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Mitsubishi Electric MR-JET, User Manual

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Mitsubishi Electric MR-JET User Manual Download Page 12

10

2  CONTROL MODE
2.1  Control mode

2

CONTROL MODE

2.1

Control mode

The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are 
shown in the following.

Control switching

In the motion mode, the control mode can be switched with [Modes of operation (Obj. 6060h)]. Switching the control modes 
with [Modes of operation (Obj. 6060h)] applies to the cyclic modes (csp, csv, and cst) and homing mode (hm).

Category

Control mode

Symbol

Description

CiA 402 control mode

Cyclic synchronous position mode

csp

This is a control mode where a position command is received at a constant 
period to drive the servo motor in the synchronous communication with a 
controller.
Use an absolute position address for the command.

Cyclic synchronous velocity mode

csv

This is a control mode where a speed command is received at a constant 
period to drive the servo motor in the synchronous communication with a 
controller.

Cyclic synchronous torque mode

cst

This is a control mode where a torque command is received at a constant 
period to drive the servo motor in the synchronous communication with a 
controller.

Homing mode

hm

This is a control mode to perform homing with the method specified by the 
controller.

Summary of Contents for MR-JET

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

Page 2: ......

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

Page 4: ...lifier before wiring To prevent an electric shock connect the protective earth PE terminal the terminal marked with the symbol of the servo amplifier to the protective earth PE of the cabinet To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the switches ...

Page 5: ...ing table acc units The unit can be changed using Pr PT01 1 as shown in the following table U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Setting value Unit 0 0 01 r min 1 pulse s Setting value Unit 0 ms 1 pulse s2 Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 ...

Page 6: ...troke limit signal names 48 Setting methods of functions 48 Stop method at stroke limit detection 52 Servo parameter list 52 3 4 Command unit selection function 53 Speed command unit selection function 53 3 5 Electronic gear function 54 Setting method 54 Setting example 55 3 6 In position range setting 57 Setting method 57 3 7 Assigning I O devices 58 Setting method 58 3 8 Regenerative option sele...

Page 7: ... outline 91 How to use the function 91 Servo parameter object dictionary 94 Standard acquisition waveform list 100 Waveform recording inapplicable alarm list 102 List of auxiliary recording data 102 4 4 Software reset 103 Software reset in MR Configurator2 103 Software reset via network communication 103 4 5 Software position limit 104 Setting method 104 4 6 Torque limit 105 Setting method 105 Sta...

Page 8: ...onitor signals 114 Name and description of the monitor signals 114 Signal block diagram 117 5 2 Checking with MR Configurator2 118 Display all function 118 Graph function 118 I O monitor display 120 System configuration display 120 REVISIONS 122 WARRANTY 123 TRADEMARKS 124 ...

Page 9: ... and switches to the servo off status Page 77 Quick stop Halt This function stops the servo motor while maintaining the servo on status Page 79 Halt Stroke limit function This function limits the travel interval of the servo motor using LSP Forward rotation stroke end and LSN Reverse rotation stroke end Page 48 Stroke limit function This function limits the travel interval of the servo motor using...

Page 10: ...rs WNG Warning will turn on The servo motor may stop or may continue operation depending on the warning Page 60 Alarm function Alarm history clear This function clears alarm histories Page 62 Alarm history Power error detection Disconnection detection function This function detects a disconnection in the servo motor power supply output Page 111 Disconnection incorrect wiring detection function Coa...

Page 11: ...rvice life diagnosis Servo amplifier life diagnosis function This function displays data such as the cumulative energization time the number of on off times of the inrush relay and the number of times the dynamic brake has been used It gives an indication of the replacement time for parts on the servo amplifier with a service life such as the capacitor and the relay before they malfunction MR Conf...

Page 12: ...chronous position mode csp This is a control mode where a position command is received at a constant period to drive the servo motor in the synchronous communication with a controller Use an absolute position address for the command Cyclic synchronous velocity mode csv This is a control mode where a speed command is received at a constant period to drive the servo motor in the synchronous communic...

Page 13: ...ty actual value I32 ro Current speed vel units 6077h VAR Torque actual value I32 ro Current torque Unit 0 1 rated torque of 100 6092h 0 ARRAY Feed constant U8 ro 2 Travel distance per revolution of an output shaft 1 Feed U32 rw Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions 60F4h VAR Following error actual value I32 ro Droop pulses pos units 60FAh VAR Control e...

Page 14: ...irection selection 60A8h VAR SI unit position U32 rw SI unit position 00000000h 1 pulse 60A9h VAR SI unit velocity U32 rw SI unit velocity The SI unit velocity is returned FEB44700h 0 01 r min 00000300h pulse s 60B0h VAR Position offset I32 rw 0 Position offset pos units 60B1h VAR Velocity offset I32 rw 0 Velocity offset vel units 60B2h VAR Torque offset I16 rw 0 Torque offset Unit 0 1 with rated ...

Page 15: ...t revolutions Number of servo motor shaft revolutions 60E0h VAR Positive torque limit value U16 rw 10000 Torque limit value forward Unit 0 1 with rated torque being 100 60E1h VAR Negative torque limit value U16 rw 10000 Torque limit value reverse Unit 0 1 with rated torque being 100 6091h 0 ARRAY Gear ratio U8 ro 2 Gear ratio 1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor sh...

Page 16: ...t velocity The SI unit velocity is returned FEB44700h 0 01 r min 00000300h pulse s 60B1h VAR Velocity offset I32 rw 0 Velocity offset vel units 60B2h VAR Torque offset I16 rw 0 Torque offset Unit 0 1 with rated torque being 100 Bit Symbol Description 4 reserved The value at reading is undefined Set 0 when writing 5 reserved 6 reserved 8 reserved 9 reserved Bit Symbol Description 10 reserved The va...

Page 17: ... torque being 100 60E1h VAR Negative torque limit value U16 rw 10000 Torque limit value reverse Unit 0 1 with rated torque being 100 6091h 0 ARRAY Gear ratio U8 ro 2 Gear ratio 1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor shaft numerator Page 54 Electronic gear function 2 Shaft revolutions 1 Number of revolutions of the drive shaft denominator Page 54 Electronic gear funct...

Page 18: ...mode The bits that vary depending on the control mode are listed in the following tables Controlword OMS Bit cst Statusword OMS Bit cst Bit Symbol Description 4 reserved The value at reading is undefined Set 0 when writing 5 reserved 6 reserved 8 reserved 9 reserved Bit Symbol Description 10 reserved The value at reading is undefined 12 Target torque ignored 0 Target torque is being discarded 1 Ta...

Page 19: ... Homing Method I8 rw 1 Specify a homing method Refer to the following for the supported homing methods Page 19 Homing method list 6099h 0 ARRAY Homing Speeds U8 rw 2 Number of entries of the homing speed 1 Speed during search for switch U32 rw 10000 Specify the travel speed until dog detection 2 vel units Range 0 to servo motor maximum speed 2 Speed during search for zero U32 rw 1000 Specify the t...

Page 20: ...0 Bit 12 and Bit 13 of Statusword in the hm mode Bit Symbol Description 4 HOS Homing operation start 0 Do not start homing procedure 1 Start or continue homing procedure 5 reserved The value at reading is undefined Set 0 when writing 6 reserved 8 HALT Halt 0 Bit 4 enable 1 Stop axis according to halt option code Obj 605Dh 9 reserved The value at reading is undefined Set 0 when writing Bit Symbol D...

Page 21: ...the home position 39 Reverse rotation 8 Dog cradle type Forward rotation A position which is specified by the first Z phase signal after the front end of the proximity dog is detected is set as the home position 40 Reverse rotation 9 Dog type last Z phase reference Forward rotation After the front end of the proximity dog is detected the position is shifted away from the proximity dog in the rever...

Page 22: ...not on the Z phase Starting from the front end of the dog 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 If the stroke end is detected during homing AL 090 Homing incomplete warning occurs 23 Homing without index pulse Forward rotation This is the same as the dog type front end refere...

Page 23: ...st Z phase reference homing and Method 4 has the same operation as the dog cradle type homing at a forward rotation start However if the stroke end is detected during homing AL 090 occurs Method 5 and 6 Homing on negative home switch and index pulse These homing methods use the front end of the proximity dog as reference and set the Z phase right before and right after the dog as a home position M...

Page 24: ...nd reverse in Method 11 and 12 Method 17 to 30 Homing without index pulse Method 17 to 30 have the same operation as Method 1 to Method 14 however these methods set the home position on the dog but not on the Z phase The following figure shows the operation of the homing methods of Method 19 and Method 20 Method 19 and Method 20 have the same operation as Method 3 and Method 4 however these types ...

Page 25: ...the dogless Z phase reference homing except that the creep speed is applied at the start Method 35 and 37 Homing on current position These homing methods set the current position as a home position Index Pulse 33 34 ON ON Statusword bit 12 Homing attained Controlword bit 4 Homing operation start 0 r min OFF OFF Homing position data Forward rotation Reverse rotation Servo motor speed ...

Page 26: ... 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF 0 r min Homing speed Acceleration time constant Deceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position shift distance Proximity dog Z phase DOG Proximity dog 0 r min Homing direction P...

Page 27: ...t ON OFF 0 r min Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Acceleration time constant Deceleration time constant Home position shift distance Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Homing position data Forwa...

Page 28: ...FF Controlword bit 4 Homing operation start ON OFF 0 r min Homing speed Acceleration time constant Deceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position shift distance Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position The homi...

Page 29: ...usword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Deceleration time constant Acceleration time constant Home position shift distance Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo mot...

Page 30: ...g operation start Deceleration time constant Homing speed Travel distance after proximity dog home position shift distance Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Proximity dog DOG Proximity dog 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position The homing start posi...

Page 31: ... bit 12 Homing attained ON OFF Deceleration time constant Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog Acceleration time constant Home position shift distance travel distance after proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo motor speed R...

Page 32: ...rolword bit 4 Homing operation start Acceleration time constant Deceleration time constant Homing speed Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Proximity dog DOG Proximity dog Travel distance after proximity dog home position shift distance 0 r min Homing direction Proximity dog Servo motor speed Reverse rotation Homing start position Th...

Page 33: ...ng attained ON OFF Deceleration time constant Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog Acceleration time constant Home position shift distance travel distance after proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo motor speed Reverse rotat...

Page 34: ...he operation of Homing method 35 and Homing method 37 These methods can be performed in the servo off status Statusword bit 10 Target reached Statusword bit 12 Homing attained 0 r min ON OFF ON OFF ON OFF ON OFF Controlword bit 4 Homing operation start Acceleration time constant Deceleration time constant Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed H...

Page 35: ...dog When the servo motor returns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min td 1 ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Deceleration time constant Homing speed Home position shift distance Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotatio...

Page 36: ...nce after proximity dog enough for the servo motor to decelerate from the homing speed to the creep speed When homing is started from the proximity dog When the servo motor returns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min 1 ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF De...

Page 37: ...If the torque limit value is reached TLC remains on after homing is completed When the stroke end is detected ON OFF ON OFF Statusword bit 12 Homing attained Controlword bit 4 Homing operation start 0 r min Homing position data Forward rotation Servo motor speed Reverse rotation Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start ON OFF Statusword bit 10 Target reache...

Page 38: ... revise both the homing speed and creep speed When homing is started from the proximity dog When the servo motor returns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min ON OFF ON OFF Controlword bit 4 Homing operation start 1 Travel distance after proximity dog home position shift distance Acce...

Page 39: ...turns at the stroke end 1 This cannot be used with the software limit Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF 0 r min ON OFF ON OFF Controlword bit 4 Homing operation start Travel distance after proximity dog home position shift distance Acceleration time constant Deceleration time constant Homing speed Creep speed Forward rotation Servo motor speed 3 ms or...

Page 40: ...0 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Deceleration time constant Acceleration time constant Home position shift distance Homing speed Creep speed Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Homing position data Proximity dog Z phase DOG Proximity dog 0 r min Homing direction Proximity dog Homing position data Forward rotation Servo motor speed Rev...

Page 41: ...oftware limit Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF 0 r min 1 Homing speed Acceleration time constant Deceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Home position shift distance Proximity dog Z phase DOG Proximity ...

Page 42: ...tware limit Statusword bit 10 Target reached Statusword bit 12 Homing attained 0 r min ON OFF ON OFF ON OFF ON OFF Controlword bit 4 Homing operation start 1 Deceleration time constant Homing speed Travel distance after proximity dog home position shift distance Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotation Creep speed Proximity...

Page 43: ...ting the servo motor about a half turn away from the homing direction When the stroke end is detected Statusword bit 10 Target reached Statusword bit 12 Homing attained 0 r min ON OFF ON OFF ON OFF ON OFF Controlword bit 4 Homing operation start Deceleration time constant Homing speed Acceleration time constant Homing position data Forward rotation Servo motor speed 3 ms or shorter Reverse rotatio...

Page 44: ...ing with engineering tools or others as necessary The servo parameters related to the basic functions explained in this manual are shown in the following example When the servo parameter name is Travel direction selection and No is PA14 Pr PA14 Travel direction selection In addition the servo parameters in which the symbols are preceded by are enabled by the following conditions After setting cycl...

Page 45: ...that give commands to the servo amplifier through objects as well as operations that notify status to the controller through objects When using a controller manufactured by Mitsubishi Electric any concern regarding the Objects is alleviated as the controller itself has the functions to set and obtain the Object values necessary to implement each function When the respective object values are neede...

Page 46: ...e servo motor rotation direction is as follows When the setting of the servo motor rotation direction is changed the status changes to Homing incomplete Execute homing again Precautions The setting of the rotation direction selection does not change the Display All function and Graph function in MR Configurator2 Some objects can be changed with the setting of the rotation direction selection and s...

Page 47: ...are as follows The following tables show the rotation direction of the position information speed information and torque information that is changed in servo parameter settings Position information Speed information Torque information Servo parameter Symbol Name Outline PA14 POL Travel direction selection The rotation direction of the servo motor can be set Initial value 0 CCW PC29 3 COPB Torque P...

Page 48: ...relations between the object definition object setting values and the servo parameters Settings can only be made with the combinations indicated here The below table shows the relations between the object setting value of Polarity Obj 607Eh and the servo parameters Bit Description 0 reserved The value at reading is undefined Set 0 when writing 1 2 3 4 5 Torque POL The polarity is reversed when thi...

Page 49: ... Obj 60B1h Torque offset Obj 60B2h Positive torque limit value Obj 60E0h With the settings of Pr PA14 Travel direction selection and Pr PC29 3 Torque POL reflection selection the corresponding servo parameters are changed as follows Negative torque limit value Obj 60E1h With the settings of Pr PA14 Travel direction selection and Pr PC29 3 Torque POL reflection selection the corresponding servo par...

Page 50: ...se the signal that is appropriate for the system configuration being used To wire limit switches to the servo amplifier wire the limit switch installed in CCW direction to LSP Forward rotation stroke end and wire the limit switch installed in CW direction to LSN Reverse rotation stroke end To wire limit switches to the controller wire the limit switch installed in the increasing direction of the p...

Page 51: ...to 1 travel in CW direction with an increasing positioning address System configuration example Pr PA14 Travel direction selection 0 CCW Set LSP Upper stroke end for the limit signal that suppresses the operation in CCW direction The on off status of LSP Forward rotation stroke end is outputted as FLS Upper stroke limit to the controller and the on off status of LSN Reverse rotation stroke end is ...

Page 52: ... the servo amplifier such as a controller the stroke limit function is enabled to be used with input signals from the controller Refer to the system configuration example shown in this section when installing the limit switch Set Pr PD41 3 Sensor input method selection to 1 Input from the controller FLS RLS DOG From the controller to the servo amplifier input the limit switch installed in the posi...

Page 53: ...the position data Use software position limit to specify the upper and lower limits in order to limit the movable range Page 104 Software position limit When the movable range is not limited On a system configuration without the limited movable range such as a conveyor set LSP LSN to be automatically turned on As the signal is set to be always turned on the servo motor does not stop with the strok...

Page 54: ...usword Obj 6041h is 0 before inputting the speed command Servo parameter Symbol Name Outline PC19 0 COP6 AL 099 Stroke limit warning selection Enable or disable AL 099 Stroke limit warning When Disabled is selected AL 099 Stroke limit warning does not occur when LSP Forward rotation stroke end or LSN Reverse rotation stroke end is off but the stroke limit does still stop the operation 0 Enabled in...

Page 55: ...nation r min Use this when setting the speed data as servo motor speed encoder unit Command unit s Use this when setting the speed data in command units Servo parameter Symbol Name Outline PT01 1 CTY Speed acceleration deceleration unit selection Select a speed unit 0 r min 1 Command unit s Pr PT01 1 Speed acceleration deceleration unit selection Object interlocked with servo parameter 0 1 Pr PC24...

Page 56: ...or may occur depending on the value of the electronic gear ratio Setting method Setting with servo parameters Setting with object dictionary Set the electronic gear numerator for Motor revolutions Obj 6091h 01h and electronic gear denominator for Shaft revolutions Obj 6091h 02h Servo parameter Symbol Name Outline PA06 CMX Electronic gear Numerator Set the electronic gear numerator Initial value 1 ...

Page 57: ... be used for the setting Pt Servo motor encoder resolution pulse rev ΔS Travel distance per servo motor revolution command unit rev CMX Electronic gear Numerator CDV Electronic gear Denominator CMX CDV Pt ΔS The following setting example shows how to calculate the electronic gear The following specification symbols are necessary for calculation of the electronic gear Pb Ball screw lead mm 1 n Redu...

Page 58: ...MX 1642991168 and CDV 703125 If the servo motor rotates in one direction endlessly on systems such as an index table the error in rounding off accumulates resulting in the index position mismatch For example even if 36000 pulses are input for the command in the previous example the following result is obtained for the table Therefore a positioning to the same position cannot be performed on the ta...

Page 59: ...operation pattern In the super trace control droop pulses are near 0 during the servo motor control Thus the INP In position signal may remain on To prevent the INP In position signal from remaining on set the servo parameters as follows Pr PD13 2 INP output signal ON condition selection 1 Within the in position range and at the completion of command output Setting method The servo parameters rela...

Page 60: ...tem Setting method Servo parameter list Input output device selection input signal automatic ON selection input signal filter selection and DI pin polarity selection settings can be performed directly with servo parameters MR JET_G_ Servo parameter Symbol Name Outline PD01 2 DIA1 Input signal automatic ON selection LSP Forward rotation stroke end and LSN Reverse rotation stroke end can be set to D...

Page 61: ...of the regenerative options MR JET User s Manual Hardware Regenerative option For the regenerative options select the Mitsubishi Electric specified regenerative resistor MR RB series Precautions To prevent a fire from occurring use servo amplifiers with regenerative options in the specified combinations Setting method Servo parameter Symbol Name Outline PA02 0 1 REG Regenerative option selection S...

Page 62: ...motor stops safely with the methods specified in accordance with the alarm No Page 63 Stop method at occurrence of alarms warnings The occurred alarm is recorded as the alarm history In the alarm history the latest 16 alarms are recorded so that the types of alarms that have occurred in the past can be checked Page 62 Alarm history The conditions of the servo amplifier such as the servo motor spee...

Page 63: ...ause of the warning in accordance with the following manual MR JET User s Manual Troubleshooting Except for some warnings when the cause of the warning is removed the servo amplifier automatically returns to normal Certain warnings can be released with the operation alarm reset after removing the cause Alarm deactivation Explanation Alarm reset Error reset command from the controller Click Occurre...

Page 64: ...e returned 32 bit 2 ARRAY Alarm time Hour U32 ro 0 The occurrence time of the second alarm is returned 4 ARRAY Alarm time second U32 ro 0 The occurrence time of the second alarm is returned as a 32 bit integer time passed from January 1 1970 0 00 00 5 ARRAY Alarm time nanosecond U32 ro 0 In the second alarm occurrence time the digits below the second unit are returned as a 32 bit integer 2A0Fh 0 A...

Page 65: ...tor stops with the dynamic brake after forced stop deceleration Stop with dynamic brake The servo motor stops with the dynamic brake without forced stop deceleration For a servo amplifier without the dynamic brake the servo motor coasts Stop with electronic dynamic brake When a specific servo motor is used the servo motor stops with the electronic dynamic brake without forced stop deceleration Whe...

Page 66: ... to 2 Forced stop deceleration function enabled Stopping with forced stop deceleration function When an alarm is detected the servo motor stops using forced stop deceleration and MBR and ALM are turned off 1 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor ON OFF ON OFF ON OFF 0 r min ALM Alarm occurrence Model speed comman...

Page 67: ...on selection is set to 0 Forced stop deceleration function disabled The operation status during an alarm occurrence or network communication shut off is the same as in the stop method with dynamic brake shown in this section Page 65 Stopping with dynamic brake ON OFF ON OFF ON OFF 0 r min ALM Alarm occurrence Braking with dynamic brake Braking with dynamic brake and electromagnetic brake Servo mot...

Page 68: ...n time out has occurred During normal operation do not use EM2 Forced stop 2 to alternate between stop and drive Doing so may shorten the service life of the servo amplifier If an alarm that operates the dynamic brake occurs during forced stop deceleration the braking distance until the servo motor stops will be longer than the braking distance when the forced stop deceleration is properly operate...

Page 69: ...peed is below Pr PC07 Zero speed after completion of the deceleration command the base circuit is shut off and the dynamic brake activates ON OFF ON OFF 0 r min Pr PC24 ON OFF EM2 Forced stop 2 Enabled Dynamic brake electromagnetic brake Normal operation Forced stop deceleration Rated speed Servo motor speed Command Zero speed Pr PC07 Deceleration time Base circuit Energy supply to the servo motor...

Page 70: ...n does not operate on alarms that are not subject to the forced stop deceleration function When the forced stop deceleration function is disabled this function does not operate at forced stop EM2 is turned off or upon an alarm occurrence or network communication shut off Setting method For specifications such as the power supply capacity and operation delay time of the electromagnetic brake refer ...

Page 71: ... OFF Electromagnetic brake is activated 2 The electromagnetic brake is released after the release delay time of the electromagnetic brake and the operation time of external circuit relay or other operations For the release delay time of electromagnetic brake refer to Characteristics of electromagnetic brake in the following manual Rotary Servo Motor User s Manual HG KNS HG SNS 3 Give an operation ...

Page 72: ...is turned off after the base circuit shut off delay time 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor ON OFF ON OFF ON OFF 0 r min ALM ON OFF ON OFF Model speed command 0 and equal to or less than zero speed 2 Base circuit Energy supply...

Page 73: ...rake is activated ON OFF ON OFF ON OFF 0 r min ALM ON OFF ON OFF Controller command is not received Alarm occurrence Alarm No No alarm Model speed command 0 and equal to or less than zero speed 1 Base circuit Energy supply to the servo motor Servo amplifier display Servo motor speed no alarm alarm Electromagnetic brake interlock Malfunction Operation delay time of the electromagnetic brake Electro...

Page 74: ... with the dynamic brake and electromagnetic brake 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated OFF ON OFF ON OFF 0 r min 10 ms ON OFF Dynamic brake Dynamic brake electromagnetic brake Servo motor speed Electromagnetic brake Base circuit Operation delay time of electromagnetic brake Ready on command from controller Electromagnetic brake interlock 1 MBR ...

Page 75: ...hen an alarm occurs the servo motor stops using the same method as with the dynamic brake Page 65 Stopping with dynamic brake Power off The same timing chart shown in Power off when using the forced stop deceleration function also applies here Page 71 Power off Ready off command from controller The same timing chart shown in Ready off command from controller when using the forced stop deceleration...

Page 76: ...meter is set If not set this function does not operate Check that the forced stop deceleration function is enabled If disabled this function does not operate Setting method Set the freefall prevention compensation amount with Pr PC31 Vertical axis freefall prevention compensation amount After that turn off the EM2 Forced stop 2 during a servo motor stop and then adjust the base circuit shut off de...

Page 77: ...t forced stop Refer to the following Page 66 Forced stop deceleration function Item Explanation Reference Acceleration deceleration time constant method This is a method for performing acceleration deceleration in accordance with the specified acceleration deceleration time constants ms Set Pr PT01 1 Speed acceleration deceleration unit selection to 0 to enable this method Page 75 Acceleration dec...

Page 78: ...ration deceleration data varies depending on the unit selected in Pr PT01 1 Speed acceleration deceleration unit selection However the same object is used for setting the acceleration deceleration data regardless of the unit selected Refer to Pr PT01 1 for details For the precautions for each acceleration deceleration data refer to the setting parameters and objects Setting method Select the accel...

Page 79: ...p deceleration Obj 6085h and the state shifts to Switch On Disabled cst The state shifts immediately to Switch On Disabled and the servo motor stops with the dynamic brake hm The servo motor decelerates to a stop in accordance with Homing acceleration Obj 609Ah and the state shifts to Switch On Disabled 2 In the cyclic synchronous mode csp csv and the homing mode hm the servo motor decelerates to ...

Page 80: ...on Obj 6085h and the state shifts to Switch On Disabled MBR ON OFF ON OFF 0 r min Quick stop deceleration Obj 6085h ON OFF Switch On Disabled Quick Stop Active Operation Enabled Quick stop command Enabled Rated speed Servo motor speed Command Zero speed Pr PC17 Deceleration time Base circuit Energy supply to the servo motor Electromagnetic brake interlock Enabled ...

Page 81: ...art Index Sub Object Name Data Type Access Default Description 605Dh VAR Halt option code I16 rw 1 Setting for executing the Halt function Refer to the following table for the definition 609Ah VAR Homing acceleration U32 rw 1 Acceleration deceleration time constant at homing acc units Setting value Description 1 During the homing mode hm the servo motor decelerates to a stop in accordance with Hom...

Page 82: ...on Diagnoses encoder communication circuit failure Page 110 Encoder communication diagnosis function Disconnection detection function Detects disconnection of the servo motor power supply wires Page 111 Disconnection incorrect wiring detection function Applicable function Outline Reference Tough drive function Prevents the equipment from being stopped by an instantaneous power failure or a vibrati...

Page 83: ... can be changed by Pr PF25 Instantaneous power failure tough drive Detection time In addition AL 010 2 Voltage drop in the main circuit power detection level for the bus voltage is changed automatically Precautions MBR Electromagnetic brake interlock is on during the instantaneous power failure tough drive When the load of instantaneous power failure is large AL 010 2 caused by the bus voltage dro...

Page 84: ...aneous power failure tough drive Detection time MTTR During tough drive turns on after the instantaneous power failure is detected MBR Electromagnetic brake interlock turns off when the alarm occurs ALM Pr PF25 MTTR MBR ON OFF ON OFF ON OFF WNG ON OFF ON OFF ON OFF DC 158 V Power supply Bus voltage Undervoltage level Time for instantaneous power failure Base circuit Warning Tough drive in progress...

Page 85: ...s When the bus voltage does not decrease to the undervoltage level or lower within the instantaneous power failure time the operation continues as is without setting off the alarm ALM Pr PF25 MTTR MBR ON OFF ON OFF ON OFF WNG ON OFF ON OFF ON OFF Power supply Bus voltage Undervoltage level Time for instantaneous power failure Base circuit Warning Tough drive in progress Electromagnetic brake inter...

Page 86: ...age decreases to the undervoltage level or lower within the instantaneous power failure time ALM Pr PF25 MTTR MBR ON OFF ON OFF ON OFF WNG ON OFF ON OFF ON OFF Power supply Bus voltage Undervoltage level Time for instantaneous power failure Base circuit Warning Tough drive in progress Electromagnetic brake interlock Malfunction Energization Power failure 158 V DC ...

Page 87: ...e is vibration with multiple frequencies at the same time such as multiple mechanical resonances the vibration frequency may not be estimated properly Vibration frequency may not be estimated properly if the torque reaches the limit value To prevent the excessive torque vibrations set a longer acceleration deceleration time for the command or slightly decrease the gains Precautions It is recommend...

Page 88: ...ne diagnosis function Friction judgment speed Set the servo motor speed to divide the friction estimation area between low speed and high speed in the friction estimation process of machine diagnosis When the maximum operation speed is under the rated speed it is recommended to set half the value of the maximum operation speed 1 2 Setting Pr PF34 6 Friction estimate area judgment speed setting to ...

Page 89: ... friction estimation The friction estimation function estimates the static friction both at forward rotation and reverse rotation and the dynamic friction at rated speed both at forward rotation and reverse rotation To estimate these values it is unnecessary to perform to and fro positioning operation When the servo motor is operated in acceleration deceleration for forward rotation only the stati...

Page 90: ...n level and a change in the vibration frequency due to excess play or deterioration in guides ball screws and belts can be observed The vibration estimation function estimates the vibration level and vibration frequency respectively during servo motor operation and at a servo motor stop Vibration levels and frequencies during servo motor operation and during servo motor stop are estimated separate...

Page 91: ...warning 5 The acceleration deceleration time constants may be short for friction estimation warning 6 The operation time may be insufficient warning Bit 8 to 11 Vibration estimation status 0 Friction is being estimated 1 Estimation is completed Bit 12 to 15 reserved 2C21h 0 VAR Static friction torque at forward rotation I16 RO Static friction at forward rotation torque is returned Unit 0 1 rated t...

Page 92: ...ecorder function cannot be used To use the drive recorder function wait until the time set in Pr PF21 Drive recorder switching time setting passes cycle the power of the servo amplifier or perform the software reset after using the graph function If the sampling cycle of an analog trigger or digital trigger is long the establishment of the trigger may not be able to be detected In that case shorte...

Page 93: ...her than the alarm trigger Alarm occurrence data is not saved Page 102 List of auxiliary recording data How to use the function The automatic setting mode is enabled in the drive recorder function when using factory settings If the initial setting does not meet your needs set Pr PA23 Drive recorder desired alarm trigger setting and collect data suitable for analyzing the occurrence factors of alar...

Page 94: ...se Pr PF98 0 Drive recorder history clear selection or Clear drive recorder history Obj 2C03h Drive recorder record data can also be deleted by clicking the history clear button on the drive recorder screen of the engineering tool MR Configurator2 Saving the drive recorder data in manual setting mode Precautions The storage area of the servo amplifier has a limit for the number of writings When us...

Page 95: ...pling and stop sampling 2 Set the sampling cycle trigger condition and other areas with servo parameters 3 Set Pr PF81 0 to 1 or 2 Sampling starts Return to automatic setting mode To save in the automatic setting mode again set Pr PF80 0 to 0 automatic setting The automatic setting mode operates automatically Item Servo parameter Reference Sampling cycle Pr PF80 2 3 Page 94 Servo parameters Trigge...

Page 96: ...er binding condition selection Select the binding condition of the trigger 0 Disabled initial value 1 Logical AND of trigger signals 2 Logical OR of trigger signals PF82 2 DRTM Drive recorder Trigger operation selection 1 Select if sampling starts when the channel set in Pr PF84 0 1 Drive recorder Trigger channel selection 1 exceeds the set trigger level startup or starts when it falls below the s...

Page 97: ...election Set the data to be assigned to digital channel 4 Initial value 8005h INP 3 PF93 0 3 DRDC3 Drive recorder Digital channel 5 selection Set the data to be assigned to digital channel 5 Initial value 800Ah MBR 3 PF93 4 7 DRDC3 Drive recorder Digital channel 6 selection Set the data to be assigned to digital channel 6 Initial value 8000h RD 3 PF94 0 3 DRDC4 Drive recorder Digital channel 7 sel...

Page 98: ...log channel 1 02 Analog channel 2 03 Analog channel 3 04 Analog channel 4 05 Analog channel 5 06 Analog channel 6 07 Analog channel 7 81 Digital channel 1 82 Digital channel 2 83 Digital channel 3 84 Digital channel 4 85 Digital channel 5 86 Digital channel 6 87 Digital channel 7 88 Digital channel 8 ...

Page 99: ...1 Servo motor speed 0 1 r min unit 0 1 r min 022 Command pulse frequency 0 1 r min speed unit 0 1 r min 023 Speed command 0 1 r min unit 0 1 r min 024 Torque command 0 1 025 Speed limit value 1 r min 026 Speed limit value 0 1 r min unit 0 1 r min 035 Internal temperature of encoder 1 C 049 Operation mode 1LSB 201 Servo motor speed 0 1 r min 32 bit data 202 Command pulse frequency kpulse s 203 Comm...

Page 100: ... being inputted 8000 RD Ready DO 8001 SA Speed reached 8002 ZSP Zero speed detection 8003 TLC Limiting torque 8004 VLC Limiting speed 8005 INP In position completion 8007 WNG Warning 8008 ALM Malfunction 8009 OP Z phase output 800A MBR Electromagnetic brake interlock 800B DB External dynamic brake 800F BWNG Battery warning 8010 ALM2 Malfunction 2 8013 RDY During ready on 8015 1 STO During STO 8016...

Page 101: ...alarm that occurred while the drive recorder was recording data is returned 03h Drive recorder history power on time U32 ro Returns the power on cumulative time when recording the drive recorder 04h Drive recorder history time second U32 ro The recording time of the drive recorder is returned as a 32 bit integer time passed from January 1 1970 0 00 00 000000000 05h Drive recorder history time nano...

Page 102: ...Position within one revolution Current command Encoder error counter 1 Encoder error counter 2 0 500 ms 512 ms CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 024 Servo motor speed Torque Current command Position within one revolution Bus voltage U phase current feedback V phase current feedback 0 500 ms 512 ms CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 030 Servo motor speed Torque Current command Droop puls...

Page 103: ... voltage Effective load ratio 32 ms 32768 ms CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 051 Servo motor speed Torque Current command Droop pulses 100 pulses Overload alarm margin Bus voltage Effective load ratio 32 ms 32768 ms CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 052 Servo motor speed Torque Current command Droop pulses 100 pulses Speed command Bus voltage Excessive error alarm margin 2 ms 2048 ms...

Page 104: ...Alarm No Name 010 1 Voltage drop in the control circuit power 012 Memory error 1 016 Encoder initial communication error 1 017 Board error 019 Memory error 3 01A Servo motor combination error 01E Encoder initial communication error 2 01F Encoder initial communication error 3 025 Absolute position erased 119 Memory error 4 Alarm No Name 013 Clock error 014 Control process error Name Outline Servo a...

Page 105: ...amplifier via a network reconnection may not be possible if the software reset is performed after changing the setting of the network Precautions Canceling alarms is not the main purpose of the software reset function Use of this function is not recommended for alarms that would ordinarily be canceled by cycling the power Software reset in MR Configurator2 The servo amplifier can be reset with the...

Page 106: ...isabled Change this function during servo off homing mode velocity mode and torque mode When the setting is changed during servo on in the position mode AL 035 Command frequency error AL 069 Command error and AL 098 Software limit warning may occur Setting method Servo parameter setting Related objects The following table shows the related objects Pr PT15 Software position limit is used for Max po...

Page 107: ...t torque mode the relationship between objects and servo parameters that limit the torque changes as follows Item Outline Internal torque limit The maximum torque is limited by the value of Pr PA11 Forward rotation torque limit and Pr PA12 Reverse rotation torque limit Servo parameter Symbol Name Outline PA11 TLP Forward rotation torque limit Set the servo parameter when limiting the torque of the...

Page 108: ...it Status check of limiting torque TLC Limiting torque and Bit 13 S_TLC of Status DO1 Obj 2D10h turn on when the servo motor torque reaches the torque that was limited by the forward rotation torque limit and the reverse rotation torque limit ...

Page 109: ...rection Pr PT67 is used for Velocity limit value Obj 2D20h If Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 command unit s set the maximum speed in Pr PV21 Speed limit Extension setting Status check of limiting speed When the servo motor speed reaches the speed set in Pr PT67 Speed limit VLC Limiting speed and Bit 4 S_VLC of Status DO2 Obj 2D12h will turn on 4 8 Infinite fee...

Page 110: ... the cumulative value of energization time deviates from the actual value This function displays the approximate service life Since the service life varies by the method of use and environmental conditions replace the servo amplifier after discovering an error Setting method No setting is required to use the cumulative energization time function The servo amplifier always measures the energization...

Page 111: ...o display the number of times the inrush relay has been turned on off and the usage count of the dynamic brake The servo amplifier always measures the number of times the inrush relay has been turned on off and the number of times the dynamic brake has been used Service life check method How to check with MR Configurator2 To check the number of times the inrush relay has been turned on off and the...

Page 112: ...o amplifier turned off MR Configurator2 is required for this function AL 118 1 Encoder communication circuit diagnosis in progress occurs when the encoder communication circuit diagnosis is in progress Usage To enable the diagnosis mode set 1 enabled in Pr PC05 4 Encoder communication circuit diagnosis mode selection and cycle the power Remove the encoder cable at power off During diagnosis mode A...

Page 113: ... 1 speed command is set in Pr PC19 6 Output open phase Judgment speed selection the output open phase may be detected incorrectly when the servo motor axis is stopped due to a collision or similar impact If Pr PA11 Forward rotation torque limit and Pr PA12 Reverse rotation torque limit are 10 0 or less the output open phase may be detected incorrectly when the servo motor load becomes large Precau...

Page 114: ...ned on Torque offset Obj 60B2h can be used simultaneously with Pr PE47 Unbalanced torque offset If a value other than 0 is set for both the parameter and the object the setting values of both Torque offset Obj 60B2h and Pr PE47 Unbalanced torque offset are added to the torque command If using the velocity offset in the position mode a position deviation may occur at the command stop and positionin...

Page 115: ...ommand offsets are invalid In the test operation mode command offset is disabled Enabled Disabled Function block diagram Page 10 Control mode Index Sub Object Name Data Type Access Default Description 60B0h VAR Position offset I32 rw 0 Position offset Unit pos units 60B1h VAR Velocity offset I32 rw 0 Velocity offset Unit vel units 60B2h VAR Torque offset I16 rw 0 Torque offset Unit 0 1 with rated ...

Page 116: ...Cumulative feedback pulses The feedback pulses from the servo motor encoder are counted and displayed In reverse rotation the value is negative Servo motor speed The servo motor speed is displayed Droop pulses The number of droop pulses in the deviation counter is displayed In reverse rotation the value is negative The number of pulses displayed is in the encoder pulse unit Cumulative command puls...

Page 117: ...050 Overload 1 and AL 051 Overload 2 are displayed as a percentage Overshoot amount The overshoot amount during position mode is displayed in units of encoder pulses Disturbance torque The difference between the necessary torque and the actually required torque torque current value to drive the servo motor is displayed as the torque equivalent to disturbance Current command This indicates the curr...

Page 118: ... BWNG Battery warning DO WNGSTOP Motor stop warning DO CDP Gain switching DI CDP2 Gain switching 2 DI CDPS Variable gain selection DO CDPS2 Variable gain selection 2 DO DOG Proximity dog DI EM1 Forced stop 1 DI EM2 Forced stop 2 DI INP In position DO LSN Reverse rotation stroke end DI LSP Forward rotation stroke end DI MBR Electromagnetic brake interlock DO MTTR During tough drive DO PC Proportion...

Page 119: ...op control PWM M Droop pulses Speed command input 1 Position control Speed control Current control Current command Bus voltage Speed command Current detector Servo motor Encoder Current feedback Position feedback Position command received from controller Position feedback data returned to controller Differen tiation Internal temperature of encoder Servo motor speed Torque Speed command input 2 ...

Page 120: ...s of the I O signals of the servo amplifier the status of the wiring and signals can be checked Refer to the following for the signals which can be checked with the Display all function and the graph function Page 114 Explanation of monitor signals The signals set in the I O device are displayed in the I O monitor display Display all function The analog data signals of the servo amplifier can be d...

Page 121: ... Configurator2 119 5 2 Set the sampling time trigger and other areas as required then start measurement 3 The waveform is displayed on completion of measurement The obtained data can be checked by clicking Zoom Cursor and other buttons ...

Page 122: ...ayed in the configuration window vary depending on the servo amplifier When MR Configurator2 is connected to the servo amplifier the values are displayed Displayed items The following items can be checked in the system configuration window Servo amplifier identification information Servo amplifier serial No Servo amplifier S W No Optional unit identification information Optional unit serial No Opt...

Page 123: ...5 MONITORING 5 2 Checking with MR Configurator2 121 5 MEMO ...

Page 124: ...on November 2019 IB NA 0300458ENG A First edition This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual ...

Page 125: ...ou acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of pro...

Page 126: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies IB NA 0300458ENG A ...

Page 127: ......

Page 128: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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