...following for setting values Page 250 Digital channel Trigger channel selection Setting value Meaning 01 Analog 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 ...

Page 251: ... 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 03B Load side encoder information 1 16 pulse 03C Load side encoder information 2 1 rev 049 Operation mode 1LSB 04C 3 U phase current feedback unit of the rated current 0 1 04D 3 V phase current feedback unit of the rated current 0 1 04E 3 W phase curr...

Page 252: ...TO2 STO2 001A CDP2 Gain switching selection 2 001B CDP Gain switching selection 001C 1 CLD Fully closed loop selection 0034 1 TPR1 Touch probe 1 0035 1 TPR2 Touch probe 2 0036 1 TPR3 Touch probe 3 0048 2 DRTRG Drive recorder trigger 0049 CFLS Controller upper stroke limit signal being inputted 004A CRLS Controller lower stroke limit signal being inputted 00A0 2 STOC STO command 00A1 2 SS1C SS1 com...

Page 253: ...already passed 8018 CDPS2 Variable gain enabled 2 8019 CDPS Variable gain enabled 801A 1 CLDS Fully closed loop control in progress 801B ABSV Absolute position erased 801D IPF Instantaneous power failure 801E SPC Under proportional control 801F MTTR During tough drive 8032 DOG During DOG signal input 8043 CPO Rough match 8045 POT Position range 8049 ZP2 Homing completion 2 80A0 2 STOS STO output 8...

Page 254: ...PF84 2 3 Drive recorder Trigger channel selection 2 exceeds the set trigger level rising or starts when it falls below the set trigger level falling 0 Rising initial value 1 Falling PF84 0 1 DRTC Drive recorder Trigger channel selection 1 Set trigger channel No 1 Initial value 01h Analog channel 1 1 PF84 2 3 DRTC Drive recorder Trigger channel selection 2 Set trigger channel No 2 Initial value 81h...

Page 255: ...rive recorder Digital channel 7 selection Set the data to be assigned to digital channel 7 Initial value 8015h STO 3 PF94 4 7 DRDC4 Drive recorder Digital channel 8 selection Set the data to be assigned to digital channel 8 Initial value 801Dh IPF 3 PF95 0 DRCLR Drive recorder Drive recorder clear history selection When enabled is selected the drive recorder history will be cleared at either the n...

Page 256: ...log 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 257: ... 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 03B Load side encoder information 1 16 pulse 03C Load side encoder information 2 1 rev 049 Operation mode 1LSB 04C 3 U phase current feedback unit of the rated current 0 1 04D 3 V phase current feedback unit of the rated current 0 1 04E 3 W phase curr...

Page 258: ...0C ST2 ST2 RS1 Reverse rotation start reverse rotation start forward rotation selection 0012 EM2 1 Forced stop 0016 STO1 STO1 0017 STO2 STO2 001A CDP2 Gain switching selection 2 001B CDP Gain switching selection 001C 1 CLD Fully closed loop selection 0000 SON Servo on 0003 TL External torque limit selection 0004 TL1 Internal torque limit selection 0007 CR Clear 0008 SP1 Speed selection 1 0009 SP2 ...

Page 259: ...ake 800F BWNG Battery warning 8010 ALM2 Malfunction 2 8015 STO In STO state 8016 SMPD Magnetic pole detection completion 8018 CDPS2 Variable gain enabled 2 8019 CDPS Variable gain enabled 801A 1 CLDS Fully closed loop control in progress 801B ABSV Absolute position erased 801D IPF Instantaneous power failure 801E SPC Under proportional control 801F MTTR During tough drive 8020 ABSB0 ABS transmissi...

Page 260: ...ber 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...

Page 261: ...rror counter 1 Encoder error counter 2 0 500 ms 512 ms CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 021 Servo motor speed Torque ABS counter Position 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 IPF AL 024 Servo motor speed Torque Current command Position within one revolution Bus voltage U phase current feedback ...

Page 262: ... EM2 EM1 ALM2 INP MBR RD STO 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 IPF AL 052 Servo motor speed Torque Current command Droop pulses 100 pulses Speed command Bus voltage Excessive error alarm margin 1 2 ms 2048 ms CSON EM2 EM1 ALM2 INP MBR RD STO TLC AL 071 Se...

Page 263: ...rerror counter 1 Encoder error counter 2 0 500 ms 512 ms SON EM2 EM1 ALM2 INP MBR RD STO IPF AL 021 Servo motor speed Torque ABS counter Position within one revolution Current command Encodererror counter 1 Encoder error counter 2 0 500 ms 512 ms SON EM2 EM1 ALM2 INP MBR RD STO IPF AL 024 Servo motor speed Torque Current command Position within one revolution Bus voltage U phase current feedback V...

Page 264: ...N EM2 EM1 ALM2 INP MBR RD STO 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 SON EM2 EM1 ALM2 INP MBR RD STO IPF AL 052 Servo motor speed Torque Current command Droop pulses 100 pulses Speed command Bus voltage Excessive error alarm margin 1 2 ms 2048 ms SON EM2 EM1 ALM2 INP MBR RD STO TLC AL 071 Ser...

Page 265: ... by the drive recorder The drive recorder does not operate in this case In addition data may not be recorded when the following alarms occur depending on the circumstances of the alarm occurrence Alarm No Name 010 1 Voltage drop in the control circuit power 012 Memory error 1 016 Encoder initial communication error 1 017 Board error 019 Memory error 3 01A Servo motor combination error 01E Encoder ...

Page 266: ...entification 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 Indica...

Page 267: ...rmed after changing the setting of the network When using servo motors with functional safety executing software reset may trigger AL 016 Encoder initial communication error 1 If AL 016 occurs cycle the power 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 S...

Page 268: ... command position exceeds the limit range by 30 bits 536870912 to 536870911 AL 069 Command error also occurs If AL 069 Command error occurs the home position is erased Perform homing again This function is enabled in the cyclic synchronous position mode and the profile position mode This function is disabled during homing Precautions At factory setting the software position limit is disabled Pr PT...

Page 269: ...tside the range the moving direction is determined by which part of the non movable area the moving part is in as shown in the following figure The moving part can move only in the direction with the shortest distance to the movable area Ex When Pr PT17 is set to 315 000 degrees and Pr PT15 is set to 90 000 degrees Setting value After conversion 360 000 to 2147483 647 degrees The remainder obtaine...

Page 270: ...e position limit Obj 607Dh is disabled Index Sub Object Name Description 607Dh 0 ARRAY Software position limit Number of entries 1 Min position limit 1 Specify the minimum value of the command position and current position relative to the machine home position position address 0 If the command position is below the minimum value it is clamped to the minimum value which is used as the command posit...

Page 271: ...erse rotation torque limit during operation Set servo parameters in relation to the rated torque or continuous thrust as 100 0 Item Outline Internal torque limit The maximum torque is limited by the values of Pr PA11 Forward rotation torque limit and Pr PA12 Reverse rotation torque limit Maximum torque limit 1 The maximum torque is limited by the value of Max torque Obj 6072h according to the sett...

Page 272: ...12 Reverse rotation torque limit Pr PC29 3 Pr PA14 0 Enabled 0 Positive torque limit value Obj 60E0h Negative torque limit value Obj 60E1h 1 Negative torque limit value Obj 60E1h Positive torque limit value Obj 60E0h 1 Disabled 0 Positive torque limit value Obj 60E0h Negative torque limit value Obj 60E1h 1 Positive torque limit value Obj 60E0h Negative torque limit value Obj 60E1h Pr PC78 1 settin...

Page 273: ... 271 4 Checking Limiting torque status TLC Limiting torque and Bit 13 S_TLC of Status DO1 Obj 2D10h turn on when the servo motor torque reaches the torque that was limited by the forward rotation torque limit and the reverse rotation torque limit ...

Page 274: ...o 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 or thrust is generated Item Outline Internal torque limit The maximum torque is l...

Page 275: ... at the voltage of 0 05 V or more Servo parameter Symbol Name Outline PA11 TLP Forward rotation torque limit Set the servo parameter to limit the torque of the servo motor for CCW power running or CW regeneration or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration PA12 TLN Reverse rotation torque limit Set the servo parameter to ...

Page 276: ...off 1 on Checking Limiting torque status TLC Limiting torque turns on when the servo motor torque reaches the torque that was limited by the forward rotation torque limit reverse rotation torque limit internal torque limit or analog torque limit Input device 1 Limit value status Enabled torque limit TL1 TL CCW power running CW regeneration CW power running CCW regeneration 0 0 Pr PA11 Pr PA12 0 1 ...

Page 277: ...on 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 1 Available on servo amplifiers with firmware version A5 or later Checking Limiting speed status When the servo m...

Page 278: ...ed limit in the torque command direction and the opposite direction The following table indicates the limit direction according to the combination of RS1 Forward rotation selection and RS2 Reverse rotation selection 1 0 off 1 on Input device 1 TC Analog torque command Speed limit direction RS1 RS2 VLA Analog speed limit Internal speed limit Voltage polarity Torque command direction 1 0 CCW or posi...

Page 279: ... on When internal speed 1 to 7 are used to limit a speed the speed does not vary with the ambient temperature Input device 1 Speed limit SP3 SP2 SP1 0 0 0 VLA Analog speed limit 0 0 1 Pr PC05 Internal speed 1 0 1 0 Pr PC06 Internal speed 2 0 1 1 Pr PC07 Internal speed 3 1 0 0 Pr PC08 Internal speed 4 1 0 1 Pr PC09 Internal speed 5 1 1 0 Pr PC10 Internal speed 6 1 1 1 Pr PC11 Internal speed 7 ...

Page 280: ...278 4 APPLICABLE FUNCTIONS 4 12 Speed limit A Checking Limiting speed status VLC turns on when the servo motor speed reaches a speed limited with internal speed 1 to 7 or the analog speed limit ...

Page 281: ...phase differential output type encoder If an encoder other than the A B Z phase differential output type encoder is connected AL 037 will occur When the A B phase pulse output function is used for multi axis servo amplifiers restrictions vary depending on the network For detailed contents refer to the User s Manual Introduction Restrictions A With the linear servo motor Pr PC19 1 Encoder output pu...

Page 282: ...oder output pulses 2 Set a denominator for the electronic gear when selecting 3 A phase B phase pulse electronic gear setting in Pr PC03 1 Encoder output pulse setting selection This is not used for other settings Initial value 1 PC03 0 ENRS Encoder output pulse Phase selection Set the phase for the A pulse and the B pulse 0 Increasing A phase 90 in CCW or positive direction initial value 1 Increa...

Page 283: ...pulses of the A B Z phase differential output type encoder are outputted Setting Pr PA01 1 Operation mode selection to 0 standard control mode triggers AL 037 This is enabled when an A B Z phase differential output type encoder is used When a different encoder is connected AL 037 occurs Output pulse A B phase pulse of A B Z phase differential output type encoder pulse The setting value in Pr PC03 ...

Page 284: ...oder output pulse Phase selection is not used The settings of Pr PA15 Encoder output pulses and Pr PA16 Encoder output pulses 2 are not used A B phase pulses of the A B Z phase differential output type encoder are outputted This is enabled only when an A B Z phase differential output type encoder is used If a different encoder is connected AL 037 occurs A B Z phase differential output type encoder...

Page 285: ...ses 2 Set a denominator for the electronic gear when selecting 3 A phase B phase pulse electronic gear setting in Pr PC19 1 Encoder output pulse setting selection This is not used for other settings Initial value 1 PC19 0 ENRS Encoder output pulse Phase selection Set the phase for the A pulse and the B pulse 0 Increasing A phase 90 in CCW or positive direction initial value 1 Increasing A phase 90...

Page 286: ...utput setting When a servo amplifier with a firmware version earlier than B2 is being used AL 037 occurs A B phase pulses of the A B Z phase differential output type encoder are outputted Setting Pr PA01 1 Operation mode selection to 0 standard control mode triggers AL 037 This is enabled when an A B Z phase differential output type encoder is used When a different encoder is connected AL 037 occu...

Page 287: ...output pulses 2 4 A B phase pulse through output setting A B phase pulses of the A B Z phase differential output type encoder are outputted This is enabled only when an A B Z phase differential output type encoder is used If a different encoder is connected AL 037 occurs Output pulse A B phase pulse of A B Z phase differential output type encoder pulse The setting of Pr PC19 0 Encoder output pulse...

Page 288: ...ulse output width The minimum pulse width of the Z phase pulse output is about 400 μs Encoder type Z phase pulse output Linear encoders Incremental Outputs one pulse every time the Z phase of the linear encoder is passed Absolute position Outputs one pulse for every virtual rotation A B Z phase differential output type encoder Outputs one pulse every time the Z phase of the scale is passed ...

Page 289: ... encoder Connecting a linear encoder will trigger AL 037 If the unit is set to degree in the profile position mode relative position commands are disabled Attempting to start positioning operation after bit 6 abs rel of Controlword Obj 6040h has been set to 1 relative position command will trigger AL 0F4 8 Control command input error warning and the operation will not start Precautions Setting the...

Page 290: ...e is 0 to 359999 Touch probe pos1 pos value Obj 60BAh Touch probe pos1 neg value Obj 60BBh Touch probe pos2 pos value Obj 60BCh Touch probe pos2 neg value Obj 60BDh The range is 0 to 359999 1 Home offset Obj 607Ch The range is 0 to 359999 1 Current position Obj 2B2Fh The range is 0 to 359999 1 Command position Obj 2B30h The range is 0 to 359999 1 Alarm Monitor 47 Current position Obj 2BAFh The ran...

Page 291: ...ecifying relative position commands will rotate the servo motor to the target position in the direction specified with the sign of the position data regardless of the setting Servo parameter Symbol Name Outline PT03 2 FTY Degree unit rotation direction selection Set the rotation direction when the unit is set to degree 0 Specified rotation direction 1 Rotation in the direction with the shortest di...

Page 292: ...ss increasing direction Rotation in the direction with the shortest distance Rotation in the direction specified with the sign of the position data Rotation only in the address decreasing direction Rotation only in the address increasing direction Rotation in the direction with the shortest distance 150 210 50 330 360 0 Bit 7 0 Bit 6 0 150 210 50 330 360 0 Bit 7 0 Bit 6 1 150 210 50 330 360 0 Bit ...

Page 293: ... will occur the home position will be erased and the current position will be restored when the servo motor rotates 32768 rev or more 1 When Pr PC29 5 Absolute position counter warning AL 0E3 1 selection is set to 0 disabled AL 0E3 1 will not occur and the home position will not be erased However if 0 is set while the unit is other than degree the current position will not be restored correctly af...

Page 294: ...ve 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 energization time function The servo amplifier always measures the energization time Service...

Page 295: ... 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 dy...

Page 296: ...mmunication circuit diagnosis in progress occurs when the encoder communication circuit diagnosis is in progress For an absolute position detection system using a direct drive motor the absolute position will be erased if the encoder cable is disconnected as doing so interrupts the power supply from the battery Usage G WG To enable the diagnosis mode set 1 enabled in Pr PC05 4 Encoder communicatio...

Page 297: ...tion circuit diagnosis mode selection Enable or disable the encoder communication circuit diagnosis mode AL 118 1 Encoder communication circuit diagnosis in progress occurs during the encoder communication circuit diagnosis mode 0 Encoder communication circuit diagnosis mode disabled 1 Encoder communication circuit diagnosis mode enabled Initial value 0h Enable the encoder communication circuit se...

Page 298: ...he input open phase detection function cannot be used For 1 phase AC input and DC input set Pr PC20 4 Input open phase detection selection to 2 warning enabled or 3 alarm enabled and even if an open phase occurs during servo on AL 1E9 Open phase warning and AL 139 Open phase error do not occur When using the input open phase detection function with Pr PA02 1 0 Regenerative option selection being s...

Page 299: ...open phase detection function is disabled The input open phase detection function is enabled by setting Pr PC20 4 to 1 warning enabled or 2 alarm enabled If 1 warning enabled is set AL 1E9 Open phase warning will be outputted when the input open phase occurs To generate AL 139 Open phase error when an open phase occurs set Pr PC20 4 to 2 alarm enabled 200 V class multi axis servo amplifiers with a...

Page 300: ...e detection selection is set to 0 automatic the input open phase detection function is enabled If 0 automatic is set AL 1E9 Open phase warning is outputted when the input open phase occurs To generate AL 139 Open phase error when an open phase occurs set Pr PC27 4 to 2 alarm enabled 400 V class 1 axis servo amplifiers When Pr PC27 4 Input open phase detection selection is set to 0 automatic the in...

Page 301: ... 0 or less the output open phase may be detected incorrectly when the servo motor load becomes too large If a linear servo motor is used the open phase may not be detected Restrictions A The output open phase detection function will be disabled if an alarm or warning other than AL 139 Open phase error has occurred If 1 is set in Pr PC60 0 Motor less operation selection output open phase will not b...

Page 302: ... COP6 Output open phase Judgment speed selection Select the judgment speed of the output open phase detection function 0 Servo motor speed initial value 1 Speed command In the torque control set 0 Servo motor speed When 1 speed command is set AL 139 2 Output open phase error does not occur Servo parameter Symbol Name Outline PC26 4 COP5 Output open phase detection selection Enable or disable the d...

Page 303: ... the servo amplifier becomes in the servo on state during the servo motor rotation Execute the servo motor incorrect wiring detection function while the servo motor is stopped Precautions When the servo motor incorrect wiring detection function is enabled the servo motor may move as follows between the servo on command and the actual servo on up to one pole pitch for a rotary servo motor and up to...

Page 304: ...rs in the servo on state after the servo on command is turned on may be extended by up to 3 0 s 4 If 0 initial value is set in Pr PC16 5 Pr PC16 4 will be changed to 0 disabled after the servo motor incorrect wiring detection function is executed 5 The servo motor incorrect wiring detection function will not be executed from the next servo on The time until the servo amplifier actually enters in t...

Page 305: ...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 306: ...e 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 not finish as a result When using super trace control do not use the velocity offset To adjust the speed feed forward during super trace control use Pr PB04 Feed forward gain Setting method...

Page 307: ...ffsets are invalid In the test operation mode command offset is disabled Enabled Disabled Function block diagram Page 19 Control mode G WG Control mode Command offset Position offset Velocity offset Torque offset Cyclic synchronous position mode csp Cyclic synchronous velocity mode csv Cyclic synchronous torque mode cst Profile position mode pp Profile velocity mode pv Profile torque mode tq Homin...

Page 308: ... Status display in the following manual MR J5 A User s Manual Introduction 5 1 Explanation of monitor signals The name and description 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 a...

Page 309: ...um value of the torque generated in the past 15 seconds is displayed Torque instantaneous torque The instantaneous torque is displayed The rated torque is displayed as 100 The value of the generated torque is displayed in real time Position within one revolution The position within one revolution is displayed in the encoder pulse unit In the fully closed loop control mode the position within one r...

Page 310: ...ive value is displayed in power running The negative value is displayed in regeneration Unit total power consumption The unit total power consumption is displayed Excessive error alarm margin The margin for the excessive error alarm trigger level is displayed in the encoder pulse unit The excessive error alarm is triggered when the margin is 0 pulse Overload alarm margin The margins for the alarm ...

Page 311: ...l and servo motor Speed command 2 2 This indicates the speed command being applied to the servo motor Droop pulses command unit 2 The number of droop pulses in the deviation counter is displayed The number of pulses displayed is in the command unit U phase current feedback unit of the rated current 3 The value of the U phase current flowing in the servo motor is displayed in increments of 0 1 in r...

Page 312: ... the torque control mode the analog speed command voltage is displayed Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed as a percentage Effective load ratio The continuous effective load current is displayed The effective value in relation to the rated current 100 is displayed Peak load ratio The rated torque is displayed as 100 The maximum val...

Page 313: ...of time settling time from the completion of the command to INP In position on is displayed Oscillation detection frequency The frequency at the time of oscillation detection is displayed Number of tough drive operations The number of times the tough drive function has activated is displayed Unit power consumption The unit power consumption is displayed The positive value is displayed in power run...

Page 314: ... 2 Test operation mode Output signal DO forced output 4 Test operation mode Machine analyzer 6 Model position deviation This indicates the position deviation between the model and servo motor Speed command 2 2 This indicates the speed command being applied to the servo motor Droop pulses command unit 2 The number of droop pulses in the deviation counter is displayed The number of pulses displayed ...

Page 315: ...DO DOB 3 General purpose output B DOC 3 General purpose output C DOG Proximity dog 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 Tough drive in progress DO PC Proportional control DI POT 1 Position range When the actual current position is within the range set in Pr P...

Page 316: ...ted when OFF is input from the controller Pr PSB11 SLT torque upper limit value 2 and Pr PSB15 SLT torque lower limit value 2 are used as functional safety parameters DI SLT3C 2 SLT3 command Operation command of the safety sub function SLT3 The SLT3 function is activated when OFF is input from the controller Pr PSB12 SLT torque upper limit value 3 and Pr PSB16 SLT torque lower limit value 3 are us...

Page 317: ...t device DO SLT1S 2 SLT1 output Operation status of the safety sub function SLT1 SLT1 output is turned off while the SLT1 function is operating Page 337 Output device DO SLT2S 2 SLT2 output Operation status of the safety sub function SLT2 SLT2 output is turned off while the SLT2 function is operating Page 337 Output device DO SLT3S 2 SLT3 output Operation status of the safety sub function SLT3 SLT...

Page 318: ...using the I O monitor and graph functions of MR Configurator2 As for DI DO in the table DI indicates the monitor signal digital inputted to a servo amplifier DO indicates the monitor signal digital outputted from a servo amplifier The on off status of DI is as follows ON Either the external input signal or input from the controller is on ...

Page 319: ...ar selection 1 DI CM2 Electronic gear selection 2 DI CR Clear DI EM1 Forced stop 1 DI EM2 Forced stop 2 DI INP In position DO LOP Control switching DI LSN Reverse rotation stroke end DI LSP Forward rotation stroke end DI MBR Electromagnetic brake interlock DO MTTR During tough drive DO OP Z phase output DO PC Proportional control DI PEN 1 Command input permission signal DI PENS 1 Command pulse tra...

Page 320: ...ual MR J5 User s Manual Hardware DI TL1 Internal torque limit selection DI TLC Limiting torque DO VLC Limiting speed DO WNG Warning DO ZSP Zero speed detection DO Symbol Device name Description DI DO PWM M Speed command output 1 Droop pulses Speed command output 2 Current command Bus voltage Current detector Position command received from controller Speed command Position control Speed control Cur...

Page 321: ... command Current detector Servo motor Encoder Current feedback Position feedback Fully closed Semi closed Differentiation Differentiation Differentiation Internal temperature of encoder Load side encoder Servo motor speed Torque Motor load side speed deviation Motor load side speed deviation Speed command output 2 Position command Differentiation Dual filter Servo motor side droop pulses Load side...

Page 322: ...ion Position feedback Servo motor speed Torque PWM M FBD FBN Droop pulses Position control Speed control Current control Current command Bus voltage Speed command Current detector Servo motor Encoder Current feedback Position feedback Fully closed Semi closed Differentiation Differentiation Differentiation Internal temperature of encoder Load side encoder Servo motor speed Torque Motor load side s...

Page 323: ...nals 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 306 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 displayed with th...

Page 324: ...figurator2 with software version 1 110Q or later supports saving data in GX LogViewer format JSON file with the graph function or drive recorder function The file is saved with a json extension by default I O monitor display The I O signals of the servo amplifier on off status of the I O device and voltage of the analog monitor can be displayed The input output status of the signals and wiring can...

Page 325: ...tion 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 revolution rev Accumulated power on time h Number of inrush relay on off times times Number of dynamic brake relay on off times times LED display Displayed items A The following items can be checked in the system configuration window Ser...

Page 326: ... outputted to analog monitor 1 Refer to the following for setting values Page 325 Setting details PC09 3 MOD1 Analog monitor output 1 output axis selection Select the axis to be monitored with analog monitor 1 This servo parameter can be used with MR J5W_ _G_ 0 A axis initial value 1 B axis 2 C axis PC10 0 1 MOD2 Analog monitor 2 output selection Select the signal to be outputted to analog monitor...

Page 327: ... to the following for a description of each signal and the points detected Page 306 Explanation of monitor signals Setting value Output item Description 00 Servo motor speed 01 Torque Thrust 02 Servo motor speed 03 Torque Thrust 04 Current command 0 8 V 8 V CCW direction Maximum speed Maximum speed CW direction 0 8 V 8 V Power running in CCW direction Maximum torque Maximum torque Power running in...

Page 328: ...09 Servo motor side droop pulses 10 V 100000 pulses 1 2 3 0D Bus voltage 6 Setting value Output item Description 0 8 V 8 V CCW direction Maximum speed Maximum speed CW direction 0 10 V 10 V 1000 pulse 1000 pulse CCW direction CW direction 0 10 V 10 V 1000 pulse 1000 pulse CCW direction CW direction 0 10 V 10 V 10000 pulse 10000 pulse CCW direction CW direction 0 10 V 10 V 100000 pulse 100000 pulse...

Page 329: ...es 2 3 4 5 14 Load side droop pulses 10 V 1 Mpulses 2 3 4 5 Setting value Output item Description 0 8 V 8 V CCW direction Maximum speed Maximum speed CW direction 0 10 V 10 V 100 pulse 100 pulse CW direction CCW direction 0 10 V 10 V 1000 pulse 1000 pulse CW direction CCW direction 0 10 V 10 V 10000 pulse 10000 pulse CW direction CCW direction 0 10 V 10 V 100000 pulse 100000 pulse CW direction CCW...

Page 330: ...irmware version A5 or later 6 For 400 V class servo amplifiers the bus voltage is 8 V 800 V 15 Servo motor side load side position deviation 10 V 100000 pulses 2 3 4 5 16 Motor load side speed deviation 5 17 Internal temperature of encoder 10 V 128 C 18 Servo motor side droop pulses 10 V 1 Mpulses 1 2 3 Setting value Output item Description 0 10 V 10 V 100000 pulse 100000 pulse CW direction CCW di...

Page 331: ...g parameters in MR Configurator2 The setting range of the offset voltage is 9999 mV to 9999 mV Servo parameter Symbol Name Outline PC14 0 1 MOD1 Analog monitor 1 output selection Select the signal to be outputted to analog monitor 1 Refer to the following for setting values Page 330 Setting details PC15 0 1 MOD2 Analog monitor 2 output selection Select the signal to be outputted to analog monitor ...

Page 332: ...to the following for a description of each signal and the points detected Page 306 Explanation of monitor signals Setting value Output item Description 00 Servo motor speed 01 Torque Thrust 02 Servo motor speed 03 Torque Thrust 04 Current command 0 8 V 8 V CCW direction Maximum speed Maximum speed CW direction 0 8 V 8 V Maximum torque Maximum torque Power running in CCW direction Power running in ...

Page 333: ...ses 1 2 3 09 Servo motor side droop pulses 10 V 100000 pulses 1 2 3 0D Bus voltage 6 Setting value Output item Description 0 10 V 10 V 4 Mpulse s 4 Mpulse s CCW direction CW direction 0 10 V 10 V 100 pulse 100 pulse CCW direction CW direction 0 10 V 10 V 1000 pulse 1000 pulse CCW direction CW direction 0 10 V 10 V 10000 pulse 10000 pulse CCW direction CW direction 0 10 V 10 V 100000 pulse 100000 p...

Page 334: ... 2 3 4 5 14 Load side droop pulses 10 V 1 Mpulses 2 3 4 5 Setting value Output item Description 0 8 V 8 V CCW direction Maximum speed Maximum speed CW direction 0 10 V 10 V 100 pulse 100 pulse CW direction CCW direction 0 10 V 10 V 1000 pulse 1000 pulse CW direction CCW direction 0 10 V 10 V 10000 pulse 10000 pulse CW direction CCW direction 0 10 V 10 V 100000 pulse 100000 pulse CW direction CCW d...

Page 335: ...with firmware version A5 or later 6 For 400 V class servo amplifiers the bus voltage is 8 V 800 V 15 Servo motor side load side position deviation 10 V 100000 pulses 2 3 4 5 16 Motor load side speed deviation 5 17 Internal temperature of encoder 10 V 128 C 18 Servo motor side droop pulses 10 V 1 Mpulses 1 2 3 Setting value Output item Description 0 10 V 10 V 100000 pulse 100000 pulse CW direction ...

Page 336: ...nal devices After the specified time to confirm the motor stop the SOS function is executed SS2 This is equivalent to the stop category 2 of IEC EN 60204 1 Page 364 SS2 SOS function SOS Safe operating stop This function monitors whether the servo motor stops within the prescribed range Energy is supplied to the servo motor SLS Safely limited speed This function monitors whether the speed is within...

Page 337: ...ording to the voltage used we recommend using switches relays and sensors etc that comply with safety standards When using a switch relay sensor etc that does not comply with the safety standards use one that has been certified to be safe by the user or that has been carefully evaluated by the user Remark ISO 13849 1 Attachment F Table F 1 No 3 The time until detection of a safety monitoring error...

Page 338: ... 357 SS1 function Open SS2 command SS2C The SS2 SOS function is activated by the SS2 command Page 364 SS2 SOS function Open SLS1 command SLS1C The SLS function 1 is activated by the SLS1 command Pr PSA07 SLS deceleration monitor time 1 and Pr PSA11 SLS speed 1 are used as parameters Page 370 SLS function Open SDIP command SDIPC The SDI function is activated in the address increasing direction by t...

Page 339: ...ut SS2S This is a monitor output signal indicating that the SS2 SOS function is activated Page 364 SS2 SOS function Open SLS1 output SLS1S This is a monitor output signal indicating that the SLS function 1 is activated Page 370 SLS function Open SLS2 output SLS2S This is a monitor output signal indicating that the SLS function 2 is activated Page 370 SLS function Open SLS3 output SLS3S This is a m...

Page 340: ... motors with functional safety for the initial diagnosis of the encoder ensure about 0 5 s to 2 s in addition to the startup time of the servo amplifier For the startup time of the servo amplifier refer to Power on procedure in the following manual MR J5 User s Manual Hardware ...

Page 341: ...ting procedure To set the functional safety parameters follow the steps below 1 From the menu of MR Configurator2 select Safety Parameter Setting 2 When the password authentication dialog is displayed enter the password The default password is 000000 3 Set the functional safety parameters in the Safety Parameter Setting window 4 Click Read to read the password Check that the functional safety para...

Page 342: ...e selection Set safety sub function control by input device or safety sub function control by network Pr PSA02 Functional safety setting Make the settings in accordance with the system configuration The recommended parameter settings and achievable safety level differ depending on the system configuration Refer to the following for details Page 342 Achievable safety level Pr PSA03 SS1 SS2 decelera...

Page 343: ... Pr PL03 Linear encoder resolution setting Denominator If a different value is set AL 537 Parameter setting range error safety sub function occurs Test operation Outline It is possible to temporarily disable the safety sub functions to perform the test operation Set Pr PSA01 1 Input mode selection to 2 In test operation mode some diagnosis functions and safety sub functions are disabled This mode ...

Page 344: ... this configuration Safety sub function Servo motor with functional safety Operation mode 1 Semi Full 1 Encoder 1 Parameter setting STO function SS1 function SLT function SLS function SDI function Deceleration monitoring function SS2 SOS function SLI function Stan dard Lin ear DD Semi closed Fully closed Mitsubishi Electric serial A B Z phase Position Speed monitor setting Pr PSA02 1 Category 3 PL...

Page 345: ...nction SS2 SOS function SLI function Stan dard Lin ear DD Semi closed Fully closed Mitsubishi Electric serial A B Z phase Position Speed monitor setting Pr PSA02 1 Category 3 PL d SIL 2 Category 3 PL d SIL 2 Not required 0 Category 3 PL d SIL 2 Not required 2 Category 3 PL d SIL 2 Required 1 Required safety level Servo motor with functional safety Operation mode 2 Semi Full 2 Encoder 2 Parameter s...

Page 346: ...o amplifiers axes to use input signals can be selected from any of the following One input signal activates the safety sub function for the A axis only or activates the safety sub function for the A B and C axes at the same time Input device automatic activation selection Setting Pr PSD01 Input device automatic activation selection activates the operation command of each function automatically The...

Page 347: ...on is activated Setting functional safety parameters For the input devices that are assigned with Pr PSD02 Input device selection DI1 set the following parameter Setting the permissible time for mismatches to 0 disables the diagnosis Diagnosis with test pulses When connecting a device that has a diagnosis function safety controller etc Use the diagnosis function of the device to diagnose the exter...

Page 348: ...se time of the input device changes according to the noise elimination filter time refer also to the following Page 346 Response time of input device Response time of input device The response time of the input device changes according to the noise elimination filter time set in Pr PSD12 Input device Noise elimination filter time DI1 The following shows a sequence when STOC STO command is assigned...

Page 349: ...n Select the output device to be assigned to the output signal of the CN8 6 CN8 7 pin with Pr PSD08 Output device selection DO1 For details on each output device refer to the items in the following table For multi axis servo amplifiers axes for outputs can be selected from any of the following The A axis only or the A B and C axes as an AND output CN8 pin No Parameter 6 Pr PSD08 Output device sele...

Page 350: ...sub function occurs Whether or not to perform diagnosis on output devices using test pulses can be selected with Pr PSD29 Output device Test pulse diagnosis execution selection Setting functional safety parameters For the output devices that are assigned with Pr PSD08 Output device selection DO1 set the following parameters Set whether to execute test pulse diagnosis in Pr PSD29 Output device Test...

Page 351: ...fety sub function control is by an input device or by a network For safety sub function control by input device refer to the following Page 344 Input device For safety sub function control by network refer to the following Page 350 Safety sub function control by network At error detection When an error is detected in a servo amplifier and an alarm that disables SSM occurs each output device turns ...

Page 352: ...o 0 4 5 SDIPC SDIP command 0 The SDIP function is activated 1 The SDIP function is canceled 6 SDINC SDIN command 0 The SDIN function is activated 1 The SDIN function is canceled 7 Not used Set to 0 8 SLS1C SLS1 command 0 The SLS1 function is activated 1 The SLS1 function is canceled 9 SLS2C SLS2 command 0 The SLS2 function is activated 1 The SLS2 function is canceled 10 SLS3C SLS3 command 0 The SL...

Page 353: ...2 output 0 Indicates that the SLS2 function is not activated 1 Indicates that the SLS2 function is activated 10 SLS3S SLS3 output 0 Indicates that the SLS3 function is not activated 1 Indicates that the SLS3 function is activated 11 SLS4S SLS4 output 0 Indicates that the SLS4 function is not activated 1 Indicates that the SLS4 function is activated 12 SS1S SS1 output 0 Indicates that the SS1 funct...

Page 354: ...e for the servo amplifier so that the following two equations can be satisfied TM SRref 2 TM SCmst 2 LS 2 SRref Safety refresh response processing time ms TM Transmission interval monitor time ms SCmst Master station safety cycle time ms LS Communication cycle interval ms For the setting values of transmission interval monitor time and safety refresh monitor time of the master module refer to the ...

Page 355: ...ack fixing diagnosis function Outline The position feedback fixing diagnosis function sets the STO state when the position data from the encoder is fixed and AL 52A Position feedback error safety sub function occurs Operation outline The position feedback fixing diagnosis function is enabled when the safety sub function is enabled and the status is other than the STO state If there is no change in...

Page 356: ...tion sequence STOC STO command After servo off turn off STOC STO command while the servo motor is stopped Turning off STOC STO command will activate the STO function While STO is activated the energy supply to the servo motor is shut off and the dynamic brake is activated The servo motor returns to normal operation by turning STOC STO command back on ON ON OFF 0 r min mm s ON OFF Servo motor speed...

Page 357: ...ng off STOC STO command during operation will shut off energy without generating an alarm Note that activating the STO function during servo motor operation will shorten the service life of the dynamic brake relay After servo off turn off STOC STO command while the servo motor is stopped To decelerate at the same time use the SS1 function ON 0 r min mm s ON OFF Servo motor speed ALM malfunction ON...

Page 358: ...e 340 Functional safety parameters that must be set When using the safety sub function control by input device refer to the following Page 344 Input device When using output devices refer to the following Page 347 Output device When using the safety sub function control by network refer to the following Page 350 Safety sub function control by network ...

Page 359: ...orrectly Deceleration monitoring can be switched with Pr PSA02 Functional safety setting Sequence outline SS1C SS1 command The operation sequence of the time monitoring function of the SS1 function is shown below The SS1 function is activated by turning off SS1C SS1 command First the servo motor decelerates by either the dynamic brake electronic dynamic brake or forced stop At the same time the ti...

Page 360: ...TO function is activated when the time set in Pr PSA03 SS1 SS2 deceleration monitor time has elapsed For the alarms that activate the SS1 function refer to List of alarm No warning No in the following manual MR J5 User s Manual Troubleshooting For how to return to normal operation refer to the following Page 387 At alarm occurrence 0 r min mm s ON ON Servo motor speed ALM malfunction ON disabled O...

Page 361: ...off and the time set in Pr PSA26 SS1 SS2 deceleration monitor delay time has passed During deceleration when both the absolute value of the speed command and the absolute value of the speed feedback become equal to or less than the value set in Pr PSA04 Safety sub function Stop speed deceleration is considered to have been completed After the time set in Pr PSA15 Safety sub function Speed detectio...

Page 362: ...ff If the observation speed is exceeded the STO function is activated after the time set in Pr PSA15 Safety sub function Speed detection delay time has lapsed 0 r min mm s OFF ON ON OFF Servo motor speed SS1C SS1 command ON disabled OFF enabled SS1S SS1 output ON monitoring STOS STO output OFF shut off Base circuit energy supply to servo motor ALM malfunction OFF enabled Speed detection delay time...

Page 363: ...ollowing manual MR J5 G MR J5W G User s Manual Parameters 4 The stop method in continuous operation to torque control mode is the same as that in the torque control mode Servo amplifier parameter Servo motor 3 Control mode during operation of the SS1 function 4 Stop methods 1 When activated by SS1C SS1 command When activated by alarm occurrence 2 Pr PA04 3 Forced stop deceleration function selecti...

Page 364: ...ceeded and the STO function is activated Dynamic brake stop DB When the SS1 function is activated dynamic brake stop is executed For the dynamic brake operation refer to Dynamic brake characteristics in the following manual MR J5 User s Manual Hardware When the deceleration monitoring function is enabled if the deceleration monitor time constant is shorter than the braking time during dynamic brak...

Page 365: ...meters that must be set When using the safety sub function control by input device refer to the following Page 344 Input device When using output devices refer to the following Page 347 Output device When using the safety sub function control by network refer to the following Page 350 Safety sub function control by network Since the SS1 function is used for an emergency stop when an error is detec...

Page 366: ...and from the controller For details on speed monitoring and delay time monitoring during deceleration refer to the following Page 365 Deceleration stop monitoring After the deceleration is completed stop monitoring is performed During stop monitoring speed command monitoring speed feedback monitoring position feedback monitoring and position command monitoring are performed For details refer to th...

Page 367: ...er the speed falls to or below the stop speed Delay time monitoring during deceleration If the elapsed time after the SS2 SOS function is activated exceeds the value set in Pr PSA03 SS1 SS2 deceleration monitor time it is considered that deceleration has ended and stop monitoring SOS is activated 0 r min OFF Servo motor speed SS2C SS2 command ON disabled OFF enabled SOSS SOS output ON monitoring S...

Page 368: ... For the threshold used for judgment the offset can be set in Pr PSA25 SS1 SS2 deceleration monitor speed offset 0 r min OFF Servo motor speed SS2C SS2 command ON disabled OFF enabled SOS SOS output ON monitoring Speed detection delay time SS1 SS2 deceleration monitor time Deceleration Deceleration monitor delay time Stop monitoring SOS Deceleration monitor time constant Deceleration monitor speed...

Page 369: ...A04 Safety sub function Stop speed If the time of the speed feedback remains exceeded for the duration set in Pr PSA15 Safety sub function Speed detection delay time the STO function is activated 0 r min ON OFF ON OFF Servo motor speed SS2C SS2 command ON disabled OFF enabled ALM malfunction ON disabled OFF enabled Base circuit energy supply to servo motor STOS STO output OFF shut off SOSS SOS out...

Page 370: ...stance If the travel distance remains deviated for the duration set in Pr PSA17 Safety sub function Position detection delay time the STO function is activated 0 pulse ON OFF ON OFF Feedback pulse SS2C SS2 command ON disabled OFF enabled ALM malfunction ON disabled OFF enabled Base circuit energy supply to servo motor STOS STO output OFF shut off SOSS SOS output Stop monitoring SOS Feedback Comman...

Page 371: ...he speed falls below the stop speed during deceleration to when stop monitoring starts and the delay time from when the stop speed is exceeded during stop monitoring to when the STO function is activated can be changed with Pr PSA15 Safety sub function Speed detection delay time Safety sub function Position detection delay time The delay time from when the travel distance exceeds the threshold to ...

Page 372: ...quence outline The SLS function is activated by turning off SLS_C SLS_command After SLS_C SLS_ command is turned off speed monitoring starts after the delay time specified by the functional safety parameter has elapsed During speed monitoring the function monitors whether the servo motor speed is within the SLS speed set by the functional safety parameter Speed monitoring ends by turning on SLS_C ...

Page 373: ...owing sequence SLS speed 2 is a smaller value than SLS speed 1 so if both the SLS1 command and the SLS2 command are enabled monitoring by SLS speed 2 is enabled SLS command SLS deceleration monitor time SLS speed SLS1 command Pr PSA07 SLS deceleration monitor time 1 Pr PSA11 SLS speed 1 SLS2 command Pr PSA08 SLS deceleration monitor time 2 Pr PSA12 SLS speed 2 SLS3 command Pr PSA09 SLS deceleratio...

Page 374: ...dback is within the SLS speed If the time of the speed feedback remains exceeded for the duration set in Pr PSA15 Safety sub function Speed detection delay time the STO function is activated 0 r min mm s ON OFF ON Servo motor speed SLS_C SLS_command ON disabled OFF enabled ALM malfunction ON disabled OFF enabled Base circuit energy supply to servo motor STOS STO output OFF shut off Speed monitorin...

Page 375: ...to or below the SLS speed Although there are parameters corresponding to SLS1C SLS1 command to SLS4C SLS4 command it is not necessary to set the parameters corresponding to commands that are not enabled SLS speed 1 to SLS speed 4 Refer to the operation sequence and set the speed threshold for speed monitoring Although there are parameters corresponding to SLS1C SLS1 command to SLS4C SLS4 command i...

Page 376: ...f the speed command and the absolute value of the speed feedback are lower than the SSM speed by the amount set in Pr PSA19 SSM hysteresis width SSMS SSM output is turned on By properly setting Pr PSA19 chattering of SSMS SSM output can be prevented when the servo motor speed fluctuates in the vicinity of the SSM speed Setting functional safety parameters When using the SSM function set the follow...

Page 377: ... the power is shut off by the STO function the dynamic brake stops from activation of the STO function until activation of the electromagnetic brake Be aware that if the axis is a vertical axis it may drop Setting functional safety parameters Refer to the following to set the functional safety parameters Page 340 Functional safety parameters that must be set Page 347 Output device ON OFF ON OFF ON...

Page 378: ...in Pr PSA04 Safety sub function Stop speed for the specified monitoring direction Monitoring ends by turning on SDIPC SDIP command or SDINC SDIN command The SDI direction monitor delay time can be specified individually for the address increasing direction and for the address decreasing direction The operation sequence by SDIPC SDIP command is shown below The function monitors the address increasi...

Page 379: ...ay time from when the stop speed is exceeded until the STO function is activated 0 r min mm s SDI negative direction monitor delay time Direction monitoring Command Stop speed Servo motor speed Stop speed An alarm will occur if the stop speed in the address decreasing direction is exceeded Feedback ON disabled SDIPC SDIP command OFF enabled ON disabled SDIPS SDIP output OFF enabled ON disabled SDI...

Page 380: ... device refer to the following Page 344 Input device When using output devices refer to the following Page 347 Output device When using the safety sub function control by network refer to the following Page 350 Safety sub function control by network When using the SDI function set the following parameters Parameter Name PSA04 Safety sub function Stop speed PSA15 Safety sub function Speed detection...

Page 381: ...ng on SLIC SLI command Position monitoring Position feedback monitoring During position monitoring the function monitors whether the travel distance of the position feedback is within the SLI permissible travel distance Upon detection that the travel distance after the position monitoring starts exceeds the SLI permissible travel distance the STO function is activated However there will be a delay...

Page 382: ...b function control by network refer to the following Page 350 Safety sub function control by network When using the SLI function set the following parameters Parameter Name PSB01 SLI permissible travel distance Unit selection PSB02 SLI permissible travel distance Positive direction 1 PSB06 SLI permissible travel distance Negative direction 1 PSA17 Safety sub function Position detection delay time ...

Page 383: ...turning off SLTC SLT command The function starts torque monitoring right after SLTC SLT command is turned off During torque monitoring the function monitors whether the torque command and the torque feedback is within the specified range Torque monitoring ends by turning on SLTC SLT command 0 0 Torque SLT1C SLT1 command ON disabled OFF enabled SLT1S SLT1 output OFF enabled SLT torque upper limit v...

Page 384: ...led In the following sequence SLT torque 2 is a more valid than SLT torque 1 so monitoring by SLT torque 2 is enabled while both the SLT1 command and SLT2 command are enabled Command Applied SLT command upper limit value Applied SLT command lower limit value SLT1 command Pr PSB10 SLT torque upper limit value 1 Pr PSB14 SLT torque lower limit value 1 SLT2 command Pr PSB11 SLT torque upper limit val...

Page 385: ...ring torque monitoring the function monitors whether the torque feedback is within the SLT torque If the time of the torque feedback remains exceeded for the duration set in Pr PSB18 SLT torque detection delay time the STO function is activated 0 0 ON Torque SLT1C SLT1 command ON disabled OFF enabled SLT1S SLT1 output OFF enabled SLT torque upper limit value SLT torque lower limit value Torque mon...

Page 386: ...quence and set the threshold for torque monitoring Although there are parameters corresponding to SLT1C SLT1 command to SLT4C SLT4 command it is not necessary to set the parameters corresponding to commands that are not enabled SLT torque detection delay time Set the error detection time for the detected torque The setting value of this parameter changes the delay time from when the SLT torque exc...

Page 387: ...usly When there are multiple operation triggers for a function that function is activated when any one of them is valid The following shows the operation sequence when an alarm occurs while SS1 is activated by SS1C SS1 command There are two triggers for the SS1 function namely SS1C SS1 command input and ALM Malfunction but the only timer that counts the SS1 SS2 deceleration monitor time is the one...

Page 388: ...te by STOC STO command time counting of the SS1 function is not executed Even if STOC STO command is turned on the STO state by SS1C SS1 command continues and the STO state is not released Moreover if STOC STO command is turned off while the SS1 function is being executed both the deceleration operation of SS1 and time counting are suspended 0 r min Servo motor speed STOC STO command ON disabled O...

Page 389: ...e of the following methods Alarm reset Communication reset Power cycling Stop methods Explanation DB Stops with dynamic brake for a servo amplifier without the dynamic brake the servo motor coasts EDB The time constant τ for the electronic dynamic brake will be shorter than that of the normal dynamic brake Therefore the coasting distance will be shorter than that of a normal dynamic brake SD Perfo...

Page 390: ...eration releases the STO and the operation returns to normal 1 Remove the cause of the alarm 2 Turn on STOC STO command 3 Reset the alarm ON ON OFF ON OFF DI1A DI1B ALM malfunction ON disabled OFF enabled STOS STO output OFF shut off Servo amplifier display Alarm No Alarm reset No alarm ON STOC STO command ON disabled OFF enabled SS1C SS1 command ON disabled OFF enabled SS2C SS2 command ON disable...

Page 391: ...as Pr PA01 1 Operation mode selection Same value as Pr PA01 1 Pr PSD01 Input device automatic activation selection SLS1C to SLS4C 0 Each bit 0 to 1 0 SLT1C to SLT4C Each bit 0 to 1 0 SDIPC SDINC 0 Each bit 0 to 1 0 Pr PSD02 Input device selection DI1 01 STOC 02 SS1C 0A SLT1C to 0D SLT4C 01 STOC to 0E SLIC 01 STOC 02 SS1C 04 SLS1C to 0D SLT4C Pr PSD08 Output device selection DO1 01 STOS 02 SS1S 0A ...

Page 392: ... the connected servo motor Parameters related to Pr PSB10 SLT torque upper limit value 1 to Pr PSB13 SLT torque upper limit value 4 Set a larger value than the SLT torque lower limit value to the SLT torque upper limit value Pr PSA02 1 Position Speed monitor setting 0 Do not monitor the position speed 1 Monitor the position speed using a servo motor with functional safety 2 Monitor the speed witho...

Page 393: ...ower to apply the settings The table shows the initial values 7 2 Managing accounts To use the network function set an account Accounts can be set with the following network parameters Up to 8 accounts can be set The following account is set from the factory Function Description FTP server function This function enables file transfer with the servo amplifier It is available on servo amplifiers wit...

Page 394: ...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 395: ...ing requirements Only files with a name meeting the requirements can be used Precautions Restrictions are applied to each directory Page 394 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 be ...

Page 396: ...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 391 IP address setting 2 Account setting Set an account to log into the FTP se...

Page 397: ...mplifier 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 398: ...nication function Mitsubishi Electric AC servo protocol for operations such as operating servos changing servo parameters and using the monitoring function 8 1 Structure System architecture Diagrammatic sketch Up to 32 axes of servo amplifiers stations 0 to 31 can be operated and controlled on the same bus CN3 CN3 CN3 Axis No n station n 1 n 1 to 32 Axis No 2 station 1 Axis No 1 station 0 Servo am...

Page 399: ...is 30 m or less in low noise environment 4 If the RS 422 compatible controller does not have a termination resistor terminate it with a 150 Ω resistor 29 39 32 41 40 3 28 30 34 SDP SD RDP SDN TRE RDN LG 29 39 32 41 40 3 28 30 34 SDP SD RDP SDN TRE RDN LG 29 39 32 41 40 3 28 30 34 SDP SD RDP SDN TRE 2 RDN LG Plate Connector for 1st servo amplifier CN3 1 Modbus compatible controller Connector for 2n...

Page 400: ... from the AC power socket 2 Check that the power plug has been disconnected and connect the computer to the servo amplifier 3 Connect the power plug of the personal computer to the AC power socket When using a personal computer with battery The computer can be used as it is Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electrici...

Page 401: ... Match this value to the communication speed of the sending side master station RS 422 communication response delay time Set the time from when the servo amplifier slave station receives communication data until when it returns data Setting Pr PC21 2 RS 422 communication Response delay time selection to 1 enabled will return data in 800 μs or longer Setting station numbers Set the station No of th...

Page 402: ...all servo amplifiers being connected However when return data is required from the servo amplifier in response to the transmission data set 0 as the station No of the servo amplifier which must provide the return data Transmission of data from the controller to the servo Transmission of data request from the controller to the servo Data SOH STX Command Data No ETX STX ETX Checksum Checksum 10 fram...

Page 403: ...8 Recovery of communication status by time out Data frames The data length varies depending on the command The servo side returns to a receive neutral state by an EOT Controller side master station EOT Servo side slave station or or or 12 frames Data 4 frames Data 8 frames 16 frames ...

Page 404: ...of transmission ctrl A ctrl B ctrl C ctrl D Station No 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F Station No 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 ASCII code G H I J K L M N O P Q R S T U V b8 b7 b6 b5 0 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 1 0 1 1 0 0 1 1 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 NUL SOH STX ETX DLE Space 0 1 2 3 4 5 6 7 8 9 A ...

Page 405: ...ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH Error code Error name Explanation Remark In normal state At alarm occurrence A a Normal Transmitted data was processed normally Positive response B b Parity error A parity error occurred in the transmitted data Negative response C c Checksum error A checksum error occurred in the transmitted data D d ...

Page 406: ...is repeated and results in the error three or more consecutive times Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times Initialization After the slave station is switched...

Page 407: ...than error code A or a 3 consecutive times 300 ms elapsed Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receive 3 consecutive times Receive data analysis End 100 ms after EOT transmission Error processing Error processing No Yes Yes Yes No No No No Yes Yes Master station Is there receive data Command Data No Checksum 30H 33...

Page 408: ...and pulses 0 4 Command pulse frequency speed unit 0 5 Analog speed command voltage Analog speed limit voltage 0 6 Analog torque command voltage Analog torque limit voltage 0 7 Regenerative load ratio 0 8 Effective load ratio 0 9 Peak load ratio 0 A Instantaneous torque 0 B Position within one revolution 0 C ABS counter 0 D Load to motor inertia ratio 0 E Bus voltage 0 F Load side encoder cumulativ...

Page 409: ...alog speed limit voltage 8 6 Analog torque command voltage Analog torque limit voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Position within one revolution 8 C ABS counter 8 D Load to motor inertia ratio 8 E Bus voltage 8 F Load side encoder cumulative feedback pulses 9 0 Load side encoder droop pulses 9 1 Load side encoder informatio...

Page 410: ...o 0 0 before reading the upper limit values The decimal converted from the data No value hexadecimal corresponds to the servo parameter No 12 1 7 0 1 to F F Lower limit value of each servo parameter setting range The permissible lower limit values of the parameters in the servo parameter group specified with the command 8 5 data No 0 0 can be read Always specify a servo parameter group with the co...

Page 411: ...Third last alarm 2 3 Fourth last alarm 2 4 Fifth last alarm 2 5 Sixth last alarm 2 6 Seventh last alarm 2 7 Eighth last alarm 2 8 Ninth last alarm 2 9 Tenth last alarm 2 A Eleventh last alarm 2 B Twelfth last alarm 2 C Thirteenth last alarm 2 D Fourteenth last alarm 2 E Fifteenth last alarm 2 F Sixteenth last alarm 4 0 Alarm detail No in alarm history Last alarm detail No 4 4 1 Second last alarm d...

Page 412: ...d 1 2 0 2 Droop pulses 0 3 Cumulative command pulses 0 4 Command pulse frequency speed unit 0 5 Analog speed command voltage Analog speed limit voltage 0 6 Analog torque command voltage Analog torque limit voltage 0 7 Regenerative load ratio 0 8 Effective load ratio 0 9 Peak load ratio 0 A Instantaneous torque 0 B Position within one revolution 0 C ABS counter 0 D Load to motor inertia ratio 0 E B...

Page 413: ...alog speed limit voltage 8 6 Analog torque command voltage Analog torque limit voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Position within one revolution 8 C ABS counter 8 D Load to motor inertia ratio 8 E Bus voltage 8 F Load side encoder cumulative feedback pulses 9 0 Load side encoder droop pulses 9 1 Load side encoder informatio...

Page 414: ...Description Frame length 0 0 1 2 Reading the test operation mode 0000 Normal mode not test operation mode 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output 4 Command Data No Description Frame length 0 2 7 0 Firmware version 16 Command Data No Description Frame length 0 2 9 0 Absolute position in units of servo motor side pulses 8 9 1 Absolute position in the command...

Page 415: ...asic setting servo parameters Pr PA_ _ 0001 Gain filter servo parameters Pr PB_ _ 0002 Extension setting servo parameters Pr PC_ _ 0003 I O setting servo parameters Pr PD_ _ 0004 Extension setting 2 servo parameters Pr PE_ _ 0005 Extension setting 3 servo parameters Pr PF_ _ 000B Motor extension setting servo parameters Pr PL_ _ 0000 to 0005 000B 4 Command Data No Description Setting range Frame l...

Page 416: ...n mode JOG operation and positioning operation 0000 to 7FFF 4 1 1 Writes the acceleration deceleration time constant in the test operation mode JOG operation and positioning operation 00000000 to 7FFFFFFF 8 2 0 Set the travel distance in the test operation mode positioning operation 00000000 to 7FFFFFFF 8 2 1 Select the positioning direction of the test operation positioning operation 0000 to 0101...

Page 417: ... 0 convert the eight character data from hexadecimal to decimal and place a decimal point according to the decimal point information When the display type is 1 use the eight character data unchanged The following example indicates how to process the received data for status display 003000000929 The received data is as follows Since the display type is 0 in this case convert the hexadecimal data in...

Page 418: ...mitted is the following value The following example shows how to process the set data when a value of 15 5 is transmitted Since the decimal point position is the second least significant digit the decimal point position data is 2 As the data to be transmitted is hexadecimal convert the decimal data into hexadecimal 155 9B Therefore transmit 0200009B 0 Data in hexadecimal Decimal point position 0 N...

Page 419: ...cumulative feedback pulse data of the status display is cleared Transmit this command immediately after reading the status display item The slave station clears the transmitted status display item data to 0 For example after transmitting the command 0 1 and data No 8 0 and receiving the status display data transmitting the command 8 1 data No 0 0 and data 1EA5 will clear the cumulative feedback pu...

Page 420: ... The data No is represented in hexadecimal The decimal converted from the data No value corresponds to the servo parameter No Return The slave station returns the symbol of the requested servo parameter Command Data No Transmission data Servo parameter group 8 5 0 0 0000 Basic setting servo parameters Pr PA_ _ 0001 Gain filter servo parameters Pr PB_ _ 0002 Extension setting servo parameters Pr PC...

Page 421: ...e one that cannot be written referenced according to Pr PA19 parameter writing prohibited Reading setting ranges The setting ranges of servo parameters can be read Specify a servo parameter group in advance Transmission When reading an upper limit value transmit the command 1 6 and the data No 0 1 to F F corresponding to the servo parameter No When reading a lower limit value transmit the command ...

Page 422: ...The decimal converted from the data No value corresponds to the servo parameter No When the data to be written is decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Check that the writing data is within the upper lower limit value before writing After the writing proc...

Page 423: ...lected with Pr PD44 Input device selection 11H or Pr PD46 Input device selection 12H the bit will be always 0 off Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 EM1 EM2 26 CDP2 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 STO1 30 7 CR 15 LOP 23 STO2 31 Bit CN3 connector pin Bit CN3 connector pin B...

Page 424: ...0 0 Reading the external output pin status The on off state of the external output pin can be read Transmission Transmit the command 1 2 data No C 0 Return The slave station returns the output pin status Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin 0 49 8 14 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 15 2...

Page 425: ... well The on off states of all devices in the servo amplifier are the states of the last received data Therefore when there is a device which must be kept on transmit data which turns the device on every time Transmit the command 9 2 data No 6 0 data The bit is the same as that of 1 2 0 0 Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 RD 8 ALM 16 24 CDPS2 1 SA 9 OP 17 25 CDPS 2 ZSP 10 MBR 18 26 CLD...

Page 426: ...ed or enabled Disabling Enabling Output devices Output devices can be disabled or enabled Disabling Enabling Input device on off test operation Each input device can be turned on off for test operation However when the device to be switched off is in the external input signal switch off the input signal as well Transmit the command 9 2 data No 0 0 data The bit is the same as that of 1 2 0 0 Signal...

Page 427: ... Set the test operation mode type with the following procedure 1 Selecting test operation mode Transmit the command 8 B data No 0 0 data to set the test operation mode 2 Checking test operation mode Read the set test operation mode from the slave station and check that the mode has been set correctly Transmission Transmit the command 0 0 data No 1 2 Return The slave station returns the set test op...

Page 428: ...0 0 00000001 Turn on SON 8 B 0 0 0000 Test operation mode iscanceled 9 2 0 0 Forward rotation direction 00000807 Turn on SON LSP LSN and ST1 Reverse rotation direction 00001007 Turn on SON LSP LSN and ST2 Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Start Start Stop End Stop S...

Page 429: ...eleration time constant ms in hexadecimal Set the operation pattern Travel distance setting A 0 2 0 Write the travel distance pulse in hexadecimal Command Data No Data Rotation direction selection A 0 2 1 0000 Forward rotation direction 0001 Reverse rotation direction Command Data No Data When LSP LSN was turned Off by external input signal When LSP LSN was turned On by external input signal or au...

Page 430: ...decelerate the servo motor to a stop Transmitting the following command data No and data during a temporary stop will restart the servo motor 1 _ indicates a blank Transmitting the following command data No and data during a temporary stop will stop positioning operation and erase the remaining travel distance 1 _ indicates a blank Command Data No Data A 0 4 1 STOP Command Data No Data 1 A 0 4 1 G...

Page 431: ...utput signal on off Transmit the following communication command Output signal DO forced output To stop the output signal DO forced output transmit the command 8 B data No 0 0 data Command Data No Setting data 9 2 A 0 See below Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin 0 49 8 14 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29...

Page 432: ... is recommended that the alarm history is read under conditions where an alarm will not occur such as during servo off Reading alarm numbers The numbers of the alarms that occurred in the past can be read The numbers of the 0th alarm last alarm through the 15th alarm sixteenth last alarm can be read Transmission Transmit the command 3 3 data No 0 1 to 1 F Return The alarm No corresponding to the d...

Page 433: ...ed in terms of the total time beginning with operation start with the minute unit omitted Transmission Transmit the command 3 3 data No 2 0 to 2 F Return For example data 01F5 means that the alarm occurred 501 hours after operation has started Clearing the alarm history The alarm history can be cleared Transmit the command 8 2 data No 2 0 Command Data No Data 8 2 2 0 1EA5 Alarm occurrence time in ...

Page 434: ...esponding to the status display item is transmitted the data value and data processing information will be returned Transmission Transmit the command 3 5 and the data No corresponding to the status display item to be read 8 0 to 8 E and A 0 to A 9 Return The slave station returns the requested status display data at alarm occurrence 0 Alarm No in hexadecimal 0 0 0 0 Alarm detail No in hexadecimal ...

Page 435: ...o amplifier ready to operate After removing the cause of the alarm reset the alarm with no command entered Version Firmware version The firmware version of the servo amplifier can be read Transmission Transmit the command 0 2 data No 7 0 Return The slave station returns the requested firmware version For example data BCD B58W100 B6 means firmware version B6 Command Data No Data 8 2 0 0 1EA5 Firmwa...

Page 436: ...slave station returns the requested servo motor side pulses For example data 000186A0 means 100000 pulses in units of motor side pulses Absolute position in the command unit The absolute position can be read in the command unit Transmission Transmit the command 0 2 data No 9 1 Return The slave station returns the requested command pulses For example data 000186A0 means 100000 pulses in the command...

Page 437: ...8 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC AC SERVO PROTOCOL A 8 5 Detailed explanations of commands 435 8 MEMO ...

Page 438: ...nctions are added Continuous operation to torque control mode limit switch release position assessment function A B Z phase differential output type rotary encoder functional safety network function Added sections Section 3 6 and Chapters 6 and 7 November 2020 SH NA 030300ENG D The following functions are added Communication function Mitsubishi Electric AC servo protocol degree unit 400 V class se...

Page 439: ...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 440: ...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 SH NA 030300ENG D ...

Page 441: ......

Page 442: ...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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