Mitsubishi Electric MR-J5-B User Manual Download Page 106 | Manualshive

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104

1 SERVO PARAMETER DETAILS
1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

[Pr. PF74_Static friction during installation (SSF)]

Set a static friction for when the belt is attached to the equipment. Set the static friction with any of the following values
estimated by the friction estimation function depending on the value of [Pr. PF71.1 Belt tension deterioration prediction friction
selection]: static friction at forward rotation, static friction at reverse rotation, or the average of the estimated frictions.

[Pr. PF75_Static friction when extended (ASF)]

Set a static friction for when the belt stretches or for when the belt is looser than at the time of the attachment. Set the static
friction with any of the following values estimated by the friction estimation function depending on the value of [Pr. PF71.1 Belt
tension deterioration prediction friction selection]: static friction at forward rotation, static friction at reverse rotation, or the
average of the estimated frictions.
The belt tension deterioration prediction function is disabled when the setting is: [Pr. PF74 Static friction during installation] <
[Pr. PF75 Static friction when extended].

[Pr. PF76_Belt tension irregular threshold (BTS)]

Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. Set this servo parameter as a percentage of [Pr. PF72 Belt
tension on installation]. When using the belt diagnosis function, input a value other than "0".

Belt tension threshold = [Pr. PF76 Belt tension irregular threshold]/100 × [Pr. PF72 Belt tension on installation]

Initial value

Setting range

Setting method

Ver.

0 [0.1 %]

0 to 10000

Each axis

C4

Initial value

Setting range

Setting method

Ver.

0 [0.1 %]

0 to 10000

Each axis

C4

Initial value

Setting range

Setting method

Ver.

0 [0.1 %]

0 to 1000

Each axis

C4

Static friction that triggers a warning

[Pr. PF75 Static friction when extended]

Belt tension threshold

[Pr. PF72 Belt tension

on installation]
[Pr. PF73 Belt tension

when extended]

[Pr. PF74 Static friction during installation]

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Summary of Contents for MR-J5-B

Page 1: ...MR J5 B MR J5W B User s Manual Parameters MR J5 _B_ MR J5W_ _B_ 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: ...oduction U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F Rotary Servo Motor Linear...

Page 6: ...ing DRAT 26 Pr PA24_Function selection A 4 AOP4 27 Pr PA25_One touch tuning Overshoot permissible level OTHOV 27 Pr PA26_Function selection A 5 AOP5 27 Pr PA28_Function selection A 6 AOP6 28 Pr PA34_Quick tuning Permissible travel distance QDIS 28 1 3 Gain filter setting servo parameters group Pr PB_ _ 29 Pr PB01_Adaptive tuning mode adaptive filter II FILT 29 Pr PB02_Vibration suppression control...

Page 7: ...e frequency VRF22 53 Pr PB54_Vibration suppression control 2 Vibration frequency damping VRF23 53 Pr PB55_Vibration suppression control 2 Resonance frequency damping VRF24 53 Pr PB56_Gain switching Vibration suppression control 2 Vibration frequency VRF21B 54 Pr PB57_Gain switching Vibration suppression control 2 Resonance frequency VRF22B 54 Pr PB58_Gain switching Vibration suppression control 2 ...

Page 8: ...2 SVDT2 73 Pr PC86_Servo amplifier replacement data 3 SVDT3 74 Pr PC87_Servo amplifier replacement data 4 SVDT4 74 Pr PC88_Servo amplifier replacement data 5 SVDT5 74 Pr PC89_Servo amplifier replacement data 6 SVDT6 74 Pr PC90_Servo amplifier replacement data 7 SVDT7 74 Pr PC91_Servo amplifier replacement data 8 SVDT8 75 Pr PC92_Servo amplifier replacement data 9 SVDT9 75 Pr PC93_Servo amplifier r...

Page 9: ...error detection time STOD 92 Pr PF19_Friction failure prediction Compensation coefficient 1 TSL 92 Pr PF20_Friction failure prediction Compensation coefficient 2 TIC 92 Pr PF21_Drive recorder switching time setting DRT 93 Pr PF23_Vibration tough drive Oscillation detection level OSCL1 93 Pr PF24_Function selection F 9 FOP9 93 Pr PF25_SEMI F47 function Instantaneous power failure detection time Ins...

Page 10: ...selection L 2 LIT2 121 Pr PL05_Position deviation error detection level LB1 122 Pr PL06_Speed deviation error detection level LB2 122 Pr PL07_Torque deviation error detection level LB3 122 Pr PL08_Function selection L 3 LIT3 123 Pr PL09_Magnetic pole detection voltage level LPWM 123 Pr PL17_Magnetic pole detection Minute position detection method Function selection LTSTS 124 Pr PL18_Magnetic pole ...

Page 11: ...9 CONTENTS CHAPTER 4 SERVO PARAMETER SETTING METHOD 150 4 1 Engineering tool 150 4 2 Controller 150 REVISIONS 152 WARRANTY 153 TRADEMARKS 154 ...

Page 12: ...ecautions Never make a drastic adjustment or change to the servo parameter values as doing so will make the operation unstable Do not change the servo parameter settings as described below Doing so may cause an unexpected condition such as failing to start up the servo amplifier Changing the values of the servo parameters for manufacturer setting Setting a value outside the range Changing the fixe...

Page 13: ... power or reset either the controller or the software After setting cycle the power or reset the software Name Indicates the name of the servo parameter Initial value unit Indicates the servo parameter initial value at factory setting When there is a unit in the servo parameter the unit is shown with Setting range Indicates the setting range of the servo parameter Setting method For multi axis ser...

Page 14: ...od of four wire type cannot be used in the fully closed loop control mode on the MR J5 _B_ In that case use the MR J5 _B_ RJ When this servo parameter is set to 1 in the linear servo motor control mode or the direct drive motor control mode AL 037 Parameter error occurs Setting 1 enabled on the MR J5W3 _B_ triggers AL 037 0 Disabled semi closed loop control mode 1 Enabled fully closed loop control...

Page 15: ...uilt in regenerative resistors are used on servo amplifiers with a capacity of 0 2 kW to 7 kW 01 FR XC H 02 MR RB032 03 MR RB12 05 MR RB30 06 MR RB50 A cooling fan is required 08 MR RB31 09 MR RB51 A cooling fan is required 0B MR RB3N 0C MR RB5N A cooling fan is required 0D MR RB14 0E MR RB34 1C MR RB3Z 1D MR RB5Z A cooling fan is required 80 MR RB1H 4 81 MR RB3M 4 A cooling fan is required 82 MR ...

Page 16: ...XC H setting this servo parameter to 1 enabled triggers AL 037 Parameter error 0 Simple converter is not used 1 MR CM3K Pr PA02 5_Excessive regeneration warning enabled disabled selection When Pr PA02 4 is set to 0 simple converter is not used setting this servo parameter to 1 disabled triggers AL 037 Parameter error When the simple converter is used whether to enable or disable the detection of A...

Page 17: ...eryless absolute position encoder equipped servo motor while the absolute position detection system is in enabled status set this servo parameter to enabled Selecting 1 enabled enables servo motor replacement After completing the servo motor replacement preparation the value automatically changes to 0 disabled After replacing the servo motor the home position is erased Execute homing again If AL 0...

Page 18: ...r is set to a value other than 1 while Pr PA01 1 is set to 6 direct drive motor control mode AL 037 will occur If the linear scale and A B Z phase differential output type encoder are connected to the load side encoder and this servo parameter is set to a value other than 1 while Pr PA01 4 Fully closed loop operation mode selection is set to 1 enabled fully closed loop control mode AL 037 will occ...

Page 19: ...egral compensation 1 Auto tuning mode 1 Pr PB06 Load to motor inertia ratio load to motor mass ratio Pr PB07 Model control gain Pr PB08 Position control gain Pr PB09 Speed control gain Pr PB10 Speed integral compensation 2 Auto tuning mode 2 Pr PB07 Model control gain Pr PB08 Position control gain Pr PB09 Speed control gain Pr PB10 Speed integral compensation 3 Manual mode 4 2 gain adjustment mode...

Page 20: ... enabled the following servo parameters return to the values from before quick tuning If quick tuning has never been performed after power on or software reset setting 1 enabled only keeps the current servo parameter values Initial value Setting range Ver 0h Refer to the text C4 Initial value Setting range Ver 0h Refer to the text C4 Initial value Setting range Ver 0h Refer to the text C4 No Symbo...

Page 21: ...ine characteristic Responsiveness Guideline for machine resonance frequency Hz 1 2 7 2 3 6 3 4 9 4 6 6 5 10 0 6 11 3 7 12 7 8 14 3 9 16 1 10 18 1 11 20 4 12 23 0 13 25 9 14 29 2 15 32 9 16 37 0 17 41 7 18 47 0 19 52 9 20 59 6 21 67 1 22 75 6 23 85 2 24 95 9 25 108 0 26 121 7 27 137 1 28 154 4 29 173 9 30 195 9 31 220 6 32 248 5 33 279 9 34 315 3 35 355 1 36 400 0 37 446 6 38 501 2 39 571 5 40 642 ...

Page 22: ...ed loop control mode Motor side encoder 1 fully closed loop control mode Load side encoder Initial value Setting range Setting method Ver 0 0 to 1 Each axis C4 Setting value of Pr PA14 Servo motor rotation direction linear servo motor travel direction Positioning address increasing direction Positioning address decreasing direction 0 CCW or positive direction CW or negative direction 1 CW or negat...

Page 23: ...he linear servo motor are as follows Forward rotation CCW Forward rotation CCW Reverse rotation CW Reverse rotation CW Negative direction Negative direction Secondary side Positive direction Secondary side Table Positive direction Primary side Secondary side Positive direction Primary side Primary side Negative direction LM U2 series LM K2 series LM H3 series LM F series ...

Page 24: ...e electronic gear setting in Pr PC03 1 The maximum output frequency is 4 6 Mpulses s Set the value within the range Pr PA16_Encoder output pulses 2 ENR2 Set the electronic gear denominator for the A B phase pulse output Set a denominator for the electronic gear for when 3 A phase B phase pulse electronic gear setting is selected in Pr PC03 1 Encoder output pulse setting selection When 1 dividing r...

Page 25: ...h LM U2PAD 10M 0SS0 A401h LM U2PAF 15M 0SS0 A601h LM U2PBB 07M 1SS0 B201h LM U2PBD 15M 1SS0 B401h LM U2PBF 22M 1SS0 2601h LM U2P2B 40M 2SS0 2201h LM U2P2C 60M 2SS0 2301h LM U2P2D 80M 2SS0 2401h LM F LM FP2B 06M 1SS0 natural cooling 000000B2h 2201h LM FP2D 12M 1SS0 natural cooling 2401h LM FP2F 18M 1SS0 natural cooling 2601h LM FP4B 12M 1SS0 natural cooling 4201h LM FP4D 24M 1SS0 natural cooling 44...

Page 26: ...r 2 the vibration tough drive functions even when Pr PB13 and Pr PB15 are disabled When using the vibration tough drive selecting 2 machine resonance suppression filter automatic setting mode is recommended Pr PA20 2_SEMI F47 function selection 0 Disabled 1 Enabled Selecting 1 enables to avoid triggering AL 010 Undervoltage by using the electrical energy charged in the capacitor in case that an in...

Page 27: ...on is set to 0 standard control mode AL 037 will occur 0 Disabled 1 Use with absolute position detection system 2 Use with incremental system By setting Pr PF63 1 AL 01A 6 Servo motor combination error 4 selection to 1 disabled while the absolute position detection system is enabled an in use batteryless absolute position scale measurement encoder can be replaced without changing the setting value...

Page 28: ...d error 4 during operation occurs set this servo parameter to 00005003h Pr PA23 0 1_Alarm detail number setting Set this to execute the trigger with a desired alarm detail No for the drive recorder function When 00h is selected only the desired alarm No setting will be enabled Pr PA23 2 4_Alarm number setting Set this to execute the trigger with a desired alarm No for the drive recorder function W...

Page 29: ... the electric energy charged in the capacitor in the servo amplifier And consequently the time until AL 010 2 Voltage drop in the main circuit power occurs can be delayed with instantaneous power failure tough drive function Thus the time to be set in Pr PF25 SEMI F47 function Instantaneous power failure detection time Instantaneous power failure tough drive detection time can be extended The torq...

Page 30: ...peed Pr PA34_Quick tuning Permissible travel distance QDIS Set the permissible travel distance for quick tuning If the travel distance for quick tuning exceeds the setting value the quick tuning error occurs When 0 is input the permissible travel distance for quick tuning is 1 0 rev when a linear servo motor is used 10 mm Initial value Setting range Setting method Ver 00000000h Refer to the releva...

Page 31: ...ppression filter 1 cannot be used if quick tuning is in progress While quick tuning is in progress adaptive filter II adaptive tuning does not start even if the automatic setting of machine resonance suppression filter 1 is used The results obtained from the quick tuning are applied to Pr PB13 and Pr PB14 Do not use the automatic setting in the torque control mode Pr PB01 3_Tuning accuracy selecti...

Page 32: ... parameter reduces the collision load during pressing 6 rad s is set when the setting value is 6 rad s or less Pr PB04_Feed forward gain FFC Set the feed forward gain When 100 is set the droop pulses are almost 0 in operation at the constant speed If the super trace control is enabled the droop pulses are almost 0 in operation at uniform acceleration deceleration as well as at the constant speed H...

Page 33: ...omatic or manual depending on the setting value of Pr PA08 0 Gain adjustment mode selection Refer to the following table for details When the vibration suppression control is enabled the settable range of Pr PB07 Model control gain is limited If Pr PB07 exceeds the settable range the vibration suppression control is disabled Initial value Setting range Setting method Ver 7 00 Multiplier 0 00 to 30...

Page 34: ...be automatic or manual depending on the setting value of Pr PA08 0 Gain adjustment mode selection Refer to the following for details Page 32 Pr PB08_Position control gain PG2 Pr PB10_Speed integral compensation VIC Set the integral time constant of the speed loop Decreasing the setting value improves responsiveness but raises the likelihood of vibration and noise The setting of this servo paramete...

Page 35: ...nce suppression filter 1 When Pr PA08 0 Gain adjustment mode selection is set to 5 quick tuning mode the setting value of this servo parameter reflects the adjustment result of quick tuning When Pr PB01 0 Filter tuning mode selection is set to 1 automatic setting the values obtained from adaptive tuning are applied to the setting value of this servo parameter When Pr PB01 0 is set to 2 manual sett...

Page 36: ...ent mode selection is set to 5 quick tuning mode the setting value of this servo parameter reflects the adjustment result of quick tuning When Pr PB16 0 Machine resonance suppression filter 2 selection is set to 1 enabled set the notch frequency with this servo parameter Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Refer to the relevant detail ...

Page 37: ...t result of quick tuning Pr PB16 0_Machine resonance suppression filter 2 selection 0 Disabled 1 Enabled Pr PB16 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB16 2_Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting range Ver 0h Refer to th...

Page 38: ...rvo parameter setting is disabled As a result the filter performance may be reduced When Pr PB49 0 Machine resonance suppression filter 4 selection is set to 1 enabled the shaft resonance suppression filter cannot be used Pr PB17 0 1_Shaft resonance suppression filter setting Frequency selection Refer to the following table for setting values Set the value closest to the required frequency Initial...

Page 39: ...d 27 Disabled 28 4500 29 4000 2A 3600 2B 3272 2C 3000 2D 2769 2E 2571 2F 2400 30 2250 31 2117 32 2000 33 1894 34 1800 35 1714 36 1636 37 1565 38 1500 39 1440 3A 1384 3B 1333 3C 1285 3D 1241 3E 1200 3F 1161 40 1125 41 1090 42 1058 43 1028 44 1000 45 972 46 947 47 923 48 900 49 878 4A 857 4B 837 4C 818 4D 800 4E 782 4F 765 50 750 51 734 52 720 53 705 Setting value Frequency Hz ...

Page 40: ... 5C 600 5D 590 5E 580 5F 571 60 562 61 553 62 545 63 537 64 529 65 521 66 514 67 507 68 500 69 493 6A 486 6B 480 6C 473 6D 467 6E 461 6F 455 70 450 71 444 72 439 73 433 74 428 75 423 76 418 77 413 78 409 79 404 7A 400 7B 395 7C 391 7D 387 7E 382 7F 378 80 375 81 371 82 367 83 363 84 360 85 356 86 352 87 349 88 346 Setting value Frequency Hz ...

Page 41: ...lection is set to 5 quick tuning mode this servo parameter returns to the initial value 89 342 8A 339 8B 336 8C 333 8D 330 8E 327 8F 324 90 321 91 318 92 315 93 313 94 310 95 307 96 305 97 302 98 300 99 297 9A 295 9B 292 9C 290 9D 288 9E 285 9F 283 Initial value Setting range Ver 0h Refer to the text C4 Initial value Setting range Setting method Ver 3141 rad s 100 to 36000 Each axis C4 Pr PB23 1 L...

Page 42: ...sabled the vibration suppression control cannot be used The available range of Pr PB20 Vibration suppression control 1 Resonance frequency changes depending on the value in Pr PB07 Model control gain If the setting value of Pr PB20 exceeds the available range the vibration suppression control is disabled Pr PB21_Vibration suppression control 1 Vibration frequency damping VRF13 Set the damping of t...

Page 43: ...3 1_Low pass filter selection Select the low pass filter 0 Automatic setting 1 Manual setting 2 Disabled When 5 quick tuning mode is selected in Pr PA08 0 Gain adjustment mode selection this servo parameter is set to 1 manual setting Pr PB23 3_Shaft resonance suppression filter 2 selection 0 Disabled 1 Automatic setting Initial value Setting range Setting method Ver 00001000h Refer to the relevant...

Page 44: ...orque to compensate for a position mismatch When the servo motor shaft is to be locked mechanically after positioning completion stop enabling the PID control and completing positioning simultaneously will suppress the unnecessary torque generated to compensate for a position mismatch Pr PB25_Function selection B 1 BOP1 Pr PB25 0_Model adaptive control selection 0 Enabled model adaptive control 2 ...

Page 45: ...witching selection 0 Disabled 1 Control command from the controller 2 Command frequency 3 Droop pulses 4 Servo motor speed 5 Command direction When 1 is selected the gain changes to Gain after gain switching by the control command from the controller Pr PB26 1_Gain switching condition selection 0 Gain after Gain switching is enabled with the condition value or more for gain switching 1 Gain after ...

Page 46: ...ing selection and Pr PB26 0 is set to 5 command direction in the position control mode Pr PB27_Gain switching condition CDL Set the value of the gain switching command frequency droop pulses or servo motor speed selected in Pr PB26 Gain switching function The set value unit differs depending on the switching condition item The units are as follows kpulse s for command frequency pulse for droop pul...

Page 47: ...hing is enabled When the setting value of this servo parameter is less than 0 1 the setting value of Pr PB10 Speed integral compensation is applied The setting value of this servo parameter is enabled when Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB33_Gain switching Vibration suppression control 1 Vibration frequency VRF11B Set the vibration frequency of vibration suppre...

Page 48: ...ervo parameter is enabled in the following conditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB02 0 Vibration suppression control 1 Tuning mode selection is set to 2 manual setting 1 control command from the controller is selected in Pr PB26 0 Gain switching selection Switching gains during driving may cause a shock Switch the gains after the servo motor has stopped Pr...

Page 49: ...s Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting range Ver 00h Refer to the text C4 Setting value Frequency Hz 00 Disabled 01 2000 02 1000 03 666 04 500 06 400 07 333 08 285 09 250 0A 222 0B 200 0C 181 0D 166 0F 153 10 142 11 133 12 125 13 117 14 111 15 105 16 100 17 95 19 90 1A 86 1B 83 1C 80...

Page 50: ... 23 8 39 22 7 3A 21 7 3B 20 8 3C 20 0 3D 19 2 3E 18 5 3F 17 9 40 17 2 41 16 7 42 15 6 43 14 7 44 13 9 45 13 2 46 12 5 48 11 9 49 11 4 4A 10 9 4B 10 4 4C 10 4D 9 6 4E 9 3 4F 8 9 50 8 6 51 8 3 52 7 8 53 7 4 54 6 9 55 6 6 56 6 3 58 6 0 59 5 7 5A 5 4 5B 5 2 5C 5 0 5D 4 8 5E 4 6 5F 4 5 60 4 31 61 4 17 62 3 91 63 3 68 64 3 47 65 3 29 Setting value Frequency Hz ...

Page 51: ... 69 2 84 6A 2 72 6B 2 60 6C 2 50 6D 2 40 6E 2 31 6F 2 23 71 2 08 72 1 95 73 1 84 74 1 74 75 1 64 76 1 56 78 1 49 79 1 42 7A 1 36 7B 1 30 7C 1 25 7D 1 20 7E 1 16 7F 1 12 Initial value Setting range Ver 0h Refer to the text C4 Setting value Depth dB 0 40 0 1 24 1 2 18 1 3 14 5 4 12 0 5 10 1 6 8 5 7 7 2 8 6 0 9 5 0 A 4 1 B 3 3 C 2 5 D 1 8 E 1 2 F 0 6 Setting value Frequency Hz ...

Page 52: ...esonance suppression filter 3 Pr PB47 0_Machine resonance suppression filter 3 selection 0 Disabled 1 Enabled Pr PB47 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB47 2_Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 Initial value Setting range Setting method Ver 4500 Hz 10 to 9000 Each axis C4 Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each...

Page 53: ...e resonance suppression filter 4 selection 0 Disabled 1 Enabled When this setting value is Enabled Pr PB17 Shaft resonance suppression filter cannot be used Pr PB49 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB49 2_Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 Initial value Setting range Setting method Ver 4500 Hz 10 to 9000 Each axis C4 Initial value Setting range Setting method Ver...

Page 54: ...arameter reflects the adjustment result of quick tuning When Pr PE41 0 Robust filter selection is set to 1 enabled machine resonance suppression filter 5 cannot be used Pr PB51 0_Machine resonance suppression filter 5 selection 0 Disabled 1 Enabled Pr PB51 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB51 2_Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 Initial value Setting range Setti...

Page 55: ...l 2 Resonance frequency changes depending on the value in Pr PB07 Model control gain If the setting value of Pr PB53 exceeds the available range the vibration suppression control is disabled Pr PB54_Vibration suppression control 2 Vibration frequency damping VRF23 Set the damping of the vibration frequency for vibration suppression control 2 to suppress low frequency machine vibration When 1 autom...

Page 56: ... frequency is applied This servo parameter is enabled in the following conditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PA24 0 Vibration suppression mode selection is set to 1 3 inertia mode Pr PB02 1 Vibration suppression control 2 Tuning mode selection is set to 2 manual setting 1 control command from the controller is selected in Pr PB26 0 Gain switching selection ...

Page 57: ...ollowing conditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode 1 control command from the controller is selected in Pr PB26 0 Gain switching selection Switching gains during driving may cause a shock Switch the gains after the servo motor has stopped Pr PB65_Gain switching 2 condition CDL2 Set the value of the gain switching command frequency droop pulses or servo motor speed...

Page 58: ...e selection is set to 3 manual mode Pr PB69_Gain switching 2 Speed control gain VG2C Set the speed control gain for when the gain switching 2 is enabled When the setting value of this servo parameter is less than 20 the setting value of Pr PB09 Speed control gain is applied This servo parameter is enabled when Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB70_Gain switching ...

Page 59: ...ed in the following conditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB02 0 Vibration suppression control 1 Tuning mode selection is set to 2 manual setting Pr PB26 0 Gain switching selection is set to 1 control command from the controller while Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as Pr PB26 0 Gain switching selection Alternatively 1 co...

Page 60: ...2 Tuning mode selection is set to 2 manual setting Pr PB26 0 Gain switching selection is set to 1 control command from the controller while Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as Pr PB26 0 Gain switching selection Alternatively 1 control command from the controller is selected in Pr PB26 4 Switching gains during driving may cause a shock Switch the gains after the s...

Page 61: ...onditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PA24 0 Vibration suppression mode selection is set to 1 3 inertia mode Pr PB02 1 Vibration suppression control 2 Tuning mode selection is set to 2 manual setting Pr PB26 0 Gain switching selection is set to 1 control command from the controller while Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as ...

Page 62: ... the filter is disabled regardless of the setting value 0 Disabled 1 Enabled When 1 enabled is selected set the filter time constant with Pr PB82 Position command smoothing filter time constant Pr PB82_Position command smoothing filter time constant PFT Set the position command smoothing filter time constant This servo parameter can be used when Pr PB81 4 Position command smoothing filter is set t...

Page 63: ...l Unit selection Pr PC02_Electromagnetic brake sequence output MBR Set the delay time used between the MBR Electromagnetic brake interlock shut off and the base circuit shut off Pr PC03_Encoder output pulses selection ENRS Pr PC03 0_Encoder output pulse Phase selection 0 Increasing A phase 90 in CCW or positive direction 1 Increasing A phase 90 in CW or negative direction Initial value Setting ran...

Page 64: ...olution per servo motor revolution with Pr PA15 Set the dividing ratio relative to the travel distance of the linear servo motor with Pr PA15 3 A phase B phase pulse electronic gear setting Set the A phase B phase pulse electronic gear with Pr PA15 and Pr PA16 Encoder output pulses 2 Set the A phase B phase pulse electronic gear with Pr PA15 and Pr PA16 Encoder output pulses 2 4 A B phase pulse th...

Page 65: ...6 Set the A phase B phase pulse electronic gear with Pr PA15 and Pr PA16 4 A B phase pulse through output setting A B phase pulses are output when an A B Z phase differential output type encoder is used If a different encoder is connected AL 037 occurs The setting value in Pr PC03 0 Encoder output pulse Phase selection is not applied The setting values in Pr PA15 and Pr PA16 are not applied Output...

Page 66: ...disable motor less operation This operation can be used only in semi closed loop control while a rotary servo motor is used 0 Disabled 1 Enabled Pr PC05 4_Encoder communication 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...

Page 67: ... range of the zero speed signal ZSP The zero speed signal detection has a hysteresis of 20 r min 20 mm s Pr PC08_Overspeed alarm detection level OSL Set an overspeed alarm detection level When a value exceeding servo motor maximum speed 120 is set the value will be clamped at servo motor maximum speed 120 When 0 is set the value of servo motor maximum speed 120 will be set When HK series servo mot...

Page 68: ...DD Rotary 00 Servo motor speed 8 V max speed 01 Torque or thrust 8 V max torque or max thrust 02 Servo motor speed 8 V max speed 03 Torque or thrust 8 V max torque or max thrust 04 Current command 8 V max current command 05 Speed command 8 V max speed 06 Servo motor side droop pulses 10 V 100 pulses 2 07 Servo motor side droop pulses 10 V 1000 pulses 2 08 Servo motor side droop pulses 10 V 10000 p...

Page 69: ... output type linear encoder and A B Z phase differential output rotary encoder set 0 Setting 1 triggers AL 037 Parameter error If Pr PA03 0 Absolute position detection system selection is set to 0 disabled while a direct drive motor manufactured by Mitsubishi Electric is connected and a value of 1 is set AL 037 will occur Pr PC17 1_Linear encoder multipoint Z phase input function selection When mu...

Page 70: ... is set the value of the servo motor speed is used for the speed judgment of the output open phase detection When 1 speed command is set the speed command value is used for the speed judgment of the output open phase detection In the torque control mode set 0 servo motor speed When 1 speed command is set AL 139 2 Output open phase error does not occur Initial value Setting range Setting method Ver...

Page 71: ...on function is enabled or disabled depending on the capacity or power supply input of the servo amplifier Details are as follows Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Common Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text C4 Initial value Setting range Ver 0h Refer to the text C4 Servo amplifier Servo amplifier...

Page 72: ...ant AL 050 Overload 1 or AL 051 Overload 2 may occur during forced stop deceleration depending on the set value After an occurrence of an alarm to execute forced stop deceleration if another alarm that does not execute forced stop deceleration occurs or if the control circuit power supply is shut off dynamic braking will start regardless of the deceleration time constant setting Set a longer time ...

Page 73: ...erface encoder ABZ phase connection assessment function selection Select the non signal detection status for the pulse train signal from the A B Z phase input interface encoder used as a linear encoder or load side encoder This function is enabled when an A B Z phase input interface encoder is used Initial value Setting range Setting method Ver 00000050h Refer to the relevant detail No Each axis R...

Page 74: ...on continuous operation to torque control mode Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text C4 Initial value Setting range Ver 0h Refer to the text C4 Setting value Servo motor rotation direction linear servo motor travel direction Pr PA14 Pr PC29 3 Torque hand...

Page 75: ...e value will be clamped to 200 rev If using a linear servo motor set the level in units of mm When 0 is set AL 09B Excessive error warning does not occur If an error reaches the set value AL 09B occurs If the error later becomes less than the setting value the warning will be automatically canceled The minimum pulse width of the warning signal output is 100 ms Set as follows Pr PC38 Excessive erro...

Page 76: ...amplifier replacement When Pr PF63 2 is set to 0 disabled the value of this servo parameter is 00000000h Pr PC89_Servo amplifier replacement data 6 SVDT6 When Pr PF63 2 Servo amplifier replacement data save selection is set to 1 enabled this servo parameter will be set automatically Changing the setting value of this servo parameter triggers AL 01A Servo motor combination error at servo amplifier ...

Page 77: ...amplifier replacement When Pr PF63 2 is set to 0 disabled the value of this servo parameter is 00000000h Pr PC94_Servo amplifier replacement data 11 SVDT11 When Pr PF63 2 Servo amplifier replacement data save selection is set to 1 enabled this servo parameter will be set automatically Changing the setting value of this servo parameter triggers AL 01A Servo motor combination error at servo amplifie...

Page 78: ...ufacturer setting Pr PD02 4_For manufacturer setting This servo parameter is for manufacturer setting Pr PD02 5_For manufacturer setting This servo parameter is for manufacturer setting Pr PD02 6_For manufacturer setting This servo parameter is for manufacturer setting Pr PD02 7_For manufacturer setting This servo parameter is for manufacturer setting Initial value Setting range Setting method Ver...

Page 79: ...ting range Setting method Ver 00000005h Refer to the relevant detail No Each axis Refer to the relevant detail No Model Shaft Connector pin No Initially assigned device MR J5 _B_ CN3 13 MBR MR J5W2 _B_ A axis CN3 12 MBR A B axis CN3 25 MBR B MR J5W3 _B_ A axis CN3 12 MBR A B axis CN3 25 MBR B C axis CN3 13 MBR C Initial value Setting range Ver 05h Refer to the text C4 Setting value Output signal d...

Page 80: ...evice name at this time is X_ _ _ Example XINP This servo parameter is enabled when Pr PD08 3 Output axis selection is set to 0 all axes while a multi axis servo amplifier is used Pr PD08 3_Output axis selection 0 All axes 1 A axis 2 B axis 3 C axis If the setting value is 1 the device name is _ _ _ A Example INP A If the setting value is 2 the device name is _ _ _ B Example INP B If the setting v...

Page 81: ...device name at this time is X_ _ _ Example XINP This servo parameter is enabled when Pr PD09 3 Output axis selection is set to 0 all axes while a multi axis servo amplifier is used Pr PD09 3_Output axis selection 0 All axes 1 A axis 2 B axis 3 C axis If the setting value is 1 the device name is _ _ _ A Example INP A If the setting value is 2 the device name is _ _ _ B Example INP B If the setting ...

Page 82: ...re monitoring disabled alarm disabled regardless of the setting value No alarm is detected in motor less operation When the temperature monitoring of the motor thermistor is disabled 9999 C is displayed Initial value Setting range Setting method Ver 00000007h Refer to the relevant detail No Common Refer to the relevant detail No Initial value Setting range Ver 7h Refer to the text C4 Setting value...

Page 83: ...ge and at the completion of command output Pr PD14_Function selection D 3 DOP3 Pr PD14 1_Output device status at warning occurrence Select ALM Malfunction output status at warning occurrence Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text C4 Initial value Setting ...

Page 84: ...ata to send from the master axis to the slave axis Set this servo parameter to 0000003A speed limit command when setting the servo amplifier as the master axis when Pr PD15 0 is set to 1 This servo parameter setting is disabled when the servo amplifier is set as the slave axis when Pr PD15 0 is set to 0 Pr PD20_Driver communication setting Slave Master axis No selection 1 SLA1 Set the axis number ...

Page 85: ...tting is fixed at 500 When this servo parameter is set to 100 the coefficient is multiplied by 1 The setting example is described below Ex Pr PD31 140 Pr PD32 300 and the master side is operated with an acceleration deceleration of 1000 r min Pr PD32_Master slave operation Slave side speed limit adjusted value VLL Set the minimum internal speed limit value This servo parameter is enabled when the ...

Page 86: ... loop control mode If this servo parameter is set to 1 while Pr PA03 0 Absolute position detection system selection has been set to 1 enabled absolute position detection system AL 037 Parameter error will occur 0 Always enabled 1 Switching by fully closed loop selection command from the controller Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Re...

Page 87: ...An error is detected during servo off or if the command is 0 while in servo on state Refer to the following table for the combination with Pr PE03 0 Fully closed loop control error Detection function selection Page 85 Pr PE03 0_Fully closed loop control error Detection function selection Pr PE03 3_Fully closed loop control error Reset selection 0 Reset disabled reset by cycling the power or softwa...

Page 88: ... level BC1 Set the detection level for triggering AL 042 9 Fully closed loop control error based on speed deviation of the fully closed loop control error detection If the difference between the speed calculated by the servo motor encoder and the speed calculated by the load side encoder exceeds the value of this servo parameter the alarm occurs Pr PE07_Fully closed loop control Position deviation...

Page 89: ...election 0 Manual setting 1 Automatic setting If 1 automatic setting has been set and friction estimation by the machine diagnosis function has completed for both the forward and reverse rotations the value of Pr PE47 Unbalanced torque offset will be set automatically according to the estimated friction value After Pr PE47 is set automatically this servo parameter changes to 0 Manual setting The v...

Page 90: ...s filter output value of the set time constant and the lost motion compensation will continue This function is enabled in the position control mode Pr PE47_Unbalanced torque offset TOF Set this to cancel the unbalanced torque of a vertical axis Set this in relation to the rated torque of the servo motor as 100 The torque offset does not need to be set for a machine that does not generate unbalance...

Page 91: ...is enabled in the position control mode Pr PE51_Load side encoder resolution setting EDV2 Set the resolution of the load side encoder When the resolution set in this servo parameter is either less than 212 or greater than 222 AL 037 Parameter error occurs This servo parameter is enabled when all of the following conditions are met Fully closed loop control mode or the scale measurement function ar...

Page 92: ...exceeded the guaranteed number of times If the servo amplifier continues to be used while the alarm is disabled with this servo parameter the memory may be corrupted and restoration of the data such as servo parameters may fail 0 Enabled 1 Disabled Pr PF02 5_Memory free space warning enable disable selection Select whether to enable or disable AL 1F8 2 Memory free space warning AL 1F8 2 indicates ...

Page 93: ... servo motor speed shown below while 0 detected has been selected AL 063 STO timing error will be detected The STO status means the status where STO1 or STO2 of CN8 has been turned off Servo motor speed 50 r min or higher Linear servo motor speed 50 mm s or higher Direct drive motor speed 5 r min or higher Pr PF12_Electronic dynamic brake operating time DBT Set an operating time for the electronic...

Page 94: ...ases the possibility of erroneous detection of friction failure prediction even with the manual threshold setting Pr PF20_Friction failure prediction Compensation coefficient 2 TIC Set compensation coefficient 2 to compensate the dynamic friction being used for the friction failure prediction When the friction failure prediction warning selection is set to the automatic threshold setting the value...

Page 95: ...en the oscillation level is higher than the setting value of this servo parameter reset Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 When 0 is set the oscillation detection level is 20 Pr PF24_Function selection F 9 FOP9 Pr PF24 0_Oscillation detection alarm selection Select the alarm output at oscillation detection Select whether to generate an ...

Page 96: ... 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 When 0 is set the judgment speed is half of the rated speed The setting value will be clamped at the permissible maximum speed By setting Pr PF34 6 Fric...

Page 97: ...n warning will occur When 3 is set the setting of the servo parameter will change to 1 automatically after the threshold is reset Pr PF34 2_Servo motor total travel distance failure prediction warning selection 0 Disabled 1 Enabled 2 Servo motor total travel distance reset When 1 is set if the value of the servo motor total travel distance Pr PF47 Servo motor total travel distance offset exceeds t...

Page 98: ... 6_Friction estimate area judgment speed setting Select the setting method of Machine diagnosis function Friction estimate area judgment speed at low speed 0 Manual setting 1 Automatic setting When 1 automatic setting is set Pr PF31 Machine diagnosis function Friction estimate area judgment speed at low speed will be calculated according to the servo motor operation pattern After the calculation P...

Page 99: ...e multiplying factor for the vibration failure prediction threshold the smaller the threshold used for vibration failure prediction which makes it easier to predict failure earlier but also increases the possibility of erroneous detection When 0 is set the threshold multiplying factor is 5 Pr PF40 2_Friction failure prediction Dynamic friction selection Select the dynamic friction to use for frict...

Page 100: ...nable the prediction of a failure at an early stage but will increase the possibility of erroneously detecting a failure When 0 is set the threshold multiplying factor is 5 Pr PF40 5_Static friction failure prediction Static friction selection Select the static friction to use for static friction failure prediction 0 Automatic setting 1 At forward rotation torque 2 At reverse rotation torque 3 Ave...

Page 101: ...ction is set to 1 enabled automatic threshold setting the value will be calculated automatically from the estimated friction torque at rated speed Pr PF43_Friction failure prediction Standard deviation PSD Set the friction torque standard deviation at the rated speed This servo parameter is enabled when Pr PF34 0 Friction failure prediction warning selection is set to 2 enabled manual threshold se...

Page 102: ...e startup of the absolute position detection system triggers AL 025 1 Servo motor encoder absolute position erased instead of AL 01A 5 Servo motor combination error 3 Connecting a servo motor other than the ones with a batteryless absolute position encoder triggers AL 01A 5 Pr PF63 1_ AL 01A 6 Servo motor combination error 4 selection Select whether to enable or disable AL 01A 6 Servo motor combin...

Page 103: ...eplacement data 12 Pr PF66_Gear setting for backlash estimation BLG Pr PF66 0 3_Gear for backlash estimation Numerator Set the gear ratio numerator 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 the load is applied If the gear ratio numerator and the denominator cannot be expressed by numbers up to 216 1 rou...

Page 104: ...value of Pr PF67 Backlash nominal value 100 is set as the backlash threshold When the backlash threshold is 0 AL 0F7 Machine diagnosis warning will not be generated even if the backlash estimation is performed Pr PF69_Static friction failure prediction Average characteristics SPAV2 Set a static friction torque average This servo parameter is enabled when Pr PF34 5 Static friction failure predictio...

Page 105: ...o the equipment The servo parameter indicates the reference belt tension threshold used in the belt diagnosis function Pr PF73_Belt tension when extended ABT After the equipment is operated set a belt tension for when the belt stretches or for when the belt is looser than at the time of the attachment After the belt has been attached to the equipment the time taken for the belt to stretch depends ...

Page 106: ...friction at forward rotation static friction at reverse rotation or the average of the estimated frictions The belt tension deterioration prediction function is disabled when the setting is Pr PF74 Static friction during installation Pr PF75 Static friction when extended Pr PF76_Belt tension irregular threshold BTS Set a threshold to generate AL 0F7 Machine diagnosis warning Set this servo paramet...

Page 107: ...onditions and sampling cycle and then start sampling with Pr PF81 0 Drive recorder Sampling start selection To disable the drive recorder set Pr PF21 Drive recorder switching time setting to 1 drive recorder function disabled Pr PF80 2 3_Drive recorder Sampling cycle selection Set the sampling cycle of the drive recorder When Pr PF80 0 is set to 0 automatic setting mode the setting value of this s...

Page 108: ...o parameter to 0 stop sampling then set 1 or 2 again The storage area of the servo amplifier has a limit for the number of writings If the trigger conditions that have been set in Pr PF82 are frequently met do not continue using this servo parameter when it is set to 2 continuous sampling 0 Stop sampling 1 Start a single sampling 2 Start a consecutive sampling When 1 start a single sampling is set...

Page 109: ... of PF84 2 3 Drive recorder Trigger channel selection 2 and PF86 Drive recorder Trigger level setting 2 are disabled When Pr PF80 0 Drive recorder Operation mode selection is set to 0 automatic setting mode or Pr PF80 0 is set to 1 and Pr PF82 0 Drive recorder Trigger mode selection is set to 0 alarm trigger the setting value of this servo parameter is disabled 0 Disabled 1 Logical AND of trigger ...

Page 110: ...ter is disabled 0 Rising 1 Falling Pr PF82 3_Drive recorder Trigger operation selection 2 Select whether sampling starts when the signal output for the drive recorder channel set in Pr PF84 2 3 Drive recorder Trigger channel selection 2 exceeds or falls below the set trigger level The servo parameter is disabled in the following conditions Pr PF80 0 Drive recorder Operation mode selection is set t...

Page 111: ...trigger conditions will be regarded as having been met on all axes even if the trigger conditions have only been met on Axis A B or C The trigger conditions are not regarded as having been met on axes for which 0 automatic setting mode is set in Pr PF80 0 Drive recorder Operation mode selection The servo parameter is disabled in the following conditions MR J5 _B_ The axis of a multi axis servo amp...

Page 112: ...rigger Pr PF82 1 Drive recorder Trigger binding condition selection is set to 0 disabled Pr PF84 4 5_Drive recorder Trigger position setting Convert trigger position 1 0 to 100 of the total sampling time of the drive recorder to a hexadecimal value and set the value When trigger position 1 exceeds 100 the value will be clamped to 100 For example to set the trigger position to 30 set 1Eh in this se...

Page 113: ...nnel selection 1 Pr PF86_Drive recorder Trigger level setting 2 DRTL2 Set the trigger level of trigger channel No 2 of the drive recorder in decimal Set the value considering the decimal point For example if setting a torque of 100 0 for the trigger level set this servo parameter to 1000 because the torque unit is 0 1 The servo parameter is disabled in the following conditions Pr PF80 0 Drive reco...

Page 114: ... frequency speed unit r min 007 Droop pulses 1 pulse unit pulse 008 Speed command r min 009 Bus voltage V 00C Effective load ratio 0 1 00D Regenerative load ratio 0 1 00E Position within one revolution 16 pulse 00F ABS counter rev 010 Load to motor inertia ratio 0 01 multiplier 011 Torque equivalent to disturbance 0 1 012 Overload alarm margin 0 1 014 Settling time ms 015 Overshoot amount pulse 01...

Page 115: ...data 202 Command pulse frequency kpulse s 203 Command pulse frequency speed unit 0 1 r min 204 Droop pulses 1 pulse unit pulse 205 Speed command 0 1 r min 206 Position within one revolution pulse 207 Load side encoder information 1 pulse 208 Load side encoder information 2 rev 209 Load side droop pulses pulse 20B Feedback position pulse 20C Excessive error alarm margin pulse 218 Droop pulses 100 p...

Page 116: ...7 0 2_Drive recorder Analog channel 1 selection Pr PF88 4 6_Drive recorder Analog channel 4 selection Select the analog channel 4 of the drive recorder The servo parameter is disabled in the following conditions Pr PF80 0 Drive recorder Operation mode selection is set to 0 automatic setting mode Refer to the following for values that can be assigned Page 112 Pr PF87 0 2_Drive recorder Analog chann...

Page 117: ...o the following for values that can be assigned Page 112 Pr PF87 0 2_Drive recorder Analog channel 1 selection Pr PF90_Drive recorder Analog channel setting 4 DRAC4 Pr PF90 0 2_Drive recorder Analog channel 7 selection Select the analog channel 7 of the drive recorder The servo parameter is disabled in the following conditions Pr PF80 0 Drive recorder Operation mode selection is set to 0 automatic...

Page 118: ... value Setting range Ver 0000h Refer to the text C4 Setting value Symbol Name Classification 0000 CSON Servo on command DI 0005 PC Proportional control 0006 RES Reset 0007 CSV1 Control mode setting 1 0008 CSV2 Control mode setting 2 0009 CTL1 Torque limit selection 1 000A CTL2 Torque limit selection 2 0012 EM2 1 Forced stop 0013 CRDY Ready on command 0016 STO1 STO1 0017 STO2 STO2 001A CDP2 Gain sw...

Page 119: ...e already passed 8018 CDPS2 Variable gain enabled 2 8019 CDPS Variable gain enabled 801A CLDS Fully closed loop control in progress 801B ABSV Absolute position erased 801D IPF Instantaneous power failure 801E SPC Proportional control in progress 801F MTTR Tough drive in progress 8020 SSV1 Currently selected control mode 1 8021 SSV2 Currently selected control mode 2 8022 STL1 Receiving torque limit...

Page 120: ...tion Refer to the following for values that can be assigned Page 116 Pr PF91 0 3_Drive recorder Digital channel 1 selection Pr PF93 4 7_Drive recorder Digital channel 6 selection Refer to the following for values that can be assigned Page 116 Pr PF91 0 3_Drive recorder Digital channel 1 selection Initial value Setting range Setting method Ver 80058010h Refer to the relevant detail No Each axis Ref...

Page 121: ...tory DRCLR Pr PF95 0_Drive recorder Clear history selection 0 Disabled 1 Enabled When 0 enabled is set the drive recorder history will be cleared at the next power on or software reset After the drive recorder history is cleared 0 disabled will be set to this servo parameter automatically Initial value Setting range Setting method Ver 801D8015h Refer to the relevant detail No Each axis Refer to th...

Page 122: ...oders Do not set any value other than 0 1 and 5 Pr PL01 2_Homing stop interval setting Select the stop interval at dog type homing This servo parameter is enabled only for linear servo motors 0 213 8192 pulses 1 217 131072 pulses 2 218 262144 pulses 3 220 1048576 pulses 4 222 4194304 pulses 5 224 16777216 pulses 6 226 67108864 pulses Pr PL02_Linear encoder resolution setting Numerator LIM Set the ...

Page 123: ... PL04 3_ AL 042 Servo control error detection controller reset condition selection 0 Reset disabled reset by powering off on or software reset enabled 1 Reset enabled Initial value Setting range Setting method Ver 1000 μm 1 to 65535 Each axis C4 Initial value Setting range Setting method Ver 00000003h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting r...

Page 124: ...ection When the difference between a model feedback speed and actual feedback speed is larger than the setting value AL 042 2 Servo control error based on speed deviation will occur Note that when 0 is set the level varies depending on the setting value in Pr PA01 1 Operation mode selection When a linear servo motor is used 1000 mm s When a direct drive motor is used 100 r min Pr PL07_Torque devia...

Page 125: ... limit enabled disabled selection 0 Enabled 1 Disabled Pr PL09_Magnetic pole detection voltage level LPWM Set a direct current exciting voltage level in the magnetic pole detection If AL 032 Overcurrent AL 050 Overload 1 or AL 051 Overload 2 occurs during the magnetic pole detection set a smaller value If AL 027 Initial magnetic pole detection error occurs during the magnetic pole detection set a ...

Page 126: ..._Response selection Select the responsiveness of the minute position detection method To make the travel distance at the magnetic pole detection smaller set a larger value Refer to the following table for setting values Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the t...

Page 127: ...ion detection method Select a value closest to the actual load Refer to the following table for setting values Initial value Setting range Ver 0h Refer to the text C4 Setting value of Pr PL17 1 Load to motor mass ratio load to motor inertia ratio 0 10 times or less 1 10 multiplier 2 20 multiplier 3 30 multiplier 4 40 multiplier 5 50 multiplier 6 60 multiplier 7 70 multiplier 8 80 multiplier 9 90 m...

Page 128: ...ation signal amplitude IDLV Set an identification signal amplitude to be used in the minute position detection method This servo parameter is enabled when Pr PL08 0 Magnetic pole detection method selection is set to 4 When the setting value of this servo parameter is 0 the amplitude will be 100 Initial value Setting range Setting method Ver 0 0 to 200 Each axis C4 ...

Page 129: ... be used and indicates the modes that cannot be used or modes that are not used even if set Mode List abbreviation Meaning Operation mode Standard Standard control mode Linear Linear servo motor control mode DD Direct drive motor control mode Semi closed Semi closed loop control mode Fully closed Fully closed loop control mode Control mode P_SSC Position control mode S_SSC Speed control mode T_SSC...

Page 130: ...on mode Control mode Semi closed Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC PA01 PA01 1 PA01 4 PA02 PA02 0 1 PA02 4 PA02 5 PA03 PA03 0 PA03 1 PA03 2 PA04 PA04 2 PA04 3 PA06 PA07 PA08 PA08 0 PA08 4 PA08 5 PA08 6 PA09 PA10 PA14 PA15 PA16 PA17 PA18 PA18 0 3 PA20 PA20 1 PA20 2 PA21 PA21 0 PA22 PA22 1 PA22 3 PA23 PA23 0 1 PA23 2 4 PA24 PA24 0 PA25 PA26 PA26 0 PA28 PA28 4 PA34 ...

Page 131: ...d Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC PB01 PB01 0 PB01 3 PB02 PB02 0 PB02 1 PB03 PB04 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB14 1 PB14 2 PB15 PB16 PB16 0 PB16 1 PB16 2 PB17 PB17 0 1 PB17 2 PB18 PB19 PB20 PB21 PB22 PB23 PB23 0 PB23 1 PB23 3 PB24 PB24 0 PB24 1 PB25 PB25 0 PB26 PB26 0 PB26 1 PB26 2 PB26 4 PB26 5 PB27 PB28 PB29 PB30 PB31 PB32 PB33 PB34 PB35 PB36 ...

Page 132: ...PB47 1 PB47 2 PB48 PB49 PB49 0 PB49 1 PB49 2 PB50 PB51 PB51 0 PB51 1 PB51 2 PB52 PB53 PB54 PB55 PB56 PB57 PB58 PB59 PB60 PB65 PB66 PB67 PB68 PB69 PB70 PB71 PB72 PB73 PB74 PB75 PB76 PB77 PB78 PB79 PB81 PB81 4 PB82 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC ...

Page 133: ...Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC PC01 PC02 PC03 PC03 0 PC03 1 PC03 2 PC04 PC04 3 PC05 PC05 0 PC05 4 PC06 PC06 3 PC07 PC08 PC09 PC09 0 1 PC10 PC10 0 1 PC11 PC12 PC17 PC17 0 PC17 1 PC18 PC18 3 PC19 PC19 4 PC19 6 PC20 PC20 2 PC20 4 PC21 PC21 0 PC24 PC26 PC26 3 PC27 PC27 0 PC27 2 PC29 PC29 0 PC29 3 PC31 PC38 PC84 PC85 PC86 PC87 PC88 PC89 PC90 PC91 PC92 PC93 PC94 PC95 ...

Page 134: ...ers group Pr PD_ _ No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC PD02 PD02 0 7 PD07 PD07 0 1 PD08 PD08 0 1 PD08 2 PD08 3 PD09 PD09 0 1 PD09 2 PD09 3 PD11 PD11 0 PD12 PD12 3 PD13 PD13 2 PD14 PD14 1 PD15 PD15 0 PD15 1 PD16 PD17 PD20 PD30 PD31 PD32 ...

Page 135: ... servo parameters group Pr PE_ _ No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC PE01 PE01 0 PE03 PE03 0 PE03 1 PE03 3 PE04 PE05 PE06 PE07 PE08 PE10 PE10 1 PE10 2 PE10 3 PE41 PE41 0 PE41 6 PE44 PE45 PE46 PE47 PE48 PE48 0 PE48 1 PE49 PE50 PE51 ...

Page 136: ...y closed Standard Linear DD Standard P_SSC S_SSC T_SSC PF02 PF02 0 PF02 4 PF02 5 PF06 PF06 0 PF06 1 PF12 PF18 PF19 PF20 PF21 PF23 PF24 PF24 0 PF25 PF31 PF34 PF34 0 PF34 1 PF34 2 PF34 5 PF34 6 PF40 PF40 0 PF40 1 PF40 2 PF40 4 PF40 5 PF41 PF42 PF43 PF45 PF46 PF47 PF63 PF63 0 PF63 1 PF63 2 PF66 PF66 0 3 PF66 4 7 PF67 PF68 PF69 PF70 PF71 PF71 0 PF71 1 PF72 PF73 PF74 PF75 PF76 PF80 PF80 0 PF80 2 3 ...

Page 137: ...88 4 6 PF89 PF89 0 2 PF89 4 6 PF90 PF90 0 2 PF91 PF91 0 3 PF91 4 7 PF92 PF92 0 3 PF92 4 7 PF93 PF93 0 3 PF93 4 7 PF94 PF94 0 3 PF94 4 7 PF95 PF95 0 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard P_SSC S_SSC T_SSC PL01 PL01 0 PL01 2 PL02 PL03 PL04 PL04 0 PL04 3 PL05 PL06 PL07 PL08 PL08 0 PL08 2 PL09 PL17 PL17 0 PL17 1 PL18 No Detail No Operation mode C...

Page 138: ... 1 PA08 00000001h PA09 16 PA10 25600 PA11 1000 0 PA12 1000 0 PA13 00000000h PA14 0 PA15 4000 PA16 1 PA17 00000000h PA18 00000000h PA19 000000ABh PA20 00000000h PA21 00000001h PA22 00000000h PA23 00000000h PA24 00000000h PA25 0 PA26 00000000h PA27 00000000h PA28 00000000h PA29 0 PA30 0 PA31 0 PA32 00000001h PA33 0 0 PA34 0 PA35 00000000h PA36 00000000h PA37 00000000h PA38 00000000h PA39 00000000h P...

Page 139: ...3 LISTS OF SERVO PARAMETER INITIAL VALUES 3 1 Basic setting servo parameters group Pr PA_ _ 137 3 PA46 00000000h PA47 00000000h PA48 00000000h No Initial value ...

Page 140: ...08 37 0 PB09 823 PB10 33 7 PB11 980 PB12 0 PB13 4500 PB14 00000000h PB15 4500 PB16 00000000h PB17 00000000h PB18 3141 PB19 100 0 PB20 100 0 PB21 0 00 PB22 0 00 PB23 00001000h PB24 00000000h PB25 00000000h PB26 00000000h PB27 10 PB28 1 PB29 7 00 PB30 0 0 PB31 0 PB32 0 0 PB33 0 0 PB34 0 0 PB35 0 00 PB36 0 00 PB37 1600 PB38 0 000 PB39 0 000 PB40 0 000 PB41 00000000h PB42 00000000h PB43 00000000h PB44...

Page 141: ...63 00000000h PB64 00000000h PB65 10 PB66 1 PB67 7 00 PB68 0 0 PB69 0 PB70 0 0 PB71 0 0 PB72 0 0 PB73 0 00 PB74 0 00 PB75 0 0 PB76 0 0 PB77 0 00 PB78 0 00 PB79 0 0 PB80 177 0 PB81 00000001h PB82 0 0 PB83 00000000h PB84 00000000h PB85 00000000h PB86 00000000h PB87 0 PB88 00000000h PB89 00000000h PB90 00000000h PB91 00000000h PB92 00000000h PB93 00000000h PB94 00000000h PB95 00000000h PB96 00000000h ...

Page 142: ...9 00000000h PC10 00000001h PC11 0 PC12 0 PC13 0 PC14 0 PC15 0 PC16 00000000h PC17 00000000h PC18 00000000h PC19 00000000h PC20 00000000h PC21 00000000h PC22 0 PC23 00000000h PC24 100 PC25 0 PC26 00000050h PC27 00000000h PC28 00000000h PC29 00000000h PC30 0 PC31 0 PC32 0 PC33 0 PC34 100 PC35 00000000h PC36 00000000h PC37 00000000h PC38 0 PC39 0 0 PC40 0 0 PC41 00000000h PC42 00000000h PC43 0 0 PC44...

Page 143: ...000000h PC63 00000000h PC64 00000000h PC65 50 00 PC66 10 PC67 00C00000h PC68 00000000h PC69 10 PC70 400 PC71 10 PC72 20 00 PC73 10 PC74 10 0 PC75 10 PC76 00000011h PC77 1000 0 PC78 00000000h PC79 00000000h PC80 00000000h PC81 00000000h PC82 0 PC83 0 PC84 00000000h PC85 00000000h PC86 00000000h PC87 00000000h PC88 00000000h PC89 00000000h PC90 00000000h PC91 00000000h PC92 00000000h PC93 00000000h ...

Page 144: ... 00000007h PD12 00000000h PD13 00000000h PD14 00000000h PD15 00000000h PD16 00000000h PD17 00000000h PD18 00000000h PD19 00000000h PD20 0 PD21 0 PD22 0 PD23 0 PD24 00000000h PD25 00000000h PD26 00000000h PD27 00000000h PD28 00000000h PD29 00000000h PD30 0 PD31 0 PD32 0 PD33 00000000h PD34 00000000h PD35 00000000h PD36 00000000h PD37 00110001h PD38 00000000h PD39 00000000h PD40 0 PD41 00001000h PD4...

Page 145: ...66 00000000h PD67 00000000h PD68 00000000h PD69 00000000h PD70 00000000h PD71 00000000h PD72 00000000h PD73 00000000h PD74 00000000h PD75 00000000h PD76 00000000h PD77 00000000h PD78 00000000h PD79 00000000h PD80 00000000h PD81 00000000h PD82 00000000h PD83 00000000h PD84 00000000h PD85 00000000h PD86 00000000h PD87 00000000h PD88 00000000h PD89 00000000h PD90 00000000h PD91 00000000h PD92 0000000...

Page 146: ...00000h PE11 00000000h PE12 00000000h PE13 00000000h PE14 00000111h PE15 20 PE16 00000000h PE17 00000100h PE18 00000000h PE19 00000000h PE20 00000000h PE21 00000000h PE22 00000000h PE23 00000000h PE24 00000000h PE25 00000000h PE26 00000000h PE27 00000000h PE28 00000000h PE29 00000000h PE30 00000000h PE31 00000000h PE32 00000000h PE33 00000000h PE34 1 PE35 1 PE36 0 0 PE37 0 00 PE38 0 00 PE39 20 PE40...

Page 147: ...000 PE65 0 0 PE66 0 0 PE67 0 0 PE68 00000000h PE69 00000000h PE70 0 00 PE71 0 PE72 1 0000 PE73 00000000h PE74 00000000h PE75 00000000h PE76 00000000h PE77 00000000h PE78 0 PE79 0 PE80 00000000h PE81 00000000h PE82 00000000h PE83 00000000h PE84 00000000h PE85 00000000h PE86 00000000h PE87 00000000h PE88 00000000h PE89 00000000h PE90 00000000h PE91 00000000h PE92 00000000h PE93 00000000h PE94 000000...

Page 148: ...7 00000000h PF08 00000000h PF09 00000000h PF10 00000000h PF11 00000000h PF12 2000 PF13 00000000h PF14 10 PF15 00000000h PF16 00000000h PF17 00000000h PF18 10 PF19 0 PF20 0 PF21 0 PF22 200 PF23 20 PF24 00000000h PF25 200 PF26 0 PF27 0 PF28 0 PF29 00000000h PF30 0 PF31 0 PF32 50 PF33 00000000h PF34 00000000h PF35 00000000h PF36 00000000h PF37 00000000h PF38 00000000h PF39 00000000h PF40 00000000h PF...

Page 149: ...63 00000000h PF64 0 PF65 00000000h PF66 00000000h PF67 0 PF68 0 PF69 0 PF70 0 PF71 00000000h PF72 0 PF73 0 PF74 0 PF75 0 PF76 0 PF77 00000000h PF78 00000000h PF79 00110010h PF80 00000000h PF81 00000000h PF82 00000000h PF83 00000000h PF84 005A8101h PF85 0 PF86 0 PF87 00020201h PF88 02040003h PF89 00090205h PF90 0000000Ch PF91 001F0000h PF92 80058010h PF93 8000800Ah PF94 801D8015h PF95 00000000h PF9...

Page 150: ...10 5 PL11 100 PL12 500 PL13 00000000h PL14 00000000h PL15 20 PL16 0 PL17 00000000h PL18 0 PL19 0 PL20 0 PL21 0 PL22 0 PL23 00000000h PL24 0 PL25 0 PL26 00000000h PL27 00000000h PL28 00000000h PL29 0 PL30 00000000h PL31 00000000h PL32 00000000h PL33 00000000h PL34 00000000h PL35 00000000h PL36 00000000h PL37 00000000h PL38 00000000h PL39 00000000h PL40 00000000h PL41 00000000h PL42 00000000h PL43 0...

Page 151: ...00h PL66 00000000h PL67 00000000h PL68 00000000h PL69 00000000h PL70 00000000h PL71 00000000h PL72 00000000h PL73 00000000h PL74 00000000h PL75 00000000h PL76 00000000h PL77 00000000h PL78 00000000h PL79 00000000h PL80 00000000h PL81 00000000h PL82 00000000h PL83 00000000h PL84 00000000h PL85 00000000h PL86 00000000h PL87 00000000h PL88 00000000h PL89 00000000h PL90 00000000h PL91 00000000h PL92 0...

Page 152: ...using an engineering tool manufactured by Mitsubishi Electric such as MR Configurator2 Connect a personal computer and the servo amplifier via a USB cable or a network For details on how to set servo parameters refer to Help or the manual for the engineering tool 4 2 Controller Servo parameters can be set using a controller that is compatible with SSCNET III H For details on how to use a controlle...

Page 153: ...4 SERVO PARAMETER SETTING METHOD 4 2 Controller 151 4 MEMO ...

Page 154: ...tion July 2022 IB NA 0300581ENG A First edition This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual ...

Page 155: ...pair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work...

Page 156: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies IB NA 0300581ENG A ...

Page 157: ......

Page 158: ...d regulations is current as of the release date of this manual When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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