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Mitsubishi Electric MELSERVO MR-JET-G Series, Руководство пользователя

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Mitsubishi Electric MELSERVO MR-JET-G Series Скачать руководство пользователя страница 41

1  SERVO PARAMETER DETAILS

1.3  Gain/filter setting servo parameters group ([Pr. PB_ _ ])

39

1

[Pr. PB26_Gain switching function (*CDP)]

Select the gain switching condition.
Set the conditions to enable the following values: the gain switching values that have been set from [Pr. PB29 Load to motor 
inertia ratio/load to motor mass ratio after gain switching] to [Pr. PB36 Vibration suppression control 1 - Resonance frequency 
damping after gain switching] and from [Pr. PB56 Vibration suppression control 2 - Vibration frequency after gain switching] to 
[Pr. PB60 Model control gain after gain switching], and the values of gain switching 2 that have been set from [Pr. PB67 Gain 
switching 2 - Load to motor inertia ratio/load to motor mass ratio] to [Pr. PB79 Gain switching 2 - Model control gain].

[Pr. PB26.0_Gain switching selection]

0: Disabled
1: Signal (CDP/C_CDP)
2: Command frequency
3: Droop pulses
4: Servo motor speed
5: Command direction
When "1" is selected, the gain changes to "Gain after gain switching" by using the control command (C_CDP) from the 
controller or the input device CDP (Gain switching).

[Pr. PB26.1_Gain switching - Condition selection]

0: Gain after "Gain switching" is enabled with the value of the gain switching condition or more
1: Gain after "Gain switching" is enabled with the value of the gain switching condition or less

[Pr. PB26.2_Gain switching time constant - Disabling condition selection]

0: Switching time constant enabled
1: Time constant disabled at switching
2: Time constant disabled at return

[Pr. PB26.4_Gain switching 2 selection]

0: Disabled
1: Signal (CDP2/C_CDP2)
2: The same condition as [Pr. PB26.0 Gain switching selection]
When "1" is selected, the gain changes to "Gain after gain switching 2" by using the control command (C_CDP2) from the 
controller or the input device CDP2 (Gain switching 2).
When "1" is set in [Pr. PB26.0] while "2" has been selected for this servo 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).

Initial value

Setting range

Ver.

00000000h

Refer to the relevant detail No.

Refer to the relevant detail No.

Initial value

Setting range

Ver.

0h

Refer to the text

A4

Initial value

Setting range

Ver.

0h

Refer to the text

A4

Initial value

Setting range

Ver.

0h

Refer to the text

A4

Initial value

Setting range

Ver.

0h

Refer to the text

A4

Содержание MELSERVO MR-JET-G Series

Страница 1: ...MR JET G User s Manual Parameters MR JET _G MR JET _G N1 Mitsubishi Electric AC Servo System ...

Страница 2: ......

Страница 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...

Страница 4: ...efore wiring To prevent an electric shock connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the cabinet then connect the grounding lead wire to the ground To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the sw...

Страница 5: ...anual Introduction U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F Rotary Servo Mo...

Страница 6: ...3 Pr PA23_Drive recorder desired alarm trigger setting DRAT 23 Pr PA24_Function selection A 4 AOP4 24 Pr PA25_One touch tuning Overshoot permissible level OTHOV 24 Pr PA26_Function selection A 5 AOP5 24 Pr PA28_Function selection A 6 AOP6 25 Pr PA34_Quick tuning Permissible travel distance QDIS 25 1 3 Gain filter setting servo parameters group Pr PB_ _ 26 Pr PB01_Adaptive tuning mode adaptive filt...

Страница 7: ...ation suppression control 2 Resonance frequency VRF22 48 Pr PB54_Vibration suppression control 2 Vibration frequency damping VRF23 48 Pr PB55_Vibration suppression control 2 Resonance frequency damping VRF24 48 Pr PB56_Vibration suppression control 2 Vibration frequency after gain switching VRF21B 49 Pr PB57_Vibration suppression control 2 Resonance frequency after gain switching VRF22B 49 Pr PB58...

Страница 8: ...filtering time FEWF 63 Pr PC70_In position 2 Output range INP2R 64 Pr PC71_In position 2 Output filtering time INP2F 64 Pr PC72_Speed reached 2 Output range SA2R 64 Pr PC73_Speed reached 2 Output filtering time SA2F 65 Pr PC76_Function selection C E COPE 65 Pr PC78_Function selection C F COPF 66 Pr PC79_Function selection C G COPG 66 1 5 I O setting servo parameters group Pr PD_ _ 68 Pr PD01_Input...

Страница 9: ... Analog channel setting 2 DRAC2 90 Pr PF89_Drive recorder Analog channel setting 3 DRAC3 91 Pr PF90_Drive recorder Analog channel setting 4 DRAC4 91 Pr PF91_Drive recorder Digital channel setting 1 DRDC1 92 Pr PF92_Drive recorder Digital channel setting 2 DRDC2 93 Pr PF93_Drive recorder Digital channel setting 3 DRDC3 93 Pr PF94_Drive recorder Digital channel setting 4 DRDC4 94 Pr PF95_Drive recor...

Страница 10: ... Detection frequency setting CERI 111 Pr PN20_Parameter automatic backup update interval PABI 112 1 11 Positioning extension setting servo parameters group Pr PV_ _ 113 Pr PV01_Profile speed command extension setting PVC2 113 Pr PV03_Maximum profile speed extension setting MPVCE 113 Pr PV05_Profile acceleration PACC 113 Pr PV07_Profile deceleration PDEC 114 Pr PV09_Deceleration at forced stop RSBD...

Страница 11: ...etting servo parameters group Pr PT_ _ 141 3 8 Network setting servo parameters group Pr PN_ _ 143 3 9 Positioning extension setting servo parameters group Pr PV_ _ 144 CHAPTER 4 SERVO PARAMETER SETTING METHOD 145 4 1 Engineering tool 145 4 2 Object dictionary 145 CHAPTER 5 NETWORK PARAMETER DETAILS 147 5 1 Network basic parameters 148 Pr NPA01_IP address setting 148 Pr NPA02_IP address 149 Pr NPA...

Страница 12: ...ion level No 7 154 Pr NPB24_Password No 7 154 Pr NPB25_User name No 8 154 Pr NPB26_Authorization level No 8 154 Pr NPB27_Password No 8 155 CHAPTER 6 NETWORK PARAMETER SETTING METHOD 156 6 1 Engineering tool 156 REVISIONS 158 WARRANTY 159 TRADEMARKS 160 ...

Страница 13: ... adjusts gain servo parameters Some servo parameters correspond to the objects that can be updated periodically in cyclic communication For example Pr PT45 Homing method corresponds to Homing method Obj 6098h When a relevant object is mapped in cyclic communication the controller overwrites the servo parameter value written with engineering tools Thus do not write a value with the engineering tool...

Страница 14: ...0D MR RB14 0E MR RB34 Pr PA03_Absolute position detection system ABS Pr PA03 0_Absolute position detection system selection Set this servo parameter when using the absolute position detection system If the absolute position detection system is switched to the incremental system the home position is erased Execute homing again when the absolute position detection system is enabled 0 Disabled increm...

Страница 15: ...s servo parameter corresponds to Motor revolutions Obj 6091h 01h 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 PA07_Electronic gear Denominator CDV Set the electronic gear denominator This servo parameter corresponds to Shaft revolutions Obj 6091h 02h Wh...

Страница 16: ...tion 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 Pos...

Страница 17: ...1 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 A4 Initial value Setting range Ver 0h Refer to the text A4 Initial value Setting range Ver 0h Refer to the text A4 No Symb...

Страница 18: ...stic 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 7 Low response...

Страница 19: ...limit can be changed with the setting values of Pr PA14 Travel direction selection 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 t...

Страница 20: ... thrust The 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 writ...

Страница 21: ...rotation direction linear servo motor travel direction Positioning address increasing direction Positioning address decreasing direction 0 CCW or positive direction CW or negative direction 1 CW or 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 con...

Страница 22: ...7_Servo motor series setting MSR Initial value Setting range Ver 00000000h Refer to the text B2 Linear servo motor series Linear servo motor primary side Servo parameter Setting value of Pr PA17 Setting value of Pr PA18 0 3 LM H3 LM H3P2A 07P BSS0 000000BBh 2101h LM H3P3A 12P CSS0 3101h LM H3P3B 24P CSS0 3201h LM H3P3C 36P CSS0 3301h LM H3P3D 48P CSS0 3401h LM H3P7A 24P ASS0 7101h LM H3P7B 48P ASS...

Страница 23: ...tting range Ver 000000ABh Refer to the text A4 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 value Readable...

Страница 24: ...sonance suppression filter automatic setting mode is recommended Pr PA20 2_Instantaneous power failure tough drive selection 0 Disabled 1 Enabled Selecting 1 enables to avoid triggering AL 010 Undervoltage by using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation In Pr PF25 Instantaneous power failure tough drive detection time the ...

Страница 25: ...uring 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 When 000h is...

Страница 26: ...g 1 if an instantaneous power failure occurs during operation limiting the torque at acceleration saves the electric energy charged in the capacitor in the servo amplifier And consequently the time until AL 010 2 Voltage drop in the main circuit power occurs can be delayed with instantaneous power failure tough drive function Thus the time to be set in Pr PF25 Instantaneous power failure tough dri...

Страница 27: ...l distance QDIS Set the permissible travel distance for quick tuning If the travel distance for quick tuning exceeds the setting value the quick tuning error occurs When 0 is inputted the permissible travel distance for quick tuning is 1 0 rev when a linear servo motor is used 10 mm Initial value Setting range Ver 00000000h Refer to the relevant detail No Refer to the relevant detail No Initial va...

Страница 28: ...ne resonance 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 ...

Страница 29: ...easing the setting value of this servo 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 decelerat...

Страница 30: ...vo parameter will be automatic 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 Ver 7 00 Multiplier 0...

Страница 31: ...e constant of the speed loop Decreasing the setting value improves responsiveness but raises the likelihood of vibration and noise The setting of this servo parameter will be automatic or manual depending on the setting value of Pr PA08 0 Gain adjustment mode selection Refer to the following for details Page 29 Pr PB08_Position control gain PG2 Pr PB11_Speed differential compensation VDC Set the d...

Страница 32: ...setting value of this servo parameter When Pr PB01 0 is set to 2 manual setting set the notch frequency with this servo parameter Pr PB14_Notch shape selection 1 NHQ1 Pr PB14 1_Notch depth selection 1 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB14 2_Notch width selection 1 0 α 2 1 α 3 2 α 4 3 α 5 Pr PB15_Machine resonance suppression filter 2 NH2 Set the notch frequency of the machine resonance suppression...

Страница 33: ...the adjustment 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 Ver 00000000h Refer to the relevant detail No Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text A4 In...

Страница 34: ...ed the setting value is disabled When Pr PB49 0 Machine resonance suppression filter 4 selection is set to 1 enabled the shaft resonance suppression filter cannot be used When Pr PB23 0 is set to 2 disabled the performance may be reduced 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 f...

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

Страница 36: ... 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 ...

Страница 37: ...tment mode selection 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 A4 Initial value Setting range Ver 3141 rad s 100 to 36000 A4 Pr PB23 1 Low pass filt...

Страница 38: ... 0 Model adaptive control selection is set to 2 disabled 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 Vibr...

Страница 39: ...e used Pr PB23 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 Ver 00001000h Refer to the relevant d...

Страница 40: ...factor 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 mode...

Страница 41: ...hing Pr PB26 1_Gain switching Condition selection 0 Gain after Gain switching is enabled with the value of the gain switching condition or more 1 Gain after Gain switching is enabled with the value of the gain switching condition or less Pr PB26 2_Gain switching time constant Disabling condition selection 0 Switching time constant enabled 1 Time constant disabled at switching 2 Time constant disab...

Страница 42: ...ter gain switching GD2B Set the load to motor inertia ratio for when the gain switching is enabled The setting value of this servo parameter is enabled when Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB30_Position control gain after gain switching PG2B Set the position control gain for when the gain switching is enabled When the setting value of this servo parameter is les...

Страница 43: ...n switching VRF12B Set the resonance frequency for vibration 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 mo...

Страница 44: ...witching selection Switching 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 Ver 0 00 0 00 to 0 30 A4 Initial value Setting ran...

Страница 45: ...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 ...

Страница 46: ...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 ...

Страница 47: ...3 Set forms of the machine resonance suppression filter 3 Pr PB47 0_Machine resonance suppression filter 3 selection 0 Disabled 1 Enabled Pr PB47 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Initial value Setting range Ver 0h Refer to the text A4 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 Setti...

Страница 48: ...ilter 4 Pr PB49 0_Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled When this setting value is Enabled Pr PB17 Shaft resonance suppression filter cannot be used Pr PB49 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB49 2_Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 Initial value Setting range Ver 0h Refer to the text A4 Initial value Setting range Ver 4500 Hz 10 to...

Страница 49: ...ting value of this servo parameter reflects the adjustment result of quick tuning When Pr PE41 0 Robust filter selection is set to 1 enabled machine resonance suppression filter 5 cannot be used Pr PB51 0_Machine resonance suppression filter 5 selection 0 Disabled 1 Enabled Pr PB51 1_Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Pr PB51 2_Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 Initial...

Страница 50: ...ble range of Pr PB53 Vibration suppression control 2 Resonance frequency changes depending on the value in Pr PB07 Model control gain If the setting value of Pr PB53 exceeds the available range the vibration suppression control is disabled Pr PB54_Vibration suppression control 2 Vibration frequency damping VRF23 Set the damping of the vibration frequency for vibration suppression control 2 to supp...

Страница 51: ...f Pr PB53 Vibration suppression control 2 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 PA24 0 Vibration suppression mode selection is set to 1 3 inertia mode Pr PB02 1 Vibration suppression control 2 Tuning mode selection is set to 2 manual setting 1 signal CDP C_CDP is selected in Pr ...

Страница 52: ...ing 2 condition CDL2 Set the value of the gain switching command frequency droop pulses or servo motor speed selected in Pr PB26 0 Gain switching selection The set value unit differs depending on the switching condition item The units are as follows kpulse s for command frequency pulse for droop pulses and r min for servo motor speed If using a linear servo motor the unit of the servo motor speed ...

Страница 53: ...ation is applied This servo parameter is enabled when Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB71_Vibration suppression control 1 Vibration frequency after gain switching 2 VRF11C Set the vibration frequency of vibration suppression control 1 for when the gain switching 2 is enabled When the setting value of this servo parameter is less than 0 1 the setting value of Pr...

Страница 54: ... in the following conditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PB02 0 Vibration suppression control 1 Tuning mode selection is set to 2 manual setting Pr PB26 0 Gain switching selection is set to 1 signal CDP C_CDP and Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as Pr PB26 0 Gain switching selection Or 1 signal CDP2 C_CDP2 is selected in Pr...

Страница 55: ...s servo parameter is enabled in the following conditions Pr PA08 0 Gain adjustment mode selection is set to 3 manual mode Pr PA24 0 Vibration suppression mode selection is set to 1 3 inertia mode Pr PB02 1 Vibration suppression control 2 Tuning mode selection is set to 2 manual setting Pr PB26 0 Gain switching selection is set to 1 signal CDP C_CDP and Pr PB26 4 Gain switching 2 selection is set t...

Страница 56: ...in the following conditions Pr PB26 0 Gain switching selection is set to 1 signal CDP C_CDP and Pr PB26 4 Gain switching 2 selection is set to 2 the same condition as Pr PB26 0 Gain switching selection Or 1 signal CDP2 C_CDP2 is selected in Pr PB26 4 Pr PB81_Command filter CFIL Pr PB81 4_Position command smoothing filter This function can be used only in position mode This filter and Pr PB45 Comma...

Страница 57: ...l excessive error warning trigger level 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 PC04_Function selection C 1 COP1 Pr PC04 3_Encoder cable communication method selection 0 Two wire type 1 Four wire type If the value is set incorrectly AL 016 Encoder initial commu...

Страница 58: ...nabled Pr PC05 4_Encoder communication circuit diagnosis mode selection Enable or disable the encoder communication circuit diagnosis mode AL 118 1 Encoder communication circuit diagnosis in progress occurs during the encoder communication circuit diagnosis mode 0 Encoder communication circuit diagnosis mode disabled 1 Encoder communication circuit diagnosis mode enabled Initial value Setting rang...

Страница 59: ... The zero speed signal detection has a hysteresis of 20 r min 20 mm s Pr PC08_Overspeed alarm detection level OSL Set an overspeed alarm detection level When a value exceeding servo motor maximum speed 120 is set the value will be clamped at servo motor maximum speed 120 When 0 is set the value of servo motor maximum speed 120 will be set Pr PC17_Function selection C 4 COP4 Pr PC17 1_Linear encode...

Страница 60: ...d 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 command is set AL 139 2 Output open phase error does not occur Pr PC20_Function selection C 7 COP7 Pr PC20 2_Undervoltage alarm selection Select the alarm or warning that occurs when the bus voltage drops to the undervoltage alarm trigger level 0 AL 010 Undervol...

Страница 61: ... Deceleration at forced stop are mutually exclusive If the servo motor torque or thrust is saturated at the maximum value during forced stop deceleration because the set time is too short the time to stop the servo motor will be longer than the set time constant AL 050 Overload 1 or AL 051 Overload 2 may occur during forced stop deceleration depending on the set value After an occurrence of an ala...

Страница 62: ...ase connection assessment function selection Select the non signal detection status for the pulse train signal from the A B Z phase input interface encoder being used as a linear encoder This function is enabled when an A B Z phase input interface encoder is used Initial value Setting range Ver 00000050h Refer to the relevant detail No Refer to the relevant detail No Initial value Setting range Ve...

Страница 63: ... 0 CCW or positive direction Forward rotation in power running mode reverse rotation in regenerative mode CW or negative direction Reverse rotation in power running mode forward rotation in regenerative mode 1 CW or negative direction Reverse rotation in power running mode forward rotation in regenerative mode CCW or positive direction Forward rotation in power running mode reverse rotation in reg...

Страница 64: ...e 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 a rotary servo motor set the level in units of rev If 200 rev or higher is set the value will be clamped to 200 rev If using a linear servo motor set the level in units of mm When 0 is set AL 09B Excessive error warning does not occu...

Страница 65: ...eering tools Pr PC67_Following error output level FEW Set the output level of the following error output When the state of droop pulses the parameter setting value continues for the time set in Pr PC69 Following error output filtering time bit 13 Following error of Statusword Obj 6041h turns on If FFFFFFFFh is set the following error output will be disabled Set the value in hexadecimal This functi...

Страница 66: ... of Statusword Obj 6041h is always turned on This function is enabled in the profile position mode This servo parameter corresponds to Position window time Obj 6068h 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 PC72_Speed reached 2 Output range SA2R Thi...

Страница 67: ...e ZSP range 0 Enabled control switching is performed within the range of ZSP 1 Disabled control switching is performed regardless of the range of ZSP If set to Disabled control switching may cause a shock Pr PC76 2_Internal command speed POL reflection selection When this function is enabled the polarity in Velocity demand value Obj 606Bh can be changed with the setting value of Pr PA14 Travel dir...

Страница 68: ...BIN Name DI pin Pr PC79 0 _ _ _ x For manufacturer setting _ _ x _ DI1 status read selection CN3 2 _ x _ _ DI2 status read selection CN3 12 x _ _ _ DI3 status read selection CN3 19 Pr PC79 1 _ _ _ x For manufacturer setting _ _ x _ For manufacturer setting _ x _ _ EM2 EM1 status read selection CN3 20 x _ _ _ For manufacturer setting Initial value Setting range Ver 00h Refer to the text A4 Setting ...

Страница 69: ...e of the pin when reading Digital inputs Obj 60FDh Initial value Setting range Ver 00h Refer to the text A4 Setting digit BIN Function _ _ _ x _ _ x _ _ x _ _ EM2 EM1 status read selection Select the EM2 EM1 bit 22 status read operation For the DI pin corresponding to EM2 EM1 refer to the following table 0 Returns the on off state of the input device 1 Returns the on off state of EM2 EM1 pin x _ _...

Страница 70: ...g Pr PD01 4_For 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 Ver 00000000h Refer to the relevan...

Страница 71: ...ows Pr PD04 0 1_Device selection Refer to the following for setting values Page 69 Pr PD03_Input device selection 1 DI1 Initial value Setting range Ver 0000000Ah Refer to the relevant detail No Refer to the relevant detail No Model Axis Connector pin No Initially assigned device MR JET _G CN3 2 LSP Initial value Setting range Ver 0Ah Refer to the text A4 Setting Input signal device 00 No assigned ...

Страница 72: ...d in the device selection the servo off sequence at power failure changes Pr PD07 0 1_Device selection Refer to the following table for setting values Initial value Setting range Ver 00000022h Refer to the relevant detail No Refer to the relevant detail No Model Axis Connector pin No Initially assigned device MR JET _G CN3 19 DOG Initial value Setting range Ver 22h Refer to the text A4 Initial val...

Страница 73: ...3 connector The connector pin numbers to be assigned are as follows Pr PD09 0 1_Device selection Refer to the following for setting values Page 70 Pr PD07_Output device selection 1 DO1 Initial value Setting range Ver 00000004h Refer to the relevant detail No Refer to the relevant detail No Model Axis Connector pin No Initially assigned device MR JET _G CN3 9 INP Initial value Setting range Ver 04h...

Страница 74: ...r 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 Ver 00000007h Refer to the relevant detail No Refer to the relevant detail No Initial value Setting range Ver 7h Refer to the text A4 Setting valu...

Страница 75: ...lowing table for details Required Not required 1 The condition for completing a command output depends on the operation mode Cyclic synchronous position mode When a position command is not inputted for approximately 1 ms the command output is considered to have been completed Profile position mode When the command remaining distance is 0 the command output is considered to have been completed 2 Av...

Страница 76: ...device selection Select ALM Malfunction output status at warning occurrence Initial value Setting range Ver 00000000h Refer to the relevant detail No Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text A4 Setting value Device status 0 1 OFF ON OFF ON WNG ALM Warning occurrence OFF ON OFF ON WNG ALM Warning occurrence ...

Страница 77: ... proximity dog 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 i...

Страница 78: ...anufacturer setting This servo parameter is for manufacturer setting 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 00000000h Refer to the relevant detail No Refer to the relevant detail No Servo parameter number Setting digit BIN Name Model Pr PD...

Страница 79: ...ges to 0 Manual setting Until friction estimation completes for both the forward and reverse rotations this servo parameter keeps the value 1 automatic setting and the value of Pr PE47 will not be set automatically Pr PE44_Lost motion compensation positive side compensation value selection LMCP Set the lost motion compensation for when negative speed switches to positive speed in increments of 0 0...

Страница 80: ...torque offset that has been set with this servo parameter is enabled in any control mode In the torque mode input commands taking the torque offset into account This servo parameter is suitable when the torque offset does not need to be changed dynamically Pr PE48_Lost motion compensation function selection LMOP This function is enabled only in the position mode Pr PE48 0_Lost motion compensation ...

Страница 81: ...parameter or Max torque Obj 6072h is disabled The setting value of this servo parameter does not match the setting value of Max torque Obj 6072h Max torque Obj 6072h returns the maximum torque of the servo motor When Pr PC78 1 1 Maximum torque limit 1 enabled The torque limit function using this servo parameter or Max torque Obj 6072h is enabled Set this servo parameter in relation to the rated to...

Страница 82: ...lifier continues to be used while the alarm is disabled with this servo parameter AL 119 7 Memory free space 4 1 may occur and data restoration may fail 0 Enabled 1 Disabled Pr PF06_Function selection F 5 FOP5 Pr PF06 0_Electronic dynamic brake selection Enable or disable the electronic dynamic brake 2 Disabled 3 Enabled only for specific servo motors Refer to the following table for the specific ...

Страница 83: ...llation detection alarm selection Select the alarm output at oscillation detection Select whether to generate an alarm or a warning when an oscillation continues at a level set in Pr PF23 Vibration tough drive Oscillation detection level This function is enabled regardless of the setting of Pr PA20 1 Vibration tough drive selection 0 Alarm AL 054 Oscillation detection 1 Warning AL 0F3 1 Oscillatio...

Страница 84: ...ed is under the rated speed it is recommended to set half the value of the maximum operation speed When 0 is set the judgment speed is half of the rated speed The setting value will be clamped at the maximum speed When changing the speed to the permissible speed set the speed in Pr PA28 4 Speed range limit selection By setting Pr PF34 6 Friction estimate area judgment speed setting to 1 automatic ...

Страница 85: ... area judgment speed setting Select the setting method of Machine diagnosis function Friction judgment speed 0 Manual setting 1 Automatic setting When 1 automatic setting is set Pr PF31 Machine diagnosis function Friction judgment speed will be calculated according to the servo motor operation pattern After the calculation Pr PF31 is rewritten to the calculation result and the servo parameter will...

Страница 86: ...e trigger conditions 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 valu...

Страница 87: ... servo parameter will be 0 automatically When 2 start a consecutive sampling is set if the trigger conditions are fulfilled after sampling starts the drive recorder will operate to save data After that sampling will start again Pr PF82_Drive recorder Trigger operation selection DRTM Pr PF82 0_Drive recorder Trigger mode selection Select the trigger mode for the drive recorder When Pr PF80 0 Drive ...

Страница 88: ...in Pr PF84 0 1 Drive recorder Trigger channel selection 1 exceeds or falls below the set trigger level 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 is set to 0 the setting value of this servo parameter is disabled 0 Rising 1 Falling Pr PF82 3_Drive recorder Trigger operation selection 2 Select whether sampling star...

Страница 89: ... to 0 alarm 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 1...

Страница 90: ...Pr PF84 0 1 Trigger channel 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 conditio...

Страница 91: ...16 bit data 002 Torque instantaneous torque 0 1 003 Current command 0 1 005 Command pulse frequency speed unit 1 r min 007 Droop pulses 1 pulse unit 1 pulse 008 Speed command 1 r min 009 Bus voltage 1 V 00C Effective load ratio 0 1 00D Regenerative load ratio 0 1 00E Position within one revolution 16 pulse 00F ABS counter 1 rev 010 Load to motor inertia ratio 0 01 multiplier 011 Torque equivalent ...

Страница 92: ...6_Drive recorder Analog channel 4 selection Select the analog channel 4 of the drive recorder The servo parameter is disabled in the following conditions Pr PF80 0 Drive recorder Operation mode selection is set to 0 automatic setting mode Refer to the following for values that can be assigned Page 89 Pr PF87 0 2_Drive recorder Analog channel 1 selection 201 Servo motor speed 0 1 r min 32 bit data ...

Страница 93: ...atic setting mode Refer to the following for values that can be assigned Page 89 Pr PF87 0 2_Drive recorder Analog channel 1 selection Pr PF90_Drive recorder Analog channel setting 4 DRAC4 Pr PF90 0 2_Drive recorder Analog channel 7 selection Select the analog channel 7 of the drive recorder The servo parameter is disabled in the following conditions Pr PF80 0 Drive recorder Operation mode selecti...

Страница 94: ...eady on command 0016 1 STO1 STO1 0017 1 STO2 STO2 001A CDP2 Gain switching selection 2 001B CDP Gain switching selection 0048 2 DRTRG Drive recorder trigger 0049 CFLS Controller upper stroke limit signal being inputted 004A CRLS Controller lower stroke limit signal being inputted 8000 RD Ready DO 8001 SA Speed reached 8002 ZSP Zero speed detection 8003 TLC Limiting torque 8004 VLC Limiting speed 8...

Страница 95: ... Digital channel setting 3 DRDC3 Pr PF93 0 3_Drive recorder Digital channel 5 selection Refer to the following for values that can be assigned Page 92 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 92 Pr PF91 0 3_Drive recorder Digital channel 1 selection Initial value Setting...

Страница 96: ...ive recorder Clear history 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 Ver 801D8015h Refer to the relevant detail No Refer to the r...

Страница 97: ...homing This servo parameter is enabled only for linear servo motors 0 213 8192 pulses 1 217 131072 pulses 2 218 262144 pulses 3 220 1048576 pulses 4 222 4194304 pulses 5 224 16777216 pulses 6 226 67108864 pulses Pr PL02_Linear encoder resolution setting Numerator LIM Set the linear encoder resolution with Pr PL02 and Pr PL03 Set a numerator in Pr PL02 This servo parameter is enabled for linear ser...

Страница 98: ... selection When a linear servo motor is used 50 mm Pr PL06_Speed deviation error detection level LB2 Set the speed deviation error detection level of the servo control error 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 by speed deviation will occur Note that when 0 is set the level varies depend...

Страница 99: ...ment such as a counterweight to prevent the linear servo motor from moving with the force of gravity Pr PL08 2_Magnetic pole detection Stroke 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...

Страница 100: ...od Pr PL17 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 Ver 00000000h Refer to the relevant detail No Refer to the relevant detail No Initial value Setting range Ver 0h Refer to the text B2 Settin...

Страница 101: ...itude IDLV Set an identification signal amplitude to be used in the minute position detection method This servo parameter is enabled when Pr PL08 0 Magnetic pole detection method selection is set to 4 When 0 is set the amplitude will be 100 Initial value Setting range Ver 0h Refer to the text B2 Setting value of Pr PL17 1 Load to motor mass ratio 0 10 times or less 1 10 multiplier 2 20 multiplier ...

Страница 102: ... speed command 1 Pr PV01 Profile speed command extension setting 1 Profile velocity Obj 6081h Pr PT66 Maximum profile speed 1 Pr PV03 Maximum profile speed extension setting 1 Max profile velocity Obj 607Fh Pr PT49 Speed acceleration time constant 1 Pr PV05 Profile acceleration 1 Profile acceleration Obj 6083h Pr PT50 Speed deceleration time constant 1 Pr PV07 Profile deceleration 1 Profile decele...

Страница 103: ...tting are mutually exclusive Pr PT06_Creep speed CRF When performing a homing set the servo motor speed after proximity dog 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 However the set speed is clamped when...

Страница 104: ...Front end detection Z phase reference Homing method 2 34 and dog reference The following shows the homing of the dog reference Dog type rear end reference homing Homing method 6 38 Count type homing Front end reference Homing method 7 39 Dog type front end reference homing Homing method 10 42 Homing without index pulse Homing method 19 20 21 22 23 24 27 28 This function is enabled in the cyclic sy...

Страница 105: ...n with engineering tools Pr PT17_Software position limit LMN Set the address decreasing side of the software position limit The other specifications are the same as Pr PT15 Pr PT19_Position range output 1 address LPP1 Set the address increasing side of the position range output 1 address Use this servo parameter and Pr PT21 Position range output 1 address to set the range where position range 1 PO...

Страница 106: ...oming method Refer to the following table for details An attempt to execute homing with an unsupported 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 engin...

Страница 107: ... on negative limit switch and index pulse 2 1 Address increasing direction Method 2 Homing on positive limit switch and index pulse 3 Method 3 Homing on positive home switch and index pulse 4 Method 4 Homing on positive home switch and index pulse 5 Address decreasing direction Method 5 Homing on negative home switch and index pulse 6 Method 6 Homing on negative home switch and index pulse 7 Addre...

Страница 108: ...his function and Pr PV05 Profile acceleration are mutually exclusive Pr PT50_Speed deceleration time constant STB 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 Prof...

Страница 109: ...0 deceleration time during deceleration Example At the setting of STA Pr PT49 Speed acceleration time constant 20000 STB Pr PT50 Speed deceleration time constant 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 ...

Страница 110: ...eed acceleration deceleration unit selection 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 ...

Страница 111: ...onds 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 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 mut...

Страница 112: ...written with engineering tools Pr PT68 2_Temporary stop method selection Select a temporary stop method 0 Automatic selection deceleration to a stop method 1 Deceleration to a stop method This function corresponds to Halt option code Obj 605Dh When the object is mapped to the cyclic communication do not write values with engineering tools because the controller overwrites the servo parameter value...

Страница 113: ...ction is set to 1 setting a large value in this parameter prevents the limit switch from working at an occurrence of a communication error which may result in a collision This servo parameter does not guarantee the time until network disconnecting If an error such as an alive error occurs network disconnecting may be executed before the time that is set in this servo parameter Pr PN05_Communicatio...

Страница 114: ...is large and when backup operation is performed at short intervals the maximum memory writing frequency of the controller may be reached earlier than the operating life Therefore be careful about 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 ...

Страница 115: ...ion 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 acceleration used in t...

Страница 116: ...eed 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 extension setting ZRF...

Страница 117: ...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 the contro...

Страница 118: ... 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 communication do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools Pr PV21_Sp...

Страница 119: ...tric gear numerator for converting the acceleration command unit s2 into a value in acceleration deceleration units This function is enabled when Pr PT01 1 Speed acceleration deceleration unit selection is set to 1 Pr PV26_Acceleration unit conversion Electronic gear Denominator ACDV Set the electric gear denominator for converting the acceleration command unit s2 into a value in acceleration dece...

Страница 120: ...the modes that cannot be used or modes that are not used even if set Mode List abbreviation Meaning Operation mode Standard Standard control mode Linear Linear servo motor control mode 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 mode hm Homing mode ct Co...

Страница 121: ...oup Pr PA_ _ No Detail No Operation mode Control mode Standard Linear csp csv cst pp pv tq hm ct PA01 PA01 1 PA02 PA02 0 1 PA03 PA03 0 PA04 PA04 2 PA04 3 PA06 PA07 PA08 PA08 0 PA08 4 PA08 5 PA08 6 PA09 PA10 PA11 PA12 PA14 PA17 PA18 PA18 0 3 PA19 PA20 PA20 1 PA20 2 PA21 PA21 0 PA22 PA22 1 PA23 PA23 0 1 PA23 2 4 PA24 PA24 0 PA25 PA26 PA26 0 PA28 PA28 4 PA34 ...

Страница 122: ...de Standard Linear csp csv cst pp pv tq hm ct PB01 PB01 0 PB01 3 PB02 PB02 0 PB02 1 PB03 PB04 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB14 1 PB14 2 PB15 PB16 PB16 0 PB16 1 PB16 2 PB17 PB17 0 1 PB17 2 PB18 PB19 PB20 PB21 PB22 PB23 PB23 0 PB23 1 PB23 3 PB24 PB24 0 PB24 1 PB25 PB25 0 PB26 PB26 0 PB26 1 PB26 2 PB26 4 PB26 5 PB27 PB28 PB29 PB30 PB31 PB32 PB33 PB34 PB35 PB36 ...

Страница 123: ...46 PB47 PB47 0 PB47 1 PB47 2 PB48 PB49 PB49 0 PB49 1 PB49 2 PB50 PB51 PB51 0 PB51 1 PB51 2 PB52 PB53 PB54 PB55 PB56 PB57 PB58 PB59 PB60 PB65 PB66 PB67 PB68 PB69 PB70 PB71 PB72 PB73 PB74 PB75 PB76 PB77 PB78 PB79 PB81 PB81 4 PB82 No Detail No Operation mode Control mode Standard Linear csp csv cst pp pv tq hm ct ...

Страница 124: ...ntrol mode Standard Linear csp csv cst pp pv tq hm ct PC01 PC02 PC04 PC04 3 PC05 PC05 0 PC05 1 PC05 4 PC06 PC06 0 PC06 3 PC07 PC08 PC17 PC17 1 PC19 PC19 0 PC19 4 PC19 6 PC20 PC20 2 PC21 PC21 0 PC24 PC26 PC26 0 PC27 PC27 0 PC27 2 PC29 PC29 3 PC29 5 PC31 PC38 PC41 PC41 0 PC65 PC66 PC67 PC69 PC70 PC71 PC72 PC73 PC76 PC76 1 PC76 2 PC76 3 PC78 PC78 1 PC79 PC79 0 PC79 1 ...

Страница 125: ...ration mode Control mode Standard Linear csp csv cst pp pv tq hm ct PD01 PD01 2 PD03 PD03 0 1 PD04 PD04 0 1 PD05 PD05 0 1 PD07 PD07 0 1 PD08 PD08 0 1 PD09 PD09 0 1 PD11 PD11 0 PD12 PD12 3 PD13 PD13 2 PD14 PD14 1 PD41 PD41 2 PD41 3 PD60 PD60 0 No Detail No Operation mode Control mode Standard Linear csp csv cst pp pv tq hm ct PE41 PE41 0 PE41 6 PE44 PE45 PE46 PE47 PE48 PE48 0 PE48 1 PE49 PE50 PE53 ...

Страница 126: ...pp pv tq hm ct PF02 PF02 4 PF02 5 PF06 PF06 0 PF12 PF21 PF23 PF24 PF24 0 PF25 PF29 PF29 1 PF31 PF32 PF34 PF34 6 PF80 PF80 0 PF80 2 3 PF81 PF81 0 PF82 PF82 0 PF82 1 PF82 2 PF82 3 PF84 PF84 0 1 PF84 2 3 PF84 4 5 PF85 PF86 PF87 PF87 0 2 PF87 4 6 PF88 PF88 0 2 PF88 4 6 PF89 PF89 0 2 PF89 4 6 PF90 PF90 0 2 PF91 PF91 0 3 PF91 4 7 PF92 PF92 0 3 PF92 4 7 PF93 PF93 0 3 PF93 4 7 PF94 PF94 0 3 PF94 4 7 PF95 ...

Страница 127: ...ontrol modes 125 2 Motor extension setting servo parameters group Pr PL_ _ No Detail No Operation mode Control mode Standard Linear csp csv cst pp pv tq hm ct 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 ...

Страница 128: ...N_ _ No Detail No Operation mode Control mode Standard Linear csp csv cst pp pv tq hm ct PT01 PT01 1 PT02 PT02 7 PT05 PT06 PT07 PT08 PT09 PT10 PT11 PT12 PT15 PT17 PT19 PT21 PT29 PT29 0 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 Standard Linear csp csv cst pp pv tq hm ct PN02 PN05 PN20 ...

Страница 129: ... supported control modes 127 2 Positioning extension setting servo parameters group Pr PV_ _ No Detail No Operation mode Control mode Standard Linear csp csv cst pp pv tq hm ct PV01 PV03 PV05 PV07 PV09 PV11 PV13 PV15 PV17 PV19 PV20 PV21 PV23 PV24 PV25 PV26 ...

Страница 130: ...00ABh PA20 00000000h PA21 00000001h PA22 00000000h PA23 00000000h PA24 00000000h PA25 0 PA26 00000000h PA27 00000000h For manufacturer setting PA28 00000000h PA29 0 For manufacturer setting PA30 0 For manufacturer setting PA31 0 For manufacturer setting PA32 00000000h For manufacturer setting PA33 0 0 For manufacturer setting PA34 0 PA35 00000000h For manufacturer setting PA36 00000000h For manufa...

Страница 131: ...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 For manufacturer setting PB38 0 000 For manufacturer setting PB39 0 000 For manufacturer setting PB40 0 000 For manufacturer setting PB41 00000000h For manufacturer ...

Страница 132: ...B67 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 For manufacturer setting PB81 00000001h PB82 0 0 PB83 00000000h For manufacturer setting PB84 00000000h For manufacturer setting PB85 00000000h For manufacturer setting PB86 00000000h For manufacturer setting PB87 00000000h For manufacturer setting PB88 00000000h For ma...

Страница 133: ...h PC20 00000000h PC21 00000000h PC22 0 For manufacturer setting PC23 00000000h For manufacturer setting PC24 100 PC25 0 For manufacturer setting PC26 00000050h PC27 00000000h PC28 00000000h For manufacturer setting PC29 00101000h PC30 0 For manufacturer setting PC31 0 PC32 0 For manufacturer setting PC33 0 For manufacturer setting PC34 100 For manufacturer setting PC35 00000000h For manufacturer s...

Страница 134: ...For manufacturer setting PC63 00000000h For manufacturer setting PC64 00000000h For manufacturer setting PC65 50 00 PC66 10 PC67 00C00000h PC68 00000000h For manufacturer setting PC69 10 PC70 100 PC71 10 PC72 20 00 PC73 10 PC74 10 0 For manufacturer setting PC75 10 For manufacturer setting PC76 00000001h PC77 1000 0 For manufacturer setting PC78 00000000h PC79 00000000h PC80 00000000h For manufact...

Страница 135: ...0h For manufacturer setting PD25 00000000h For manufacturer setting PD26 00000000h For manufacturer setting PD27 00000000h For manufacturer setting PD28 00000000h For manufacturer setting PD29 00000000h For manufacturer setting PD30 0 For manufacturer setting PD31 0 For manufacturer setting PD32 0 For manufacturer setting PD33 00000000h For manufacturer setting PD34 00000000h For manufacturer sett...

Страница 136: ...00h For manufacturer setting PD59 00000000h For manufacturer setting PD60 00000000h PD61 00000000h For manufacturer setting PD62 00000000h For manufacturer setting PD63 00000000h For manufacturer setting PD64 00000000h For manufacturer setting PD65 00000000h For manufacturer setting PD66 00000000h For manufacturer setting PD67 00000000h For manufacturer setting PD68 00000000h For manufacturer sett...

Страница 137: ...r setting PE18 00000000h For manufacturer setting PE19 00000000h For manufacturer setting PE20 00000000h For manufacturer setting PE21 00000000h For manufacturer setting PE22 00000000h For manufacturer setting PE23 00000000h For manufacturer setting PE24 00000000h For manufacturer setting PE25 00000000h For manufacturer setting PE26 00000000h For manufacturer setting PE27 00000000h For manufacture...

Страница 138: ...facturer setting PE67 0 0 For manufacturer setting PE68 00000000h For manufacturer setting PE69 00000000h For manufacturer setting PE70 0 00 For manufacturer setting PE71 0 For manufacturer setting PE72 1 0000 For manufacturer setting PE73 00000000h For manufacturer setting PE74 00000000h For manufacturer setting PE75 00000000h For manufacturer setting PE76 00000000h For manufacturer setting PE77 ...

Страница 139: ...g PF17 00000000h For manufacturer setting PF18 10 For manufacturer setting PF19 0 For manufacturer setting PF20 0 For manufacturer setting PF21 0 PF22 200 For manufacturer setting PF23 20 PF24 00000000h PF25 200 PF26 0 For manufacturer setting PF27 0 For manufacturer setting PF28 0 For manufacturer setting PF29 00000000h PF30 0 For manufacturer setting PF31 0 PF32 50 PF33 00000000h For manufacture...

Страница 140: ...r setting PF66 00000000h For manufacturer setting PF67 0 For manufacturer setting PF68 0 For manufacturer setting PF69 0 For manufacturer setting PF70 0 For manufacturer setting PF71 00000000h For manufacturer setting PF72 0 For manufacturer setting PF73 0 For manufacturer setting PF74 0 For manufacturer setting PF75 0 For manufacturer setting PF76 0 For manufacturer setting PF77 00000000h For man...

Страница 141: ...r manufacturer setting PL27 00000000h For manufacturer setting PL28 00000000h For manufacturer setting PL29 0 For manufacturer setting PL30 00000000h For manufacturer setting PL31 00000000h For manufacturer setting PL32 00000000h For manufacturer setting PL33 00000000h For manufacturer setting PL34 00000000h For manufacturer setting PL35 00000000h For manufacturer setting PL36 00000000h For manufa...

Страница 142: ...000000h For manufacturer setting PL60 00000000h For manufacturer setting PL61 00000000h For manufacturer setting PL62 00000000h For manufacturer setting PL63 00000000h For manufacturer setting PL64 00000000h For manufacturer setting PL65 00000000h For manufacturer setting PL66 00000000h For manufacturer setting PL67 00000000h For manufacturer setting PL68 00000000h For manufacturer setting PL69 00...

Страница 143: ...cturer setting PT24 00000000h For manufacturer setting PT25 00000000h For manufacturer setting PT26 00000000h For manufacturer setting PT27 00000000h For manufacturer setting PT28 8 For manufacturer setting PT29 00000000h PT30 00000000h For manufacturer setting PT31 00000000h For manufacturer setting PT32 00000100h For manufacturer setting PT33 00000000h For manufacturer setting PT34 00000000h For...

Страница 144: ...r manufacturer setting PT71 00000000h For manufacturer setting PT72 1 For manufacturer setting PT73 00000000h For manufacturer setting PT74 1 For manufacturer setting PT75 00000000h For manufacturer setting PT76 00000000h For manufacturer setting PT77 00000000h For manufacturer setting PT78 00000000h For manufacturer setting PT79 00000000h For manufacturer setting PT80 00000000h For manufacturer s...

Страница 145: ...g PN13 00000000h For manufacturer setting PN14 00000000h For manufacturer setting PN15 00000000h For manufacturer setting PN16 00000000h For manufacturer setting PN17 00000000h For manufacturer setting PN18 0 For manufacturer setting PN19 00000000h For manufacturer setting PN20 0 PN21 00000000h For manufacturer setting PN22 00000000h For manufacturer setting PN23 00000000h For manufacturer setting...

Страница 146: ...r manufacturer setting PV09 0 PV10 0 For manufacturer setting PV11 500000 PV12 0 For manufacturer setting PV13 100000 PV14 0 For manufacturer setting PV15 0 PV16 0 For manufacturer setting PV17 0 PV18 0 For manufacturer setting PV19 20000 PV20 20 PV21 2147483647 PV22 0 For manufacturer setting PV23 1 PV24 1 PV25 1 PV26 1 PV27 1 For manufacturer setting PV28 1 For manufacturer setting PV29 00000000...

Страница 147: ... 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 setting ...

Страница 148: ...146 4 SERVO PARAMETER SETTING METHOD 4 2 Object dictionary MEMO ...

Страница 149: ... amplifier firmware version and MR Configurator2 software version some network parameters 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 Precautions Do not change the network parameter settings as described bel...

Страница 150: ...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 value...

Страница 151: ...etting 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 forth 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...

Страница 152: ...he host name The characters that can be inputted as the host name are 0 to 9 A to Z a to z hyphen period colon and underscore _ This network parameter can be obtained with SLMP command NodeSearch This network parameter can be set with SLMP command IPAddressSet Initial value Setting range Size Ver 0 All NULL 63 characters Refer to the text 64 bytes A4 ...

Страница 153: ...etails Initial value Setting range Size Ver 00000000h Refer to the text 4 bytes B2 Setting value Authorization Description 0 Full access possible The user authentication parameter can be set via either a USB or Ethernet connection 1 USB only The user authentication parameter can only be set via a USB connection Initial value Setting range Size Ver user 32 characters 36 bytes B2 Number of character...

Страница 154: ...151 Pr NPB04_User name No 1 Pr NPB11_Authorization level No 3 Set the authorization level for the user No 3 Page 151 Pr NPB05_Authorization level No 1 Pr NPB12_Password No 3 Set the password No 3 to use when accessing the FTP server function of the servo amplifier Page 152 Pr NPB06_Password No 1 Initial value Setting range Size Ver user B2 Number of characters Type of characters 4 to 32 Single byt...

Страница 155: ...ation level No 5 Set the authorization level for the user No 5 Page 151 Pr NPB05_Authorization level No 1 Pr NPB18_Password No 5 Set the password No 5 to use when accessing the FTP server function of the servo amplifier Page 152 Pr NPB06_Password No 1 Pr NPB19_User name No 6 Set the user name No 6 to use when accessing the FTP server function of the servo amplifier Page 151 Pr NPB04_User name No 1...

Страница 156: ...assword No 7 to use when accessing the FTP server function of the servo amplifier Page 152 Pr NPB06_Password No 1 Pr NPB25_User name No 8 Set the user name No 8 to use when accessing the FTP server function of the servo amplifier Page 151 Pr NPB04_User name No 1 Pr NPB26_Authorization level No 8 Set the authorization level for the user No 8 Page 151 Pr NPB05_Authorization level No 1 Initial value ...

Страница 157: ...S 5 2 User authentication parameters 155 5 Pr NPB27_Password No 8 Set the password No 8 to use when accessing the FTP server function of the servo amplifier Page 152 Pr NPB06_Password No 1 Initial value Setting range Size Ver B2 ...

Страница 158: ...AMETER 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 ...

Страница 159: ...6 NETWORK PARAMETER SETTING METHOD 6 1 Engineering tool 157 6 MEMO ...

Страница 160: ...ated to the following functions are added Profile mode linear servo motor control mode continuous operation to torque control mode network function 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...

Страница 161: ...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...

Страница 162: ...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 0300478ENG B ...

Страница 163: ......

Страница 164: ...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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