Mitsubishi Electric MR-J5-G Series User Manual Download Page 23 | Manualshive

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1 SERVO PARAMETER DETAILS

1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

21

1

[Pr. PA08_Auto tuning mode (ATU)]

[Pr. PA08.0_Gain adjustment mode selection]

Select the gain adjustment mode.
0: 2 gain adjustment mode 1 (interpolation mode)
1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
5: Quick tuning mode
6: Load to motor inertia ratio monitor mode
Refer to the following table for details.

Initial value

Setting range

Setting method

Ver.

00000001h

Refer to the relevant detail No.

Each axis

Refer to the relevant detail No.

Initial value

Setting range

Ver.

1h

Refer to the text

A0

Setting value of [Pr. PA08.0]

Gain adjustment mode

Servo parameter adjusted automatically

0

2 gain adjustment mode 1 (interpolation mode)

[Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral 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 2

[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]

5

Quick tuning mode

[Pr. PB07 Model control gain]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB13 Machine resonance suppression filter 1]
[Pr. PB14 Notch shape selection 1]
[Pr. PB15 Machine resonance suppression filter 2]
[Pr. PB16 Notch shape selection 2]
[Pr. PB18 Low-pass filter setting]
[Pr. PB23 Low-pass filter selection]
[Pr. PB50 Machine resonance suppression filter 5]
[Pr. PB51 Notch shape selection 5]
[Pr. PE41 Function selection E-3]

6

Load to motor inertia ratio monitor mode

[Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]

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Summary of Contents for MR-J5-G Series

Page 1: ...MR J5 G MR J5W G User s Manual Parameters MR J5 _G_ MR J5W_ _G_ MR J5D_ _G_ MR J5 _G_ _N1 MR J5W_ _G _N1 MR J5D_ _G_ _N1 Mitsubishi Electric AC Servo System ...

Page 2: ......

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

Page 4: ...ount the servo amplifier before 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 s...

Page 5: ...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 Servo Motor Direct Drive Motor...

Page 6: ...unction selection A 3 AOP3 31 Pr PA22_Position control configuration selection PCS 32 Pr PA23_Drive recorder desired alarm trigger setting DRAT 33 Pr PA24_Function selection A 4 AOP4 34 Pr PA25_One touch tuning Overshoot permissible level OTHOV 34 Pr PA26_Function selection A 5 AOP5 35 Pr PA28_Function selection A 6 AOP6 35 Pr PA34_Quick tuning Permissible travel distance QDIS 35 1 3 Gain filter s...

Page 7: ... selection 5 NHQ5 60 Pr PB52_Vibration suppression control 2 Vibration frequency VRF21 60 Pr PB53_Vibration suppression control 2 Resonance frequency VRF22 61 Pr PB54_Vibration suppression control 2 Vibration frequency damping VRF23 61 Pr PB55_Vibration suppression control 2 Resonance frequency damping VRF24 61 Pr PB56_Gain switching Vibration suppression control 2 Vibration frequency VRF21B 61 Pr...

Page 8: ...n C 9 COP9 80 Pr PC29_Function selection C B COPB 81 Pr PC31_Vertical axis freefall prevention compensation amount RSUP1 83 Pr PC38_Excessive error warning trigger level ERW 83 Pr PC41_Function selection C J COPJ 84 Pr PC46_Drive unit function selection 2 DUOP2 85 Pr PC65_Zero speed 2 level ZSP2L 86 Pr PC66_Zero speed 2 filtering time ZSP2F 86 Pr PC67_Following error output level FEW 86 Pr PC69_Fo...

Page 9: ...tion 3 FCT3 115 Pr PE41_Function selection E 3 EOP3 115 Pr PE44_Lost motion compensation positive side compensation value selection LMCP 115 Pr PE45_Lost motion compensation negative side compensation value selection LMCN 116 Pr PE46_Lost motion filter setting LMFLT 116 Pr PE47_Unbalanced torque offset TOF 116 Pr PE48_Lost motion compensation function selection LMOP 116 Pr PE49_Lost motion compens...

Page 10: ...order Trigger level setting 1 DRTL1 140 Pr PF86_Drive recorder Trigger level setting 2 DRTL2 140 Pr PF87_Drive recorder Analog channel setting 1 DRAC1 141 Pr PF88_Drive recorder Analog channel setting 2 DRAC2 142 Pr PF89_Drive recorder Analog channel setting 3 DRAC3 143 Pr PF90_Drive recorder Analog channel setting 4 DRAC4 143 Pr PF91_Drive recorder Digital channel setting 1 DRDC1 144 Pr PF92_Driv...

Page 11: ...ant HMB 172 Pr PT65_Profile speed command PVC 173 Pr PT66_Maximum profile speed MPVC 173 Pr PT67_Speed limit VLMT 173 Pr PT68_Function selection T 11 TOP11 174 1 10 Network setting servo parameters group Pr PN_ _ 175 Pr PN02_Communication error Detection time CERT 175 Pr PN03_Communication mode setting NWMD 175 Pr PN05_Communication error Detection frequency setting CERI 175 Pr PN13_Network protoc...

Page 12: ...OF SERVO PARAMETER INITIAL VALUES 195 3 1 Basic setting servo parameters group Pr PA_ _ 195 3 2 Gain filter setting servo parameters group Pr PB_ _ 196 3 3 Extension setting servo parameters group Pr PC_ _ 198 3 4 I O setting servo parameters group Pr PD_ _ 200 3 5 Extension setting 2 servo parameters group Pr PE_ _ 202 3 6 Extension setting 3 servo parameters group Pr PF_ _ 204 3 7 Motor extensio...

Page 13: ...itor time SST 227 Pr PSA04_Safety sub function Stop speed SSS 228 Pr PSA05_SOS permissible travel distance SSDP 228 Pr PSA06_SOS permissible travel distance unit selection SAOP1 228 Pr PSA07_SLS deceleration monitor time 1 SLSDT1 228 Pr PSA08_SLS deceleration monitor time 2 SLSDT2 229 Pr PSA09_SLS deceleration monitor time 3 SLSDT3 229 Pr PSA10_SLS deceleration monitor time 4 SLSDT4 229 Pr PSA11_S...

Page 14: ...e SAC 236 7 4 Safety I O device parameters group Pr PSD_ _ 237 Pr PSD01_Input device automatic activation selection SDIA 237 Pr PSD02_Input device selection DI1 SDI1 238 Pr PSD08_Output device selection DO1 SDO1 240 Pr PSD12_Input device Noise elimination filter time DI1 SDIF1 241 Pr PSD18_Permissible time for mismatches DI1 SDIDT1 242 Pr PSD29_Output device Test pulse diagnosis execution selectio...

Page 15: ...ed 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 fixed value in each servo parameter When writing servo parameters with the controller make sure that the control axis No of the servo amplifier is set correctly Failure to do so may ca...

Page 16: ...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 serv...

Page 17: ...e external encoder communication method of four wire type cannot be used in the fully closed loop control mode on the MR J5 _G_ In that case use the MR J5 _G_ RJ When this servo parameter is set to 1 in the linear servo motor control mode AL 037 Parameter error occurs Setting 1 enabled on the MR J5W3 _G_ or MR J5D3 _G_ triggers AL 037 0 Disabled semi closed loop control mode 1 Enabled fully closed...

Page 18: ... 1 use with absolute position detection system Pr PA22 3 Scale measurement function selection 2 use with incremental system Pr PT01 1 Speed acceleration deceleration unit selection 1 command unit s Pr PT01 2 Unit for position data 2 degree Pr PT02 7 Internal position command Process speed selection 1 high speed Pr PD15 0 Master axis operation selection 1 enabled set this servo amplifier for the ma...

Page 19: ...lt 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 RB...

Page 20: ...1 enabled triggers AL 037 Parameter error The setting value of this servo parameter is disabled for the MR J5D_ _G_ 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...

Page 21: ...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 22: ...T01 2 Unit for position data is set to 2 degree the following two conditions must be met as well When the electronic gear CMX CDV is reduced to the lowest terms its numerator and denominator are 16384 214 or less When CMX encoder resolution pulse CDV 360000 is reduced to the lowest terms its numerator and denominator are 2147483647 231 1 or less Pr PA07_Electronic gear denominator CDV Set the elec...

Page 23: ...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 24: ... 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 A0 Initial value Setting range Ver 0h Refer to the text A0 Initial value Setting range Ver 0h Refer to the text A0 No Symbo...

Page 25: ...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 26: ...and Pr PC29 3 Torque POL reflection selection This parameter corresponds to Positive torque limit value Obj 60E0h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Depending on the settings in Pr PC29 3 and Pr PA14 the corresponding object changes to Negative t...

Page 27: ...polarity of the torque limit can be changed with the setting values of Pr PA14 Travel direction selection and Pr PC29 3 Torque POL reflection selection This servo parameter corresponds to Negative torque limit value Obj 60E1h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with eng...

Page 28: ...ss increasing direction Positioning address decreasing direction 0 CCW or positive direction CW or negative direction 1 CW or negative direction CCW or positive direction Setting value of Pr PA14 Servo motor rotation direction linear servo motor travel direction Speed handled by the controller positive Speed handled by the controller negative 0 CCW or positive direction CW or negative direction 1 ...

Page 29: ...pulse 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 when selecting 3 A phase B phase pulse electronic gear setting in Pr PC03 1 Encoder output pulse setting selection When 1 dividing rat...

Page 30: ... 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 440...

Page 31: ...S0 2201h LM AJP2D 23T JSS0 2401h LM AJP3B 17N JSS0 3201h LM AJP3D 35R JSS0 3401h LM AJP4B 22M JSS0 4201h LM AJP4D 45N JSS0 4401h LM AU LM AUP3A 03V JSS0 000000DBh 3102h LM AUP3B 06V JSS0 3202h LM AUP3C 09V JSS0 3302h LM AUP3D 11R JSS0 3402h LM AUP4A 04R JSS0 4102h LM AUP4B 09R JSS0 4202h LM AUP4C 13P JSS0 4302h LM AUP4D 18M JSS0 4402h LM AUP4F 26P JSS0 4602h LM AUP4H 35M JSS0 4802h Initial value S...

Page 32: ...etting method Ver 000000ABh Refer to the text Each axis A0 PA19 Settingvalue operation PA PB PC PD PE PF PO PS PL PU PT PV PN Setting values not listed below Readable Writable 0000000A Readable 19 only Writable 19 only 0000000B Readable Writable 0000000C Readable Writable 0000000D Readable Writable 0000000E Readable Writable 0000000F Readable Writable 000000AA Readable Writable 000000AB initial va...

Page 33: ...ering AL 010 Undervoltage by using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation In Pr PF25 SEMI F47 function Instantaneous power failure detection time Instantaneous power failure tough drive detection time the time until the occurrence of AL 010 1 Voltage drop in the control circuit power can be set For multi axis servo amplifi...

Page 34: ...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 of Pr PA03 2 Scale measurement encoder replacement preparation Connecti...

Page 35: ...ad 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 ...

Page 36: ...parameter is set to 0 disabled Pr PB06 Load to motor inertia ratio load to motor mass ratio may be estimated at a value smaller than the accurate estimation depending on the operation pattern Therefore this servo parameter is recommended to be set to 1 enabled Setting this servo parameter to 1 enabled with the equipment on which the gain is adjusted may change the actual movement Check the movemen...

Page 37: ... cyclic synchronous torque mode cst profile torque mode tq and slave axis torque mode slt Pr PA28_Function selection A 6 AOP6 Pr PA28 4_Speed range limit selection Select the speed to be used for the range restriction of the speed data If 1 permissible speed is set when the servo amplifier is connected with a servo motor of HK series the maximum speed will be selected 0 Maximum speed 1 Permissible...

Page 38: ... suppression 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 mode Pr PB01 3_Tuning accuracy selection 0 ...

Page 39: ...o 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 ...

Page 40: ...matic 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 300...

Page 41: ... be automatic or manual depending on the setting value of Pr PA08 0 Gain adjustment mode selection Refer to the following for details Page 39 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 paramet...

Page 42: ...A08 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 setting set the notch frequency with t...

Page 43: ...ment 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 44: ... 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 the...

Page 45: ...ervo 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 Initia...

Page 46: ... 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 47: ...0 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 48: ...ection 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 A0 Initial value Setting range Setting method Ver 3141 rad s 100 to 36000 Each axis A0 Pr PB23 1 Lo...

Page 49: ...isabled 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 ...

Page 50: ... 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 51: ...tor it generates torque 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 a...

Page 52: ...4 Servo motor speed 5 Command direction When 1 is selected the gain changes to Gain after gain switching by using the control command C_CDP from the controller or the input device CDP Gain switching When 2 is selected set Pr PT01 2 Unit for position data to 3 pulse Setting Pr PT01 2 to a value other than 3 disables gain switching Pr PB26 1_Gain switching condition selection 0 Gain after Gain switc...

Page 53: ...parameter the gain changes to Gain after gain switching 2 by the control command C_CDP2 from the controller or the input device CDP2 Gain switching 2 Pr PB26 5_Gain switching selection during a stop 0 Gain switching 2 during a stop is disabled 1 Gain switching 2 during a stop is enabled This servo parameter is enabled in the following condition Pr PB26 4 Gain switching 2 selection is set to 2 the ...

Page 54: ...to 3 manual mode Pr PB30_Gain switching Position control gain PG2B Set the position control gain for when the gain switching is enabled When the setting value of this servo parameter is less than 1 0 the setting value of Pr PB08 Position control gain 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 PB31_Gain sw...

Page 55: ...tion suppression control 1 for when the gain switching is enabled When the setting value of this servo parameter is less than 0 1 the setting value of Pr PB20 Vibration suppression control 1 Resonance 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 PB02 0 Vibration suppression control 1 Tuning mode...

Page 56: ... gains during driving may cause a shock Switch the gains after the servo motor has stopped Pr PB45_Command notch filter CNHF Set the command notch filter Pr PB45 0 1_Command notch filter setting frequency selection Refer to the following table for the relation of setting values to frequencies Initial value Setting range Setting method Ver 0 00 0 00 to 0 30 Each axis A0 Initial value Setting range ...

Page 57: ...2C 40 2D 38 2E 37 2F 35 30 34 5 31 33 3 32 31 3 33 29 4 34 27 8 35 26 3 36 25 0 38 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 Setting value Frequency Hz ...

Page 58: ...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 66 3 13 68 2 98 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 Setting value Frequency Hz ...

Page 59: ...f the machine resonance suppression filter 3 When Pr PB47 0 Machine resonance suppression filter 3 selection is set to 1 enabled set the notch frequency with this servo parameter Initial value Setting range Ver 0h Refer to the text A0 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 Initial value Setting range Setting meth...

Page 60: ...uppression filter 4 NH4 Set the notch frequency of the machine resonance suppression filter 4 When Pr PB49 0 Machine resonance suppression filter 4 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 No Initial value Setting range Ver 0h Refer ...

Page 61: ...2 1 α 3 2 α 4 3 α 5 Pr PB50_Machine resonance suppression filter 5 NH5 Set the notch frequency of the machine resonance suppression filter 5 When Pr PB51 0 Machine resonance suppression filter 5 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 deta...

Page 62: ...ow frequency machine vibration When 1 automatic setting is selected in Pr PB02 1 Vibration suppression control 2 Tuning mode selection this servo parameter will be set automatically When 2 manual setting is selected set the vibration frequency with this servo parameter The setting value is enabled when Pr PA24 0 Vibration suppression mode selection is set to 1 3 inertia mode The available range of...

Page 63: ... control 2 Resonance frequency damping VRF24 Set the damping of the resonance frequency for vibration suppression control 2 to suppress low frequency machine vibration When 1 automatic setting is selected in Pr PB02 1 Vibration suppression control 2 Tuning mode selection this servo parameter will be set automatically When 2 manual setting is selected set the damping of the resonance frequency with...

Page 64: ...1 signal CDP C_CDP 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 PB59_Gain switching Vibration suppression control 2 Resonance frequency damping VRF24B Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled This servo parameter is...

Page 65: ...r mass ratio for when the gain switching 2 is enabled This servo parameter is enabled when Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB68_Gain switching 2 Position control gain PG2C Set the position control gain for when the gain switching 2 is enabled When the setting value of this servo parameter is less than 1 0 the setting value of Pr PB08 Position control gain is app...

Page 66: ... to 2 the same condition as Pr PB26 0 Gain switching selection or Pr PB26 4 is set to 1 signal CDP2 C_CDP2 Switching gains during driving may cause a shock Switch the gains after the servo motor has stopped Pr PB72_Gain switching 2 Vibration suppression control 1 Resonance frequency VRF12C Set the resonance frequency for vibration suppression control 1 for when the gain switching 2 is enabled When...

Page 67: ...g selection is set to 1 signal CDP C_CDP while Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as Pr PB26 0 Gain switching selection or Pr PB26 4 is set to 1 signal CDP2 C_CDP2 Switching gains during driving may cause a shock Switch the gains after the servo motor has stopped Pr PB75_Gain switching 2 Vibration suppression control 2 Vibration frequency VRF21C Set the vibration f...

Page 68: ...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 signal CDP C_CDP while Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as Pr PB26 0 Gain switching selection or Pr PB26 4 is set to 1 signal CDP2 C_CDP...

Page 69: ...this function only when Pr PB45 0 1 Command notch filter setting frequency selection is set to 00 disabled When a setting value other than 00 disabled is set in Pr PB45 0 1 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...

Page 70: ... 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 rang...

Page 71: ...A15 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 through output setting 1 When a servo amplifie...

Page 72: ... 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 73: ...r 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 mo...

Page 74: ...led only in the position mode and positioning mode 0 rev or mm 1 0 1 rev or 0 1 mm 2 0 01 rev or 0 01 mm 3 0 001 rev or 0 001 mm Pr PC07_Zero speed ZSP Set an output 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 spee...

Page 75: ...e Explanation Semi closed loop system 1 Fully closed loop system 1 Rotary Linear DD Rotary DD 00 Servo motor speed 8 V max speed 01 Torque or thrust 8 V max torque or max thrust 3 02 Servo motor speed 8 V max speed 03 Torque or thrust 8 V max torque or max thrust 3 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 ...

Page 76: ... axis 2 C axis Pr PC11_Analog monitor 1 offset MO1 Set the offset voltage of MO1 Analog monitor 1 Pr PC12_Analog monitor 2 offset MO2 Set the offset voltage of MO2 Analog monitor 2 Initial value Setting range Setting method Ver 00000001h Refer to the relevant detail No Common Refer to the relevant detail No Initial value Setting range Ver 01h Refer to the text A0 Initial value Setting range Ver 0h...

Page 77: ...n Pr PC16 4 is set to 0 servo motor incorrect wiring detection disabled the servo motor incorrect wiring detection function is not executed regardless of the setting value in this servo parameter When this servo parameter is set to 0 servo motor incorrect wiring detection is executed at initial servo on and then after the detection is completed Pr PC16 4 will be set to 0 disabled Pr PC17_Function ...

Page 78: ...d Pr PC19 6_Output open phase Judgment speed selection 0 Servo motor speed 1 Speed command When 0 servo motor speed 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 mode set 0 servo motor speed When 1 speed co...

Page 79: ... the input open phase detection 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 A0 Initial value Setting range Ver 0h Refer to the text A0 Se...

Page 80: ... not turn on when one phase is open To turn on bit 10 S_PNLT of Status DO 5 when one phase is open set Pr PC20 4 to 1 warning enabled or 2 alarm enabled For the MR J5D_ _G_ bit 10 S_PNLT of Status DO 5 is always off While the detection function is enabled in Pr PC20 4 bit 10 S_PNLT of Status DO 5 is always on if being used with 1 phase AC input When using the bit with 1 phase AC input set Pr PC20 ...

Page 81: ...other 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 than deceleration time at quick stop of the controller If the setting time is too short AL 052 Excessive error may occur During forced stop deceleration changes in the setting value are...

Page 82: ...der is connected to CN2L or CN2AL If this servo parameter is set to 1 in the standard control mode or direct drive motor control mode while connected to an A B Z phase differential output linear encoder AL 01A Servo motor combination error occurs If this servo parameter is set to 1 in the standard control mode or linear servo motor control mode while connected to an A B Z phase differential output...

Page 83: ...1000h Refer to the relevant detail No Each axis Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text A0 Initial value Setting range Ver 1h Refer to the text A0 Setting value Selection of servo motor rotation direction linear servo motor travel direction Pr PC29 3 Pr PA14 Torque handled by the controller positive Torque handled by the controller negative 0 Enabled 0 ...

Page 84: ...E3 does not occur even when the rotation amount exceeds the maximum value of the multi revolution counter or falls below the minimum value Set this servo parameter to 0 disabled when configuring the absolute position detection system in cyclic synchronous mode with a motion module manufactured by Mitsubishi Electric While the infinite feed function 2 degree unit in Pr PT01 2 Unit for position data...

Page 85: ...D07 Output device selection 1 to Pr PD09 Output device selection 3 while the base circuit shut off delay time was set in Pr PC02 Electromagnetic brake sequence output Pr PC38_Excessive error warning trigger level ERW Set the excessive error warning trigger level The unit can be changed with Pr PC06 3 Excessive error alarm trigger level excessive error warning trigger level Unit selection If using ...

Page 86: ...Operation enabled state to servo off select a state after transition which enables Pr PC02 Electromagnetic brake sequence output The state changes to the one selected with this servo parameter after the time set in Pr PC02 has passed 0 Switched on 1 Switched on Ready to switch on Switch on disabled When Pr PC46 2 Protection coordination multiple connections selection is set to 1 connect multiple M...

Page 87: ...MR J5D_ _G_ When this servo parameter is set to 1 the motor stop method of the alarm changes to DB Dynamic brake stop if all axes are specified for the stop system For the motor stop method refer to List of alarm No warning No in the following manual MR J5 User s Manual Troubleshooting Pr PC46 3_Protection coordination end terminal setting When connecting multiple MR J5D_ _G_ to one converter unit...

Page 88: ...the profile velocity mode This servo parameter corresponds to Velocity threshold time Obj 6070h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Pr PC67_Following error output level FEW Set the output level of the following error output When the state of droop...

Page 89: ...ction is enabled in the profile position mode point table mode and JOG operation mode This servo parameter corresponds to Position window Obj 6067h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools The unit can be changed to 0 001 mm 0 0001 inch 0 001 degree or...

Page 90: ...T01 1 Speed acceleration deceleration unit selection is set to 0 This servo parameter and Pr PV19 Speed reached 2 Output range Extension setting are mutually exclusive Pr PC73_Speed reached 2 Output filtering time SA2F This servo parameter sets the time until the speed reached 2 output turns on If the state where the error between the speed command and the servo motor speed is within Pr PC72 Speed...

Page 91: ...Limit switch status read selection The outputs of LSP Forward rotation stroke end or LSN Reverse rotation stroke end read by Digital inputs Obj 60FDh can be reversed Refer to the following table for information regarding this servo parameter and outputs Pr PC78_Function selection C F COPF Pr PC78 1_Maximum torque limit 1 selection Select whether to enable or disable the maximum torque limit 1 0 Di...

Page 92: ...ad selection CN3 2 CN3 2 CN3 7 CN3 20 CN3 1 _ x _ _ DI2 status read selection CN3 12 CN3 12 CN3 8 CN3 21 CN3 2 x _ _ _ DI3 status read selection CN3 19 CN3 19 CN3 9 CN3 22 CN3 15 Pr PC79 1 _ _ _ x DI4 status read selection CN3 10 1 CN3 10 _ _ x _ DI5 status read selection CN3 1 1 CN3 1 _ x _ _ EM2 EM1 status read selection CN3 20 CN3 20 CN3 10 CN3 10 CN3 10 x _ _ _ For manufacturer setting Servo p...

Page 93: ...d selection Select the DI2 bit 18 status read operation 0 Returns the on off state of the input device 1 Returns the on off state of DI2 pin x _ _ _ DI3 status read selection Select the DI3 bit 19 status read operation 0 Returns the on off state of the input device 1 Returns the on off state of DI3 pin Initial value Setting range Ver 00h Refer to the text A5 Setting digit BIN Functions _ _ _ x DI4...

Page 94: ...or manufacturer setting This servo parameter is for manufacturer setting Pr PD01 5_For manufacturer setting This servo parameter is for manufacturer setting Pr PD01 6_For manufacturer setting This servo parameter is for manufacturer setting Pr PD01 7_For manufacturer setting This servo parameter is for manufacturer setting Initial value Setting range Setting method Ver 00000000h Refer to the relev...

Page 95: ...e AL 037 Parameter error to occur 3 When using TPR1 2 or 3 with the MR J5 _G_ RJ_ MR J5W_ _G_ MR J5D2 _G_ or MR J5D3 _G_ assigning TPR1 2 or 3 to Pr PD03 or Pr PD04 will cause AL 037 to occur Initial value Setting range Setting method Ver 0000000Ah Refer to the relevant detail No Each axis Refer to the relevant detail No Model Shaft Connector pin No Initially assigned device MR J5 _G_ CN3 2 LSP MR...

Page 96: ...selection 1 DI1 Initial value Setting range Setting method Ver 0000000Bh Refer to the relevant detail No Each axis Refer to the relevant detail No Model Shaft Connector pin No Initially assigned device MR J5 _G_ CN3 12 LSN MR J5W2 _G_ A axis CN3 8 LSN A B axis CN3 21 LSN B MR J5W3 _G_ A axis CN3 8 LSN A B axis CN3 21 LSN B C axis CN3 2 LSN C MR J5D1 _G_ CN3 28 LSN MR J5D2 _G_ A axis CN3 28 LSN A B...

Page 97: ...AL 037 Parameter error If duplicated input devices TPR1 to TPR3 exist in Pr PD05 Pr PD38 and Pr PD39 AL 037 Parameter error occurs Ex When TPR1 is duplicated such as when Pr PD05 0 2Ch TPR1 and Pr PD38 0 2Ch TPR1 Initial value Setting range Setting method Ver 00000022h Refer to the relevant detail No Each axis Refer to the relevant detail No Model Shaft Connector pin No Initially assigned device M...

Page 98: ... Pr PD05 0 2Ch TPR1 are set for the A axis TPR1 A and TPR1 C are enabled with the input signal of CN3 9 pin In the following cases AL 037 Parameter error occurs When other than 0h is set for a 1 axis servo amplifier When C axis selection is enabled on the MR J5W2 G_ or MR J5D2 _G_ When this servo parameter is set to a value other than 0h while the input device is set to other than TPR1 TPR2 or TPR...

Page 99: ...e is always off 4 This device is not necessary for a servo amplifier that does not support the external dynamic brake Initial value Setting 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 _G_ CN3 13 MBR MR J5W2 _G_ A axis CN3 12 MBR A B axis CN3 25 MBR B MR J5W3 _G_ A axis CN3 ...

Page 100: ...ervo 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 value is 3 the device name is _ _ _ C Example INP C In...

Page 101: ...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 value is 3 the device name is _ _ _ C Example INP C I...

Page 102: ...ervo parameter is disabled temperature 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 7...

Page 103: ... completing a command output depends on the operation mode Cyclic synchronous position mode When a position command is not input for approximately 1 ms the command output is considered to have been completed Profile position mode or positioning mode point table method When the command remaining distance is 0 the command output is considered to have been completed 2 Available on servo amplifiers wi...

Page 104: ...tion 0 Disabled master slave operation function is not used 1 Enabled set this servo amplifier for the slave axis To set the servo amplifier for the master axis set 0 This servo parameter is enabled only with 1 axis servo amplifiers When this servo parameter is set to 1 enabled on a multi axis servo amplifier AL 037 Parameter error occurs Initial value Setting range Setting method Ver 00000000h Re...

Page 105: ... PD23 1_Driver communication setting Slave Master axis 1 Control slave axis No setting Set the control slave No for master axis 1 This servo parameter is enabled when it is set as the slave axis when Pr PD15 1 is set to 1 To set the servo amplifier as a control slave axis set any value from 1 to 8 When 0 is set this servo amplifier being used will not function as a control slave axis Initial value...

Page 106: ...axis only when this servo amplifier being used is set as the control slave axis 0 Enabled notifies the master axis of a stop request when the control slave axis being used is stopped 1 Disabled does not notify the master axis of a stop request when the axis is stopped Pr PD30_Master slave operation Slave side torque command coefficient TLS For the torque command value received from the master axis...

Page 107: ...orque control range at low speed driving by avoiding area likely to reach speed limit Set to approximately 100 00 to 500 00 r min in general For the example settings refer to Pr PD31 Page 105 Pr PD31_Master slave operation Slave side speed limit coefficient VLC This function is enabled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 0 This function and Pr PV33 Master slave ...

Page 108: ...D05 Input device selection 1 Pr PD38 Input device selection 4 and Pr PD39 Input device selection 5 AL 037 Parameter error occurs Ex When TPR1 is duplicated such as when Pr PD05 0 2Ch TPR1 and Pr PD38 0 2Ch TPR1 Pr PD38 0 1_Device selection Refer to the following for setting values Page 93 Pr PD03_Input device selection 1 DI1 Initial value Setting range Setting method Ver 0000002Ch Refer to the rel...

Page 109: ... PD05 Input device selection 1 Pr PD38 Input device selection 4 and Pr PD39 Input device selection 5 AL 037 Parameter error occurs Ex When TPR1 is duplicated such as when Pr PD05 0 2Ch TPR1 and Pr PD38 0 2Ch TPR1 Pr PD39 0 1_Device selection Refer to the following for setting values Page 93 Pr PD03_Input device selection 1 DI1 Initial value Setting range Setting method Ver 0000002Dh Refer to the r...

Page 110: ...g and limit switches 0 Input from servo amplifier LSP LSN DOG 1 Input from controller C_FLS C_RLS C_DOG When selecting 0 wire the limit switch installed in CCW direction to LSP and wire the limit switch installed in CW direction to LSN If the limit switches are wired in the opposite direction the servo motor will not stop with the limit switches When selecting 1 set the limit switch installed in p...

Page 111: ...tiple axes are enabled with this servo parameter the input device signal is enabled for multiple axes simultaneously In the following cases AL 037 Parameter error occurs When other than 0h is set for a 1 axis servo amplifier When duplicated input devices exist Page 109 Example of duplicated settings Example of duplicated settings When TPR1 B is duplicated such as when for the A axis Pr PD05 4 3h A...

Page 112: ...xis C axis Pr PD60 0 _ _ _ x DI pin polarity selection 1 CN3 2 CN3 2 CN3 7 CN3 20 CN3 1 _ _ x _ DI pin polarity selection 2 CN3 12 CN3 12 CN3 8 CN3 21 CN3 2 _ x _ _ DI pin polarity selection 3 CN3 19 CN3 19 CN3 9 CN3 22 CN3 15 x _ _ _ DI pin polarity selection 4 CN3 10 1 CN3 10 Pr PD60 1 _ _ _ x DI pin polarity selection 5 CN3 1 1 CN3 1 _ _ x _ For manufacturer setting _ x _ _ For manufacturer set...

Page 113: ...Pr PD60 6_For manufacturer setting This servo parameter is for manufacturer setting Pr PD60 7_For manufacturer setting This servo parameter is for manufacturer setting Initial value Setting range Ver 0h Refer to the text A5 Setting digit BIN Functions _ _ _ x DI pin polarity selection 1 0 ON with 24 V input 1 ON with 0 V input _ _ x _ DI pin polarity selection 2 0 ON with 24 V input 1 ON with 0 V ...

Page 114: ...sition mode while this servo parameter is set to 1 AL 0F4 A Fully closed loop control Switching warning occurs In this case the control method does not switch to the selected control method while the operation is in progress When the positioning mode point table method is selected setting this servo parameter to 1 triggers AL 037 0 Always enabled 1 Switching by fully closed loop selection from the...

Page 115: ...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 113 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 softw...

Page 116: ...n 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 deviatio...

Page 117: ... is set automatically this servo parameter changes to 0 Manual setting The value of Pr PE47 will not be set automatically and this servo parameter keeps the value 1 automatic setting until friction estimation completes for both the forward and reverse rotations Pr PE44_Lost motion compensation positive side compensation value selection LMCP Set the lost motion compensation for when negative speed ...

Page 118: ...t does not generate unbalanced torque This servo parameter can be used in applications where an unbalanced torque is generated constantly such as when a linear servo motor or direct drive motor is operated horizontally with tension applied in one direction The torque offset that has been set with this servo parameter is enabled in any control mode In the torque mode input commands taking the torqu...

Page 119: ... parameter is used to determine whether it is a rotary encoder or a linear encoder 0 Linear encoders Other than 0 Rotary encoders Pr PE53_Maximum torque limit 1 TLMX1 The torque or thrust generated by the servo motor can be limited When Pr PC78 1 Maximum torque limit 1 selection is set to 0 the maximum torque limit 1 is disabled The torque limit function using this servo parameter or Max torque Ob...

Page 120: ...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 121: ...e 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 electroni...

Page 122: ... the automatic threshold setting the value will be calculated automatically from the estimated dynamic friction When performing threshold manual setting on an equipment for which the threshold setting has been made once set the value that has been calculated by the threshold automatic setting Setting this servo parameter decreases the possibility of erroneous detection of friction failure predicti...

Page 123: ...er 10 s When 1 is set the drive recorder function is disabled Pr PF23_Vibration tough drive Oscillation detection level OSCL1 Set the oscillation detection level for readjusting the machine resonance suppression filter while the vibration tough drive is enabled When the oscillation level is higher than the setting value of this servo parameter reset Pr PB13 Machine resonance suppression filter 1 o...

Page 124: ...ff normally even if a value larger than 200 ms is set in this servo parameter This function is disabled when Pr PA20 2 SEMI F47 function selection is set to 0 disabled Pr PF29_Function selection F 10 FOP10 Pr PF29 1_State selection with forced stop in progress Select the PDS state transition for when the forced stop is in progress When the servo amplifier detects the forced stop signal off during ...

Page 125: ...l be automatically calculated from the operation pattern during servo motor driving and overwrite the value Set a value larger than Pr PC07 Zero speed for this servo parameter If the value is equal to or lower than zero speed the friction estimation process does not function Pr PF32_Oscillation detection alarm time VIBT Set the time from when oscillation is detected until the occurrence of an alar...

Page 126: ...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 127: ...4 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 ...

Page 128: ... speed 2 Dynamic friction at reverse rotation torque at rated speed 3 Absolute value average at forward rotation reverse rotation torque When set to 0 the value changes to any of 1 to 3 depending on the operation pattern Pr PF40 4_Static friction failure prediction Threshold multiplication Set a multiplying factor for calculating the threshold used in the static friction failure prediction functio...

Page 129: ...ection 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 s...

Page 130: ...distance at backlash estimation which is to be automatically set in the backlash estimation function 0 Command pulse unit 1 Servo motor encoder pulse unit A time out will occur at execution of the backlash estimation function depending on the setting values for the electronic gear Pr PA06 Electronic gear numerator Pr PA07 Electronic gear denominator When a time out occurs set this servo parameter ...

Page 131: ...lute 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 combination error 4 for when a servo motor with a batteryless absolute position encoder is replaced 0 Enabled 1 Disabled With 1 disabled selected connecting a servo motor that had not been connected at the startup of the absolute position de...

Page 132: ...1 for both the numerator and the denominator Pr PF66 4 7_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 the load is applied If the gear ratio numerator and the denominator cannot be expressed by numbers up to 216 1 round up the gear rati...

Page 133: ... 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 predicti...

Page 134: ... 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 o...

Page 135: ... 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 parame...

Page 136: ...nditions 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 se...

Page 137: ...vo 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 se...

Page 138: ...s 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 139: ...eter 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 ...

Page 140: ...ns 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 The MR J5 _G_ or MR J5D1 _G_ is used The axis of a multi axi...

Page 141: ...trigger 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 s...

Page 142: ...nel 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 recor...

Page 143: ...07 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 01C 2 Load side encoder droop p...

Page 144: ...or values that can be assigned Page 141 Pr PF87 0 2_Drive recorder Analog channel 1 selection 201 Servo motor speed 0 1 r min 32 bit 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 informa...

Page 145: ...r 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 141 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...

Page 146: ...roke end 0002 LSN Reverse rotation stroke end 0005 PC Proportional control 0006 RES Reset 0012 EM2 1 Forced stop 0013 CRDY Ready on command 0016 STO1 STO1 0017 STO2 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 0049 CFLS Controller upper stroke limit si...

Page 147: ...V Absolute position erased 801D IPF Instantaneous power failure 801E SPC Proportional control in progress 801F MTTR Tough drive in progress 8032 DOG DOG signal input in progress 803C 3 DOA General purpose output A 803D 3 DOB General purpose output B 803E 3 DOC General purpose output C 8043 1 CPO Rough match 8045 1 POT Position range 8047 4 MEND Traveling completion 8049 ZP2 Homing completion 2 804...

Page 148: ... or later 3 Available on servo amplifiers with firmware version B6 or later 4 Available on servo amplifiers with firmware version B8 or later 5 Available only on the MR J5D_ _G_ Pr PF91 4 7_Drive recorder Digital channel 2 selection Refer to the following for values that can be assigned Page 144 Pr PF91 0 3_Drive recorder Digital channel 1 selection Initial value Setting range Ver 0012h Refer to t...

Page 149: ...ction Refer to the following for values that can be assigned Page 144 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 144 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 Re...

Page 150: ...ory 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 the...

Page 151: ...ectric manufactured direct drive motor connected by the direct drive motor control mode 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 22...

Page 152: ...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 A0 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 ra...

Page 153: ... detection 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 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 devi...

Page 154: ...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 l...

Page 155: ...0_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 ...

Page 156: ...ification 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 set to 0 the amplitude will be 100 Initial value Setting range Ver 0h Refer to the text A0 Setting value of Pr PL17 1 Load to motor mass ratio load to motor inertia ratio 0...

Page 157: ...in mm s 1 ms 1 Command unit s 2 Command unit s2 2 Setting value Object interlocked with servo parameter 0 1 Pr PT65 Profile speed command Pr PV01 Profile speed command extension setting Profile velocity Obj 6081h Pr PT66 Maximum profile speed Pr PV03 Maximum profile speed extension setting Max profile velocity Obj 607Fh Pr PT49 Speed acceleration time constant Pr PV05 Profile acceleration Profile ...

Page 158: ...cannot be switched to the cyclic synchronous mode 4 If this value is set in a mode other than the positioning mode point table method AL 037 will occur Pr PT02_Function selection T 1 TOP1 Pr PT02 7_Internal position command Process speed selection Select the process speed of the position commands generated in the servo amplifier Setting 1 on a multi axis servo amplifier triggers AL 037 Parameter e...

Page 159: ...f the point table in the positioning mode point table method this servo parameter is disabled Pr PT05_Homing speed ZRF Set the servo motor speed for homing The servo motor speed is clamped at the maximum speed When changing the speed to the permissible speed set the speed in Pr PA28 4 Speed range limit selection If the set speed exceeds 8000 r min mm s the speed is clamped at 8000 r min mm s Howev...

Page 160: ...eering tools because the controller overwrites the servo parameter values written with engineering tools This function is enabled when Pr PT01 1 is set to 0 This function and Pr PV13 Creep speed extension setting are mutually exclusive Pr PT07_Home position shift distance ZST Set the home position shift travel distance at homing The unit can be changed to 0 001 mm 0 0001 inch 0 001 degree or pulse...

Page 161: ...is incomplete Setting this servo parameter will compensate the software position limit After compensation Max position range limit 607Dh 02h Max position range limit Home offset After compensation Min position range limit 607Dh 01h Min position range limit Home offset For Home offset 0 For Home offset 0 The setting range is 0 to 359 999 degrees for the degree unit If a value out of the setting ran...

Page 162: ...Set a time from a moving part touches the stopper and torques reach to the torque limit of Pr PT11 Stopper type homing Torque limit value to a home position is set for the stopper type homing This function is enabled in the cyclic synchronous mode profile mode and positioning mode point table method Pr PT11_Stopper type homing Torque limit value ZTT Set a torque limit value with unit to the rated ...

Page 163: ...ding on the setting order of Pr PT15 and Pr PT17 Software position limit This function corresponds to Max position limit Obj 607Dh 02h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools The enabling disabling conditions of the software position limit are shown i...

Page 164: ...ees Pr PT19 90 000 degrees Set the output range of moving range B as follows Pr PT21 90 000 degrees Pr PT19 315 000 degrees The setting range is 0 to 359 999 degrees If a value out of the setting range is set the value will be converted as shown in the table below The values of the output range shown above will be the values after conversion Pr PT21_Position range output 1 address LNP1 Set the add...

Page 165: ...Pr PT29 0_Device input polarity 1 Select the proximity dog input polarity 0 Dog detection with off 1 Dog detection with on 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 0h to 2h C4 Pr PT26 4 Trigger 1 Touch probe function Obj 60B8h Touch probe function 2 Obj 2DE8h Pr PT01 2 Unit ...

Page 166: ...0h Pr PT38_Function selection T 7 TOP7 Pr PT38 4_Limit switch release position assessment function selection Set the limit switch release position assessment function This function is enabled in the cyclic synchronous position mode or the cyclic synchronous speed mode Refer to the following table for the combinations available for the assessment function Initial value Setting range Setting method ...

Page 167: ...rted method triggers Homing error At this time homing cannot be executed This function corresponds to Homing method Obj 6098h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Initial value Setting range Setting method Ver 00000000h Refer to the relevant detail...

Page 168: ...he proximity dog After the rear end is passed the position is shifted by the travel distance after proximity dog and the home position shift distance The position after the shifts is set as the home position 7 Count type Front end detection front end reference Performs homing with reference to the front end of the proximity dog Deceleration starts from the front end of the proximity dog The positi...

Page 169: ...ion is shifted in the reverse rotation direction and the reverse rotation stroke end is detected before the Z phase signal is detected AL 090 Homing incomplete warning will occur When FLS RLS is used this homing method is available on servo amplifiers with firmware version C0 or later 3 Method 3 Homing on positive home switch and index pulse This is the same as the dog type last Z phase reference ...

Page 170: ... the travel distance after proximity dog and the home position shift distance The position after the shifts is set as the home position If the stroke end is detected during homing AL 090 Homing incomplete warning will occur 21 Reverse rotation CW or negative direction Method 21 Homing without index pulse This is the same as the dog type front end reference homing If the stroke end is detected duri...

Page 171: ... the creep speed is applied as the movement start speed 35 Method 35 Homing on index pulse The current position is set as the home position Homing can be executed even when the servo amplifier is not in the Operational enabled state Homing can be executed in the servo off status as well 37 Method 37 Homing on current position The current position is set as the home position Homing can be executed ...

Page 172: ...TB Set the deceleration time from the rated speed to a motor stop for the command This function is enabled in the profile position mode and profile velocity mode If a value larger than 20000 ms is set in the position mode AL 0F4 Positioning warning occurs This function corresponds to Profile deceleration Obj 6084h When the object is mapped to the cyclic communication do not write values with engin...

Page 173: ...t 5000 and STC 200 the actual time for the arc part is as follows During acceleration 100 ms 2000000 20000 100 ms 200 ms Therefore the time is limited to 100 ms During deceleration 200 ms 2000000 5000 400 ms 200 ms Therefore it will be 200 ms as set Profile position mode and positioning mode point table method If a value of 1000 ms or more is set the value is clamped to 1000 ms The setting is enab...

Page 174: ...ection is set to 0 This function and Pr PV15 Homing acceleration are mutually exclusive Pr PT57_Homing deceleration time constant HMB Set the deceleration time constant at homing Set the deceleration time from the rated speed to a motor stop This servo parameter is enabled when Pr PT55 0 Homing deceleration time constant selection is set to 1 This function is enabled when Pr PT01 1 Speed accelerat...

Page 175: ...mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools This function is enabled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 0 This function and Pr PV03 Maximum profile speed extension setting are mutually exclusive Pr PT67_Speed limit VLMT Set the maximum s...

Page 176: ...rm follow up in the Quick stop active state during servo on do not use this setting value in the cyclic synchronous position mode csp For information on whether the controller being used can perform follow up in the Quick stop active state refer to the manual for the controller 5 When canceling Quick stop in the cyclic synchronous position mode csp cancel it after servo off or perform position fol...

Page 177: ... alive error occurs network disconnecting may be executed before the time that is set in this servo parameter For CC Link IE Field Network Basic Set the threshold until AL 086 1 Network communication error 1 is detected When 0 is set the detection time is 1000 ms Pr PN03_Communication mode setting NWMD Pr PN03 1_CC Link IE TSN Class setting Select a CC Link IE TSN Class 0 Class B ver 1 0 2 0 1 Cla...

Page 178: ... 0 3_Network protocol setting Set the network to be used Setting a value other than the following triggers AL 037 Parameter error Initial value Setting range Ver 0000h Refer to the text C0 Setting value of Pr PN13 0 3 Setting details 0000h CC Link IE TSN 0004h CC Link IE Field Network Basic ...

Page 179: ...t the frequency of writing when performing a backup You can check the frequency of writing so far with the special register in the CPU module For details refer to the CPU module user s manual The estimated write interval per number of connected axes is as follows 1 to 16 axes Once every hour 17 to 32 axes Once every two hours 33 to 64 axes Once every four hours 65 or more axes Once every six hours...

Page 180: ...eleration unit selection is set to 1 This function and Pr PT66 Maximum profile speed are mutually exclusive This function corresponds to Max profile velocity Obj 607Fh When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Pr PV05_Profile acceleration PACC Set the a...

Page 181: ...bled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 This function and Pr PC24 are mutually exclusive This function corresponds to Quick stop deceleration Obj 6085h When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Pr PV11_Homing speed...

Page 182: ... 1 Speed acceleration deceleration unit selection is set to 1 This function and Pr PT56 are mutually exclusive When Pr PT55 0 Homing deceleration time constant selection is set to 0 this function is used as the deceleration for homing This function corresponds to Homing acceleration Obj 609Ah When the object is mapped to the cyclic communication do not write values with engineering tools because t...

Page 183: ...d of Statusword Obj 6041h turns off The unit can be changed to 0 001 degrees s or pulses s with Pr PT01 2 Unit for position data This function is enabled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 This function and Pr PC65 Zero speed 2 level are mutually exclusive This function corresponds to Velocity threshold Obj 606Fh When the object is mapped to the cyclic commun...

Page 184: ...t conversion Electronic gear numerator ACMX Set the electric gear numerator for converting the acceleration command unit s2 into a value in acceleration deceleration units This function is enabled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 Setting a value other than 1 on the MR J5W3 _G_ triggers AL 037 Parameter error Pr PV26_Acceleration unit conversion Electronic g...

Page 185: ...r PT01 1 Speed acceleration deceleration unit selection is set to 1 The servo motor decelerates by the setting value of this servo parameter when the following conditions are met The setting value of Pr PV07 Profile deceleration is 0 in pp pv or jg mode The setting value of Pr PV15 Homing acceleration or Pr PV17 Homing deceleration is 0 in hm mode This function corresponds to Max deceleration Obj ...

Page 186: ...ning Operation mode Standard Standard control mode Linear Linear servo motor control mode DD Direct drive motor control mode Semi closed Semi closed loop control mode Fully closed Fully closed loop control mode Control mode csp Cyclic synchronous position mode csv Cyclic synchronous velocity mode cst Cyclic synchronous torque mode pp Profile position mode pv Profile velocity mode tq Profile torque...

Page 187: ...osed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PA01 PA01 0 PA01 1 PA01 4 PA01 7 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 PA11 PA12 PA14 PA15 PA16 PA17 PA18 PA18 0 3 PA19 PA20 PA20 1 PA20 2 PA21 PA21 0 PA22 PA22 1 PA22 3 PA23 PA23 0 1 PA23 2 4 PA24 PA24 0 PA24 5 PA25 PA26 PA26...

Page 188: ...ed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt 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 PB3...

Page 189: ...7 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 DD csp csv cst pp pv tq hm pt jg ct slt ...

Page 190: ...D csp csv cst pp pv tq hm pt jg ct slt PC01 PC02 PC03 PC03 0 PC03 1 PC03 2 PC04 PC04 3 PC05 PC05 0 PC05 4 PC06 PC06 0 PC06 3 PC07 PC08 PC09 PC09 0 1 PC09 3 PC10 PC10 0 1 PC10 3 PC11 PC12 PC16 PC16 4 PC16 5 PC17 PC17 1 PC19 PC19 0 PC19 4 PC19 6 PC20 PC20 2 PC20 4 PC20 6 PC21 PC21 0 PC24 PC26 PC26 3 PC27 PC27 0 PC27 2 PC27 5 PC29 PC29 0 PC29 3 PC29 5 PC31 PC38 PC41 PC41 0 PC41 3 PC46 PC46 1 PC46 2 P...

Page 191: ...csv cst pp pv tq hm pt jg ct slt PD01 PD01 0 7 PD03 PD03 0 1 PD04 PD04 0 1 PD05 PD05 0 1 PD05 4 PD07 PD07 0 1 PD08 PD08 0 1 PD08 2 PD08 3 PD09 PD09 0 1 PD09 2 PD09 3 PD11 PD11 0 PD12 PD12 3 PD13 PD13 2 PD14 PD14 1 PD15 PD15 0 PD15 1 PD22 PD23 PD23 1 PD26 PD26 0 PD26 1 PD30 PD31 PD32 PD38 PD38 0 1 PD39 PD39 0 1 PD41 PD41 2 PD41 3 PD51 PD51 0 1 PD51 4 PD60 PD60 0 7 No Detail No Operation mode Contro...

Page 192: ...parameters group Pr PE_ _ No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PE01 PE01 0 PE03 PE03 0 PE03 1 PE03 3 PE04 PE05 PE06 PE07 PE08 PE10 PE10 1 PE41 PE41 0 PE41 6 PE44 PE45 PE46 PE47 PE48 PE48 0 PE48 1 PE49 PE50 PE51 PE53 ...

Page 193: ...andard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PF02 PF02 0 PF02 4 PF02 5 PF06 PF06 0 PF06 1 PF12 PF18 PF19 PF20 PF21 PF23 PF24 PF24 0 PF25 PF29 PF29 1 PF31 PF32 PF34 PF34 0 PF34 1 PF34 2 PF34 5 PF34 6 PF40 PF40 0 PF40 1 PF40 2 PF40 4 PF40 5 PF41 PF42 PF43 PF45 PF46 PF47 PF62 PF62 0 PF63 PF63 0 PF63 1 PF66 PF66 0 3 PF66 4 7 PF67 PF68 PF69 PF70 PF71 PF71 0 PF71 1 PF72 PF73 PF74 PF...

Page 194: ...F89 0 2 PF89 4 6 PF90 PF90 0 2 PF91 PF91 0 3 PF91 4 7 PF92 PF92 0 3 PF92 4 7 PF93 PF93 0 3 PF93 4 7 PF94 PF94 0 3 PF94 4 7 PF95 PF95 0 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt 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 Operati...

Page 195: ...ndard DD csp csv cst pp pv tq hm pt jg ct slt PT01 PT01 1 PT01 2 PT02 PT02 7 PT03 PT03 2 PT05 PT06 PT07 PT08 PT09 PT10 PT11 PT12 PT15 PT17 PT19 PT21 PT26 PT26 4 PT29 PT29 0 PT34 PT34 0 PT34 3 PT38 PT38 4 PT41 PT41 0 PT45 PT49 PT50 PT51 PT53 PT55 PT55 0 PT56 PT57 PT65 PT66 PT67 PT68 PT68 0 PT68 2 No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp cs...

Page 196: ...sitioning extension setting servo parameters group Pr PV_ _ No Detail No Operation mode Control mode Semi closed Fully closed Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PV01 PV03 PV05 PV07 PV09 PV11 PV13 PV15 PV17 PV19 PV20 PV21 PV23 PV24 PV25 PV26 PV29 PV31 PV33 ...

Page 197: ...06 1 PA07 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 00000000h PA33 0 0 PA34 0 PA35 00000000h PA36 00000000h PA37 00000000h PA38 00000000h PA39 00...

Page 198: ...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 199: ...8 0 00 PB59 0 00 PB60 0 0 PB61 0 0 PB62 00000000h PB63 00000000h PB64 00000000h PB65 10 PB66 1 PB67 7 00 PB68 0 0 PB69 0 PB70 0 0 PB71 0 0 PB72 0 0 PB73 0 00 PB74 0 00 PB75 0 0 PB76 0 0 PB77 0 00 PB78 0 00 PB79 0 0 PB80 177 0 PB81 00000001h PB82 0 0 PB83 00000000h PB84 00000000h PB85 00000000h PB86 00000000h PB87 0 PB88 00000000h PB89 00000000h PB90 00000000h PB91 00000000h PB92 00000000h No Initi...

Page 200: ...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 00101000h PC30 0 PC31 0 PC32 0 PC33 0 PC34 100 PC35 00000000h PC36 00000000h PC37 00000000h PC38 0 PC39 0 0 PC40 0 0 PC41 00000000h PC42 00000000h PC43 0 0 PC44...

Page 201: ...PC58 00000000h PC59 00000000h PC60 00000000h PC61 00000000h PC62 00000000h 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 00000001h 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 000...

Page 202: ...00h PD11 00000007h PD12 00000101h PD13 00000000h PD14 00000000h PD15 00000000h PD16 00000000h PD17 00000000h PD18 00000000h PD19 00000000h PD20 0 PD21 0 PD22 0 PD23 0 PD24 0 PD25 00000000h PD26 00000000h PD27 0 PD28 00000000h PD29 00000000h PD30 0 PD31 0 PD32 0 PD33 00000000h PD34 00000000h PD35 00000000h PD36 00000000h PD37 00110001h PD38 0000002Ch PD39 0000002Dh PD40 0 PD41 00000000h PD42 000000...

Page 203: ...0000h PD53 00000000h PD54 00000000h PD55 00000000h PD56 00000000h PD57 00000000h PD58 00000000h PD59 00000000h PD60 00000000h PD61 00000000h PD62 00000000h PD63 00000000h PD64 00000000h PD65 00000000h PD66 00000000h PD67 00000000h PD68 00000000h PD69 00000000h PD70 00000000h PD71 00000000h PD72 00000000h No Initial value ...

Page 204: ...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 205: ...58 00000000h PE59 00000000h PE60 00000000h PE61 0 000 PE62 0 000 PE63 0 000 PE64 0 000 PE65 0 0 PE66 0 0 PE67 0 0 PE68 00000000h PE69 00000000h PE70 0 00 PE71 0 PE72 1 0000 PE73 00000000h PE74 00000000h PE75 00000000h PE76 00000000h PE77 00000000h PE78 0 PE79 0 PE80 00000000h PE81 00000000h PE82 00000000h PE83 00000000h PE84 00000000h PE85 00000000h PE86 00000000h PE87 00000000h PE88 00000000h No ...

Page 206: ...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 207: ...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 00120000h PF92 80058010h PF93 8000800Ah PF94 801D8015h PF95 00000000h PF9...

Page 208: ...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 209: ...0 0 PL51 0 PL52 12 PL53 0 PL54 00000000h PL55 00000000h PL56 00000000h PL57 00000000h PL58 00000000h PL59 00000000h PL60 00000000h PL61 00000000h PL62 00000000h PL63 00000000h PL64 00000000h PL65 00000000h PL66 00000000h PL67 00000000h PL68 00000000h PL69 00000000h PL70 00000000h PL71 00000000h PL72 00000000h No Initial value ...

Page 210: ...T09 1000 PT10 100 PT11 15 0 PT12 0 PT13 00000000h PT14 0 PT15 0 PT16 00000000h PT17 0 PT18 00000000h PT19 0 PT20 00000000h PT21 0 PT22 00000000h PT23 00000000h PT24 00000000h PT25 00000000h PT26 00000000h PT27 00000000h PT28 8 PT29 00000000h PT30 00000000h PT31 00000000h PT32 00000100h PT33 00000000h PT34 00000000h PT35 00000000h PT36 00000000h PT37 10 PT38 00000000h PT39 100 PT40 0 PT41 00000010h...

Page 211: ...T61 200 00 PT62 00000000h PT63 00000000h PT64 00000000h PT65 100 00 PT66 20000 00 PT67 3000 00 PT68 00000002h PT69 00000000h PT70 00000000h PT71 00000000h PT72 1 PT73 00000000h PT74 1 PT75 00000000h PT76 00000000h PT77 00000000h PT78 00000000h PT79 00000000h PT80 00000000h PT81 0 PT82 0 PT83 00000000h PT84 00000000h PT85 00000000h PT86 00000000h PT87 00000000h PT88 00000000h PT89 00000000h PT90 00...

Page 212: ... PN03 00000000h PN04 0 PN05 0 PN06 00000000h PN07 00000000h PN08 00000000h PN09 1 PN10 0 PN11 3600 PN12 00000000h PN13 00000000h PN14 00000000h PN15 00000000h PN16 00000000h PN17 00000000h PN18 0 PN19 00000000h PN20 0 PN21 00000000h PN22 00000000h PN23 0 PN24 00000000h PN25 00000000h PN26 00000000h PN27 00000000h PN28 00000000h PN29 00000000h PN30 00000000h PN31 00000000h PN32 00000000h ...

Page 213: ...o Initial value PV01 0 PV02 0 PV03 2147483647 PV04 0 PV05 0 PV06 0 PV07 0 PV08 0 PV09 0 PV10 0 PV11 500000 PV12 0 PV13 100000 PV14 0 PV15 0 PV16 0 PV17 0 PV18 0 PV19 20000 PV20 20 PV21 2147483647 PV22 0 PV23 1 PV24 1 PV25 1 PV26 1 PV27 1 PV28 1 PV29 0 PV30 00000000h PV31 0 PV32 0 PV33 0 PV34 0 PV35 00000000h PV36 00000000h PV37 00000000h PV38 00000000h PV39 00000000h PV40 00000000h ...

Page 214: ...s other than the servo parameter objects that interlock and change with the servo parameters An example is shown in the table below Note that if the power is cycled the changed settings are not retained at the next startup To retain the changed settings even after cycling the power save the servo parameter setting value to the non volatile memory by using Store Parameters Obj 1010h To change the s...

Page 215: ...4 SERVO PARAMETER SETTING METHOD 4 2 Object dictionary 213 4 MEMO ...

Page 216: ...ameters and ranges cannot be set Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2 In addition the firmware version of the servo amplifier can be checked with MR Configurator2 objects or by other means 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...

Page 217: ... in Pr NPA02 is used 2nd octet The 2nd octet of the setting value in Pr NPA02 is used 3rd octet The 3rd octet of the setting value in Pr NPA02 is used 4th octet The 4th octet of the setting value in Pr NPA02 is used 01h to FEh 1st octet The 1st octet of the setting value in Pr NPA02 is used 2nd octet The 2nd octet of the setting value in Pr NPA02 is used 3rd octet The 3rd octet of the setting valu...

Page 218: ...tting Pr NPA04_Subnet mask Set the subnet mask Set each octet to a value between 0 to 255 In the eight digits of hexadecimal the first to fourth octets are expressed with each pair of digits Set the subnet mask assigned by the network administrator When SLMP command IPAddressSet is received at the time of IP address delivery from the controller this network parameter is overwritten with the receiv...

Page 219: ...speed Set the communication speed 1 100 Mbps 2 Network automatic setting To enable this network parameter cycle the power or reset the software after setting Details of the communication speed are as follows 1 Available on servo amplifiers with firmware version C0 or later Initial value Setting range Size Ver 0 All NULL 63 characters Refer to the text 64 bytes A0 Initial value Setting range Size V...

Page 220: ...e with the following restrictions If a blank 0 character user name is set that account will be disabled If the set user name is identical to an existing account password and authorization level parameters linked to said user name may be disabled Ensure that no duplicate user names are set Initial value Setting range Size Ver 00000000h Refer to the text 4 bytes A5 Setting value Authorization Descri...

Page 221: ...ption Pr NPB05 0 _ _ _ x Firmware update permission selection 0 Prohibited 1 Permitted When 1 permitted is set firmware updates can be performed via the FTP server function _ _ x _ For manufacturer setting _ x _ _ Drive recorder data readout permission selection 1 0 Prohibited 1 Permitted When 1 permitted is set readout of the recorded data in the drive recorder can be performed via the FTP server...

Page 222: ...r Page 218 Pr NPB04_User name No 1 Pr NPB14_Authorization level No 4 Set the authorization level for the user No 4 Page 219 Pr NPB05_Authorization level No 1 Pr NPB15_Password No 4 Set the password No 4 to use when accessing the FTP server function of the servo amplifier Page 219 Pr NPB06_Password No 1 Pr NPB16_User name No 5 Set the user name No 5 to use when accessing the FTP server function of ...

Page 223: ...r NPB06_Password No 1 Pr NPB22_User name No 7 Set the user name No 7 to use when accessing the FTP server function of the servo amplifier Page 218 Pr NPB04_User name No 1 Pr NPB23_Authorization level No 7 Set the authorization level for the user No 7 Page 219 Pr NPB05_Authorization level No 1 Pr NPB24_Password No 7 Set the password No 7 to use when accessing the FTP server function of the servo am...

Page 224: ...on level No 8 Set the authorization level for the user No 8 Page 219 Pr NPB05_Authorization level No 1 Pr NPB27_Password No 8 Set the password No 8 to use when accessing the FTP server function of the servo amplifier Page 219 Pr NPB06_Password No 1 Initial value Setting range Size Ver 0 All NULL 32 characters 36 bytes A5 Initial value Setting range Size Ver 00000000h Refer to the text 4 bytes A5 I...

Page 225: ...RAMETER SETTING METHOD 6 1 Engineering tool The network parameters can be set with 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 ...

Page 226: ...224 6 NETWORK PARAMETER SETTING METHOD 6 1 Engineering tool MEMO ...

Page 227: ...ns 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 Do not change the functional safety 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 functional safety parameters fo...

Page 228: ...afety sub function control by network 2 Test operation When setting this functional safety parameter to 2 test operation the safety sub function is not available For information regarding test operation refer to Test operation in the User s Manual Introduction If this functional safety parameter is set incorrectly AL 537 Parameter setting range error safety sub function occurs If this functional s...

Page 229: ...e If Pr PSA02 1 Position Speed monitor setting is not set to 0 do not monitor the position speed set this servo parameter to the same value as Pr PA01 1 Operation mode selection If this functional safety parameter is set incorrectly AL 537 Parameter setting range error safety sub function occurs Pr PSA03_SS1 SS2 deceleration monitor time SST Set the deceleration time for the SS1 function and the S...

Page 230: ...SS2 SOS function The STO function activates if movement to a position exceeding the position set in this functional safety parameter occurs after stop monitoring starts The setting unit can be changed with Pr PSA06 SOS permissible travel distance unit selection This functional safety parameter can be used only with the MR J5 _G_ RJ and MR J5D_ _G_ Pr PSA06_SOS permissible travel distance unit sele...

Page 231: ... MR J5D_ _G_ Pr PSA11_SLS speed 1 SLSS1 Set the threshold for the safety speed if activating the SLS function via the SLS1 command The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function This functional safety parameter can be used only with the MR J5 _G_ RJ and MR J5D_ _G_ Pr PSA12_SLS speed...

Page 232: ...g via the SS1 function Pr PSA17_Safety sub function Position detection delay time SOSPT Specify the filter time of the delay filter that will judge whether the motor position has exceeded the threshold during position monitoring The setting of this functional safety parameter delays the response time of the following types of position monitoring The time required for the STO function to start afte...

Page 233: ...ADT Set the time required for detection of AL 52A Position feedback error safety sub function The time required to detect a position feedback diagnosis error when a standard encoder is used will be set Diagnosis via AL 52A is not executed if this parameter is set to 0 Pr PSA23_Servo motor rated speed SMRS Set the servo motor rated speed This functional safety parameter converts the values from Pr ...

Page 234: ...bled Specify a time that is sufficient for the travel direction of the servo motor to change to the negative direction after the SDIP command is enabled This functional safety parameter can be used only with the MR J5 _G_ RJ and MR J5D_ _G_ Pr PSA28_SDI negative direction monitor delay time SDIDTN Set the time required for the direction monitoring to start after the SDIN command is enabled Specify...

Page 235: ...nction The STO function activates if movement exceeding the travel distance set in this functional safety parameter occurs after travel distance monitoring starts The setting unit can be changed with Pr PSB01 0 SLI permissible travel distance Unit selection 1 This functional safety parameter can be used only with the MR J5 _G_ RJ and MR J5D_ _G_ Pr PSB10_SLT torque upper limit value 1 SLTP1 Set th...

Page 236: ...rque lower limit value 4 If this functional safety parameter is set incorrectly AL 537 Parameter setting range error safety sub function occurs This functional safety parameter can be used only with the MR J5 _G_ RJ and MR J5D_ _G_ Pr PSB14_SLT torque lower limit value 1 SLTN1 Set the lower limit threshold for the safety torque if activating the SLT function via the SLT1 command The STO function w...

Page 237: ...STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function Ensure that the value set in this parameter is smaller than the value set in Pr PSB13 SLT torque upper limit value 4 If this functional safety parameter is set incorrectly AL 537 Parameter setting range error safety sub function occurs This functional safety parameter can be used only w...

Page 238: ...J and MR J5D_ _G_ Pr PSC06_Safety verification code SAC Set the safety verification code for safety communication Doing so sets the value used to identify the servo amplifier Set the MAC address etc so that it is not identical to that of a different servo amplifier Match the safety verification code to the value set in the safety communication setting of the master station If this parameter is set...

Page 239: ...lue 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 B2 Setting digit BIN Explanation _ _ _ x SLS1C SLS1 command 0 Do not perform automatic activation 1 Perform automatic activation _ _ x _ SLS2C SLS2 command 0 Do not perform automatic activation 1 Perform automatic activation _...

Page 240: ...e for setting values Selecting a value other than 00 none 01 STOC or 02 SS1C on a servo amplifier other than the MR J5 _G_ RJ and MR J5D_ _G_ triggers AL 537 Parameter setting range error safety sub function Initial value Setting range Ver 0h Refer to the text B2 Setting digit BIN Explanation _ _ _ x SDIPC SDIP command 0 Do not perform automatic activation 1 Perform automatic activation _ _ x _ SD...

Page 241: ... When multiple axes are enabled with this functional safety parameter the input device signal is enabled for multiple axes simultaneously For example when Pr PSD02 3 5h A and C axes enabled and Pr PSD02 0 01h STOC are set for the A axis STOC A and STOC C are enabled with the input signal of the DI1 pin In the following cases AL 537 Parameter setting range error safety sub function occurs When a va...

Page 242: ...ff when the A B and C axes all satisfy the condition The device name at this time is C _ _ _ example C STOS For OR output the condition becomes significant on or off when any of A B or C axis satisfies the condition The device name at this time is X _ _ _ example X STOS This functional safety parameter is enabled when Pr PSD08 3 Output axis selection is set to 0 all axes while a multi axis amplifi...

Page 243: ... the filter time for the input signal of the CN8 4 CN8 5 pin Refer to the following table for setting values Initial value Setting range Ver 0h Refer to the text B2 Initial value Setting range Setting method Ver 00000001h Refer to the relevant detail No Common Refer to the relevant detail No Configuration Noise elimination filter time Using a switch Set 1 00 ms or more Using a machine utilizing th...

Page 244: ... 7 pin 0 Do not perform diagnosis 1 Perform diagnosis Pr PSD30_Output device Test pulse off time SDOPW Select the off time for test pulses output from the output signal of the CN8 6 CN8 7 pin This setting is only enabled for CN8 6 CN8 7 pin output signals for which 1 perform diagnosis was selected in Pr PSD29 0 Test pulse diagnosis execution selection DO1 Pr PSD30 0_Test pulse off time DO1 Select ...

Page 245: ...onitoring for a linear servo motor If this parameter is set to a non matching value AL 537 Parameter setting range error safety sub function occurs Pr PSL03_Functional safety Linear encoder resolution setting Denominator SLID Set the linear encoder resolution with Pr PSL02 Functional safety Linear encoder resolution setting Numerator and Pr PSL03 Set a denominator in Pr PSL03 This functional safet...

Page 246: ...000h PSA03 1000 PSA04 50 PSA05 3 PSA06 00000000h PSA07 1000 PSA08 1000 PSA09 1000 PSA10 1000 PSA11 50 PSA12 50 PSA13 50 PSA14 50 PSA15 10 PSA16 00000000h PSA17 0 PSA18 50 PSA19 20 PSA20 67108864 PSA21 00000000h PSA22 60 PSA23 3000 PSA24 100 PSA25 0 PSA26 100 PSA27 1000 PSA28 1000 PSA29 0 PSA30 0 PSA31 0 PSA32 00000000h PSA33 00000000h PSA34 00000000h PSA35 00000000h PSA36 00000000h PSA37 00000000h...

Page 247: ...44 00000000h PSA45 00000000h PSA46 00000000h PSA47 00000000h PSA48 00000000h PSA49 00000000h PSA50 00000000h PSA51 00000000h PSA52 00000000h PSA53 00000000h PSA54 00000000h PSA55 00000000h PSA56 00000000h PSA57 00000000h PSA58 00000000h PSA59 00000000h PSA60 00000000h PSA61 00000000h PSA62 00000000h PSA63 00000000h PSA64 00000000h No Initial value ...

Page 248: ...0000h PSB10 15 0 PSB11 15 0 PSB12 15 0 PSB13 15 0 PSB14 15 0 PSB15 15 0 PSB16 15 0 PSB17 15 0 PSB18 10 PSB19 100 PSB20 50 PSB21 0 PSB22 15 0 PSB23 15 0 PSB24 10 PSB25 10 PSB26 00000000h PSB27 00000000h PSB28 00000000h PSB29 00000000h PSB30 00000000h PSB31 00000000h PSB32 00000000h PSB33 00000000h PSB34 00000000h PSB35 00000000h PSB36 00000000h PSB37 00000000h PSB38 00000000h PSB39 00000000h PSB40 ...

Page 249: ...47 8 PSB47 00000000h PSB48 00000000h PSB49 00000000h PSB50 00000000h PSB51 00000000h PSB52 00000000h PSB53 00000000h PSB54 00000000h PSB55 00000000h PSB56 00000000h PSB57 00000000h PSB58 00000000h PSB59 00000000h PSB60 00000000h PSB61 00000000h PSB62 00000000h PSB63 00000000h PSB64 00000000h No Initial value ...

Page 250: ...FFFFFFFFh PSC07 00000000h PSC08 00000000h PSC09 00000000h PSC10 00000000h PSC11 00000000h PSC12 00000000h PSC13 00000000h PSC14 00000000h PSC15 00000000h PSC16 00000000h PSC17 00000000h PSC18 00000000h PSC19 00000000h PSC20 00000000h PSC21 00000000h PSC22 00000000h PSC23 00000000h PSC24 00000000h PSC25 00000000h PSC26 00000000h PSC27 00000000h PSC28 00000000h PSC29 00000000h PSC30 00000000h PSC31 ...

Page 251: ...00000000h PSD12 00000001h PSD13 00000001h PSD14 00000001h PSD15 00000001h PSD16 00000001h PSD17 00000001h PSD18 20 PSD19 20 PSD20 20 PSD21 20 PSD22 20 PSD23 20 PSD24 00001111h PSD25 00000011h PSD26 00000001h PSD27 00001111h PSD28 00000011h PSD29 00001111h PSD30 00000000h PSD31 00001111h PSD32 00000000h PSD33 00000000h PSD34 00000000h PSD35 00000000h PSD36 00000000h PSD37 00000000h PSD38 00000000h ...

Page 252: ...Pr PSD_ _ PSD48 00000000h PSD49 00000000h PSD50 00000000h PSD51 00000000h PSD52 00000000h PSD53 00000000h PSD54 00000000h PSD55 00000000h PSD56 00000000h PSD57 00000000h PSD58 00000000h PSD59 00000000h PSD60 00000000h PSD61 00000000h PSD62 00000000h PSD63 00000000h PSD64 00000000h No Initial value ...

Page 253: ...00000000h PSL06 00000000h PSL07 00000000h PSL08 00000000h PSL09 00000000h PSL10 00000000h PSL11 00000000h PSL12 00000000h PSL13 00000000h PSL14 00000000h PSL15 00000000h PSL16 00000000h PSL17 00000000h PSL18 00000000h PSL19 00000000h PSL20 00000000h PSL21 00000000h PSL22 00000000h PSL23 00000000h PSL24 00000000h PSL25 00000000h PSL26 00000000h PSL27 00000000h PSL28 00000000h PSL29 00000000h PSL30 ...

Page 254: ...9 1 Engineering tool Functional safety parameters can be set using an engineering tool manufactured by Mitsubishi Electric 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 ...

Page 255: ...9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD 9 1 Engineering tool 253 9 MEMO ...

Page 256: ... regenerative option March 2021 SH NA 030308ENG E Servo parameters related to the following function are added Positioning mode point table method June 2021 SH NA 030308ENG F The MR J5D_ _G_ is added Servo parameters related to the following function are added CC Link IE Field Network Basic The following servo parameters are changed to the parameters for manufacturer setting Pr PC81 Pr PC81 1 July...

Page 257: ...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 258: ...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 030308ENG G ...

Page 259: ......

Page 260: ...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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