Mitsubishi Electric Melservo-Jet MR-JET-G Series User Manual
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Mitsubishi Electric Melservo-Jet MR-JET-G Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-JET
User's Manual
(Function)
-MR-JET-_G
-MR-JET-_G-N1

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Summary of Contents for Mitsubishi Electric Melservo-Jet MR-JET-G Series

  • Page 1 Mitsubishi Electric AC Servo System MR-JET User's Manual (Function) -MR-JET-_G -MR-JET-_G-N1...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...

  • Page 6: U.s. Customary Units

    Object units This section explains the pos units, vel units, and acc units used in this manual. ■pos units The unit is pulse. ■vel units The unit can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection] as shown in the following table. Setting value Unit 0.01 r/min, 0.01 mm/s...

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 8 Returning from an alarm ..............86 Returning from a warning .
  • Page 9 Infinite feed function ..............135 Servo amplifier life diagnosis function .

  • Page 10: Chapter 1 Function

    FUNCTION Function explanation This section lists the functions mentioned in this manual. For details of the functions, refer to each section indicated in the detailed explanation column. For the functions which are not listed here, refer to "FUNCTION" in the User's Manual (Introduction). Control mode Functions Detailed functions...
  • Page 11 Operation function Functions Detailed functions Description MR-JET Detailed explanation firmware version Stop function Quick Stop This function stops the servo motor with a specified Page 103 Quick stop method and switches to the servo-off status. Page 105 Halt Halt This function stops the servo motor while the servo- on status is maintained.
  • Page 12 Protective functions Functions Detailed functions Description MR-JET Detailed explanation firmware version Page 85 Alarm Alarm Alarm function This function displays an alarm or warning when an error occurs during operation. When an alarm function occurs, ALM (Malfunction) turns off and stops the servo motor.
  • Page 13 Diagnostics Functions Detailed functions Description MR-JET Detailed explanation firmware version Drive data diagnosis Drive recorder This function continuously monitors the servo status Page 116 Drive and records the state transition before and after an recorder alarm for a fixed period of time. The recorded data can be checked by the Waveform-Display button on the drive recorder window of MR Configurator2 being clicked.

  • Page 14: Chapter 2 Control Mode

    CONTROL MODE 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. Category Control mode Symbol Description CiA 402 control mode Cyclic synchronous position This is a control mode to drive servo motors by receiving a position mode command at a constant period in the synchronous communication with a...

  • Page 15: Cyclic Synchronous Position Mode (Csp)

    Cyclic synchronous position mode (csp) The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following. [Torque offset (Obj. 60B2h)] × [Velocity offset (Obj. 60B1h)] [Positive torque limit value (Obj. 60E0h)] × [Negative torque limit value (Obj. 60E1h)] ×...
  • Page 16 Index Object Name Description 60E0h  Positive torque limit value Torque limit value (forward) Unit: 0.1 % (with rated torque being 100 %)  60E1h Negative torque limit value Torque limit value (reverse) Unit: 0.1 % (with rated torque being 100 %) 6091h ARRAY Gear ratio...

  • Page 17: Cyclic Synchronous Velocity Mode (Csv)

    Cyclic synchronous velocity mode (csv) The functions and related objects of the cyclic synchronous velocity mode (csv) are shown in the following. [Torque offset (Obj. 60B2h)] [Positive torque limit value (Obj. 60E0h)] × [Negative torque limit value (Obj. 60E1h)] × [Quick stop deceleration (Obj.
  • Page 18 Index Object Name Description 60A8h  SI unit position SI unit position 00000000h (1 pulse)  60A9h SI unit velocity SI unit velocity The SI unit velocity is returned. FB010300h (0.01 mm/s) FEB44700h (0.01 r/min) 00000300h (pulse/s)  60B1h Velocity offset Velocity offset Unit: vel units ...

  • Page 19: Cyclic Synchronous Torque Mode (Cst)

    Cyclic synchronous torque mode (cst) The functions and related objects of the cyclic synchronous torque mode (cst) are shown in the following. [Max torque (Obj. 6072h)] Torque [Positive torque limit value (Obj. 60E0h)] [Torque demand value (Obj. 6074h)] Torque limit Motor [Negative torque limit value (Obj.
  • Page 20 Index Object Name Description 60A9h  SI unit velocity SI unit velocity The SI unit velocity is returned. FB010300h (0.01 mm/s) FEB44700h (0.01 r/min) 00000300h (pulse/s) 60B2h  Torque offset Torque offset Unit: 0.1 % (with rated torque being 100 %) Controlword/Statusword By changing [Controlword (Obj.

  • Page 21: Profile Position Mode (Pp)

    Profile position mode (pp) This mode is available on servo amplifiers with firmware version B2 or later. The following shows the functions and related objects of the profile position mode (pp). [Torque offset (Obj. 60B2h)] × [Velocity offset (Obj. 60B1h)] [Positive torque limit value (Obj.
  • Page 22 Index Object Name Description 6086h  Motion profile type Acceleration/deceleration type selection -1: S-pattern 0: Linear ramp (not supported) 1: Sin ramp (not supported) 2: Jerk-free ramp (not supported) 3: Jerk-limited ramp (not supported)  605Ah Quick stop option code Operation setting for Quick stop Page 103 Quick stop 6063h...
  • Page 23 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary or are common depending on the control mode. The bits that vary depending on the control mode are listed in the following tables.
  • Page 24 Single Set-point Update of positioning servo parameters during a positioning operation is immediately accepted. (The current positioning operation is canceled and the next positioning operation is started.) Actual speed New set-point ([Controlword (Obj. 6040h)] bit 4) Target position (set-point) Profile velocity Current target position processed Set-point acknowledge...

  • Page 25: Profile Velocity Mode (Pv)

    Profile velocity mode (pv) This mode is available on servo amplifiers with firmware version B2 or later. The following shows the functions and related objects of the profile velocity mode (pv). [Torque offset (Obj. 60B2h)] × [Positive torque limit value (Obj. 60E0h)] [Negative torque limit value (Obj.
  • Page 26 Index Object Name Description 6092h ARRAY Feed constant Travel distance per revolution of an output shaft Feed Travel distance setting Shaft revolutions Number of servo motor shaft revolutions  60E0h Positive torque limit value Torque limit value (forward) Unit: 0.1 % (with rated torque being 100 %) 60E1h ...
  • Page 27 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary or are common depending on the control mode. The bits that vary depending on the control mode are listed in the following tables.
  • Page 28 Operation sequence Deceleration with [Profile deceleration (Obj. 6084h)] [Velocity actual value (Obj. 606Ch)] Acceleration with [Profile deceleration (Obj. 6083h)] [Target velocity (Obj. 60FFh)] [Velocity window time (Obj. 606Eh)] Target reached ([Statusword (Obj. 6041h)] bit 10) [Velocity threshold time (Obj. 6070h)] Speed ([Statusword (Obj.

  • Page 29: Profile Torque Mode (Tq)

    Profile torque mode (tq) This mode is available on servo amplifiers with firmware version B2 or later. The following shows the functions and related objects of the profile torque mode (tq). [Torque offset (Obj. 60B2h)] [Target torque (Obj. 6071h)] [Target slope (Obj. 6087h)] [Torque demand [Torque profile type (Obj.
  • Page 30 Index Object Name Description 607Eh  Polarity Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL Page 65 Rotation/travel direction selection 2D20h  Velocity limit value Speed limit value Unit: vel units  60A8h SI unit position SI unit position 00000000h (1 pulse) ...
  • Page 31 Operation sequence [Torque demand value (Obj. 6074h)] Change in accordance with [Torque slope (Obj. 6087h)] Change in accordance with [Torque slope (Obj. 6087h)] [Target torque (Obj. 6071h)] HALT ([Controlword (Obj. 6040h)] bit 8) 2 CONTROL MODE 2.1 Control mode...

  • Page 32: Continuous Operation To Torque Control Mode (Ct)

    Continuous operation to torque control mode (ct) This mode is available on servo amplifiers with firmware version B2 or later. Restrictions The following functions are not available in the continuous operation to torque control mode. Therefore, if an alarm occurs, the servo motor will stop using the method DB or EDB, or coast.
  • Page 33 Functions and the related objects The following shows the functions of the continuous operation to torque control mode (ct) and the related objects. Max torque (6072h) Torque demand value (6074h) Torque Torque limit value (60E0h, 60E1h) limit Target torque (6071h) function ×...
  • Page 34 Index Object Name Description 60A8h  SI unit position SI unit position 00000000 (1 pulse)  60A9h SI unit velocity SI unit velocity The SI unit velocity is returned. FEB44700h (0.01 r/min) FB010300h (0.01 mm/s) 00000300h (pulse/s)  60B2h Torque offset Torque offset Unit: 0.1 % (with rated torque being 100 %) ■Controlword/Statusword...
  • Page 35 Behavior ■Behavior of the continuous operation to torque control mode If a workpiece comes into contact with a target object in the continuous operation to torque control mode, the torque control is performed assuming that the command torque is the sum of the values set in [Target torque (Obj. 6071h)], [Pr. PE47 Unbalanced torque offset], and [Torque offset (Obj.
  • Page 36 ■Switching between the CSV mode and continuous operation to torque control mode The following shows a timing chart when the mode is switched between the CSV mode and continuous operation to torque control mode. Servo motor speed Continuous operation CSV mode to torque control mode CSV mode 1000...

  • Page 37: Homing Mode (Hm)

    Homing mode (hm) The following shows the functions of the homing mode (hm) as well as related objects. [Controlword (Obj. 6040h)] [Homing method (Obj. 6098h)] [Statusword (Obj. 6041h)] [Homing speeds (Obj. 6099h)] Homing method [Homing acceleration (Obj. 609Ah)] [Home offset (Obj. 607Ch)] Related objects For details on the objects, refer to the User's Manual (Object Dictionary).
  • Page 38 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary depending on the control mode are listed in the following tables.
  • Page 39 Homing method list In the following cases, make sure that the Z-phase has been passed once before performing homing. If the Z-phase has not been passed, [AL. 090.5 Homing incomplete warning] will occur. • When using an incremental linear encoder in the linear servo motor control mode To execute homing securely, move the linear servo motor to the opposite stroke end with csv or other operation modes from the controller, then start homing.
  • Page 40 Method No. Homing methods Rotation Description direction Homing on negative limit switch Reverse After the reverse rotation stroke end is detected, the position is shifted away and index pulse rotation from the stroke end in the reverse direction. Then, the position specified by the first Z-phase signal is used as the home position.
  • Page 41 Method No. Homing methods Rotation Description direction Homing on index pulse Forward Although this type is the same as the dogless Z-phase reference homing, the rotation creep speed is applied as the movement start speed.  Homing on current position The current position is set as the home position.
  • Page 42 CiA 402-type Homing method The following shows the CiA 402-type homing. ■Method 1: Homing on negative limit switch and index pulse This homing method uses the stroke end as reference and sets the Z-phase right after the stroke end as a home position. After the reverse rotation stroke end is detected, the position is shifted away from the stroke end at creep speed in the forward rotation direction.
  • Page 43 ■Method 3 and 4: Homing on positive 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. Method 3 has the same operation as the dog type last Z-phase reference homing, and Method 4 has the same operation as the dog cradle type homing at a forward rotation start.
  • Page 44 ■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;...
  • Page 45 Operation example of the CiA 402-type Homing method The following shows an operation example of the homing in the CiA 402-type Homing method. ■Method 1 (Homing on negative limit switch and index pulse) and Method 2 (Homing on positive limit switch and index pulse) The following figure shows the operation of Homing method 2.
  • Page 46 ■Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3. The homing direction of Homing method 5 is opposite to that of Homing method 3.
  • Page 47 ■Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The homing direction of Homing method 6 is opposite to that of Homing method 4.
  • Page 48 ■Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The homing direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 49 ■Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The homing direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 50 ■Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The homing direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant Homing speed...
  • Page 51 ■Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The homing direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position shift distance Acceleration time constant...
  • Page 52 ■Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The homing direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant Homing speed...
  • Page 53 ■Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The homing direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position shift distance Acceleration time constant...
  • Page 54 ■Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The homing direction of Homing method 33 is opposite to that of Homing method 34. • When homing is performed from near the Z-phase, the homing completion position varies. The recommended start position for homing can be found by rotating the servo motor about a half-turn away from the homing direction.
  • Page 55 Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific homing. ■Method -1 and -33 (Dog type homing) The following figure shows the operation of Homing method -1. The homing direction of Homing method -33 is opposite to that of Homing method -1.
  • Page 56 ■Method -2 and -34 (Count type homing) For the count type homing, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog. Then, the first Z-phase is set as the home position. Therefore, when the on-time of the proximity dog is 10 ms or more, the length of the proximity dog has no restrictions.
  • Page 57 ■Method -3 (Data set type homing) The following figure shows the operation of Homing method -3. This is the same as Homing method 37. Statusword bit 12 Homing attained Homing position data Forward rotation Servo motor speed 0 r/min Reverse rotation Controlword bit 4 Homing operation start...
  • Page 58 ■Method -6 and -38 (dog type rear end reference homing) This homing method depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and homing is performed, the home position has the following error.
  • Page 59 ■Method -7 and -39 (count type front end reference homing) This homing method depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and homing is performed, the home position has the following error.
  • Page 60 ■Method -8 and -40 (dog cradle type homing) The following figure shows the operation of Homing method -8. The homing direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time constant Deceleration time constant...
  • Page 61 ■Method -9 and -41 (dog type last Z-phase reference homing) The following figure shows the operation of Homing method -9. The homing direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time...
  • Page 62 ■Method -10 and -42 (dog type front end reference homing) The following figure shows the operation of Homing method -10. The homing direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant...
  • Page 63 ■Method -11 and -43 (dogless Z-phase reference homing) The following figure shows the operation of Homing method -11. The homing direction of Homing method -43 is opposite to that of Homing method -11. • When homing is performed from near the Z-phase, the homing completion position varies. The recommended start position for homing can be found by rotating the servo motor about a half-turn away from the homing direction.

  • Page 64: Chapter 3 Basic Function

    BASIC FUNCTION This chapter explains each function that is used for basic operation of the servo amplifier. Set each function as required. For advanced operation of the servo amplifier, refer to the following. Page 106 APPLICABLE FUNCTIONS Precautions • To prevent a malfunction and machine damage, on the first operation after setting, check the operating condition with a low speed command.
  • Page 65 The following is an example of the servo parameter number PA01 with the setting values of "FEDCBA98" in hexadecimal. • When setting a servo parameter with one particular digit [Pr. PA01] = Detail No. PA01.0 = "8" PA01.1 = "9" PA01.2 = "A"...

  • Page 66: Object Dictionary

    When using a controller manufactured by Mitsubishi Electric, any concern regarding the Objects is alleviated as the controller itself has the functions to set and obtain the Object values necessary to implement each function. When the respective object values are needed to be obtained and set specifically, use the servo cyclic transmission function or the servo transient transmission function.

  • Page 67: Rotation/Travel Direction Selection

    Rotation/travel direction selection The rotation direction of a servo motor or the travel direction of a linear servo motor can be changed according to position commands, speed commands, and torque commands. Set the directions with servo parameters or objects in accordance with the system configurations.

  • Page 68: Setting Methods Of Functions

    Setting methods of functions Setting with servo parameters The rotation/travel direction can be changed without changing the polarity of the command from the controller. With regards to the commands from the controller, and in the feedback information to be transmitted to the controller, the position/speed information is changed with the setting of [Pr.
  • Page 69 Setting with object dictionary [Polarity (Obj. 607Eh)] enables the rotation/travel direction to be changed without changing the polarity of the command from the controller. The setting of [Polarity (Obj. 607Eh)] for the position information and speed information corresponds to [Pr. PA14 Travel direction selection].
  • Page 70 Target object The following shows objects in which the polarity is reversed by the setting of [Polarity (Obj. 607Eh)], and by the setting of [Pr. PA14] and [Pr. PC29.3]. • [Target position (Obj. 607Ah)] • [Target velocity (Obj. 60FFh)] • [Target torque (Obj. 6071h)] •...

  • Page 71: Stroke Limit Function

    Stroke limit function The stroke limit function is a function that limits the travel distance of servo motors. On a system configuration where the movable range is limited, wire the stroke limit signal and use this function to prevent machine damage due to a collision. When the stroke limit signal is detected, a warning regarding the detected signal occurs, and the servo motor stops based on the stop method described in this section.

  • Page 72: Setting Methods Of Functions

    Setting methods of functions Refer to the following table, and make the appropriate settings for the system configuration. Item Reference Page 70 When wiring the limit switch to the servo amplifier When wiring the limit switch to the servo amplifier When wiring the limit switch to equipment other than the servo amplifier Page 72 When wiring the limit switch to equipment other than the servo amplifier...
  • Page 73 ■System configuration example • [Pr. PA14 Travel direction selection] = "0" (CCW or the positive direction) Set LSP (Upper stroke end) for the limit signal that suppresses the operation in CCW or the positive 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 outputted as RLS (Lower stroke limit).
  • Page 74 When wiring the limit switch to equipment other than the servo amplifier By wiring the limit switch to equipment other than 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.

  • Page 75: Stop Method At Stroke Limit Detection

    Stop method at stroke limit detection When LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) or FLS (Upper stroke limit)/RLS (Lower stroke limit) is turned off, the servo motor stops with the stop method shown in this section. In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When the command position exceeds the position where the stroke end is detected by 30 bits, [AL.

  • Page 76: Servo Parameter List

    Servo parameter list The settings related to the stroke limit function can be performed directly with the servo parameters. Perform the settings as required. Servo parameter Symbol Name Outline PC19.0 *COP6 [AL. 099 Stroke limit Enable or disable [AL. 099 Stroke limit warning]. warning] selection When "Disabled"...

  • Page 77: Limit Switch Release Position Assessment Function

    Limit switch release position assessment function Outline The limit switch release position assessment function is available on servo amplifiers with firmware version B2 or later. This function can be used in the cyclic synchronous position mode (csp) or cyclic synchronous velocity mode (csv). Use this function in the following cases: After the limit switch has been detected, the moving part passes through the limit switch detection position and stops.

  • Page 78: Command Unit Selection Function

    Command unit selection function Speed command unit selection function This is a function to select setting units for speed data. Either r/min (mm/s) or command unit/s can be selected. Setting unit Explanation r/min, mm/s 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.

  • Page 79: Electronic Gear Function

    Electronic gear function Electronic gear function is a function that multiplies the electronic gear ratio to the position command, and sets the ratio of the rotation amount/travel distance of the servo motor to the rotation amount/travel distance of the command unit as desired. For the position feedback, the inverse number of the electronic gear ratio is multiplied.

  • Page 80: Setting Example

    Setting example The electronic gears on the position command side are illustrated in the function block diagrams. The inverse number of the electronic gear ratio is multiplied to the position feedback side. In the cyclic synchronous position mode Adjust [Pr. PA06 Electronic gear - Numerator] and [Pr. PA07 Electronic gear - Denominator] so that the travel distance set in the controller matches the travel distance on the machine.
  • Page 81 Setting example for a ball screw The following shows an example where the ball screw is moved at 10 μm per pulse. Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 4194304 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side...
  • Page 82 For profile position mode Adjust [Pr. PA06 Electronic gear - Numerator] and [Pr. PA07 Electronic gear - Denominator] so that the travel distance set in the servo amplifier matches the travel distance on the machine. [Motor revolutions (Obj. 6091h: 01h)] and [Shaft revolutions (Obj.
  • Page 83 Setting example for a ball screw Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 4194304 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side : Number of gear teeth on load gear Servo motor encoder resolution: P = 4194304 [pulse/rev]...

  • Page 84: In-Position Range Setting

    In-position range setting The positioning completion status can be checked with INP (in-position). When the number of droop pulses falls within or less than the range set in servo parameters, INP (in-position) turns on. In addition, the range unit for the in-position and the conditions to turn on the in-position can be changed with servo parameters.

  • Page 85: Assigning I/O Devices

    Assigning I/O devices External I/O signals for the servo amplifier can be assigned to I/O devices. Also, some signals can be assigned to the I/O devices without wiring (Automatic ON). In addition, if the external input signal causes chattering due to noise or other factors, the input filter can be used to suppress the effect of noise.

  • Page 86: Regenerative Option Selection

    Refer to "Regenerative option" in the following manual for the details 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.

  • Page 87: Alarm Function

    3.10 Alarm function This function displays an alarm or warning when an error occurs during operation. When an alarm occurs, ALM (Malfunction) turns off and the servo motor stops. When a warning occurs, the servo motor may not stop for each warning number. The stop method changes depending on whether the forced stop deceleration function is enabled or disabled.

  • Page 88: Returning From An Alarm

    Returning from an alarm When an alarm occurs, remove its cause, check that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting the operation. Remove the cause of the alarm in accordance with the following manual. MR-JET User's Manual (Troubleshooting) The following table shows how to deactivate the alarm.

  • Page 89: Alarm History

    Alarm history The No. of the alarm that has occurred and the time at which it occurred can be recorded in the 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. The alarm history can be cleared with [Pr.

  • Page 90: Stop Method At Occurrence Of Alarms/Warnings

    Index Object Name Description 2A45h ARRAY Parameter error list The number of sub objects (254) is returned. ARRAY Parameter error list 1 When [AL. 037 Parameter error] occurs, the first servo parameter number that caused the alarm is returned. ARRAY Parameter error list 254 When [AL.

  • Page 91: Timing Chart For Alarm Occurrence

    Timing chart for alarm occurrence In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. When the servo motor is at a stop due to an alarm or other factors, commands from the controller are not accepted.
  • Page 92 ■Stopping with dynamic brake When an alarm is detected, MRB and ALM are turned off, and the servo motor stops using the dynamic brake and electromagnetic brake. Alarm occurrence Braking with dynamic brake Braking with dynamic brake and electromagnetic brake Servo motor speed 0 r/min Base circuit...

  • Page 93: Forced Stop Deceleration Function

    3.11 Forced stop deceleration function Forced stop deceleration function is a function that decelerates the servo motor with commands when EM2 (Forced stop 2) is turned off, and stops the servo motor with the dynamic brake when the servo motor rotates at the zero speed or less. This enables the servo motor to stop with shorter coasting distance than stopping only with dynamic brake.

  • Page 94: Timing Chart

    Timing chart When EM2 (Forced stop 2) is turned off, the servo motor decelerates in accordance with the value of [Pr. PC24 Deceleration time constant at forced stop]. Once the servo motor speed becomes below [Pr. PC07 Zero speed] after completion of the deceleration command, the base circuit will be shut off and the dynamic brake will activate.

  • Page 95: Electromagnetic Brake Interlock Function

    3.12 Electromagnetic brake interlock function For servo motors with an electromagnetic brake, this function activates the electromagnetic brake at servo-off, upon an error occurrence, and at other necessary times. By using the electromagnetic brake, the position can be maintained so that the servo motor will not move due to external force.

  • Page 96: Timing Chart

    Timing chart When using the forced stop deceleration function When [Pr. PA04.3 Forced stop deceleration function selection] is set to "2" (Forced stop deceleration function enabled). ■Turning the servo-on command on/off When the servo-on command is turned off, the servo lock is released after Tb [ms], following which the servo motor coasts. If the electromagnetic brake is enabled during servo-lock, its service life may be shortened.
  • Page 97 ■Turning the quick stop command (from controller) or EM2 (Forced stop 2) on/off In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. Keep the servo-on command (from controller) and ready-on command (from controller) on while the quick stop command (from controller) or EM2 (Forced stop 2) is off.
  • Page 98 ■Alarm occurrence MBR is turned off after the servo motor stops through forced stop deceleration, then the base circuit and ALM are turned off after the base circuit shut-off delay time. Alarm occurrence Model speed command 0 Servo motor speed and equal to or less than zero speed 0 r/min...
  • Page 99 ■Ready-off command from controller After the base circuit is turned off with the ready-off command, the servo motor is stopped with the dynamic brake and electromagnetic brake. Dynamic brake Dynamic brake + electromagnetic brake (10 ms) Servo motor speed Electromagnetic brake 0 r/min Base circuit Operation delay time of...
  • Page 100 When the forced stop deceleration function is not used When [Pr. PA04.3 Forced stop deceleration function selection] is set to "0" (Forced stop deceleration function disabled). ■Turning the servo-on command on/off Page 94 Turning the servo-on command on/off ■Turning the quick stop command (from controller) or EM1 (Forced stop 1) on/off When the off command is inputted, the servo motor is stopped with the dynamic brake and electromagnetic brake.

  • Page 101: Vertical Axis Freefall Prevention Function

    3.13 Vertical axis freefall prevention function When the servo motor is used to operate a vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function can be used to prevent the vertical axis from dropping at forced stop; however, the axis may fall by several μm due to mechanical clearance of the servo motor electromagnetic brake.

  • Page 102: Acceleration/Deceleration Function

    3.14 Acceleration/deceleration function The acceleration/deceleration function enables smooth acceleration/deceleration. The following methods are available for the acceleration/deceleration function. Item Explanation Reference Page 100 Acceleration/ Acceleration/deceleration This is a method for performing acceleration/deceleration in accordance with the specified time constant method acceleration/deceleration time constants [ms].

  • Page 103: S-Pattern Acceleration/Deceleration Time Constant

    S-pattern acceleration/deceleration time constant This time constant is available on servo amplifiers with firmware version B2 or later. Setting S-pattern acceleration/deceleration time constant enables smooth start/stop of the servo motor. This function operates when [Pr. PT51 S-pattern acceleration/deceleration time constants] is set. Setting speed Servo motor speed 0 [r/min]...

  • Page 104: Acceleration/Deceleration

    Acceleration/deceleration Acceleration/deceleration is performed in accordance with the specified acceleration/deceleration [command unit/s ]. Unlike the acceleration/deceleration time constants, acceleration/deceleration can be performed independent of the rated speed of the servo motor. The control mode influences whether the acceleration/deceleration is set in the servo parameters, objects, or other settable areas.

  • Page 105: Quick Stop

    3.15 Quick stop With Quick stop defined in CiA 402, the servo motor can be stopped by the forced stop deceleration. For details of the forced stop deceleration, refer to the following. Page 91 Forced stop deceleration function When the Quick stop command in [Controlword (Obj. 6040h)] is turned off, the servo motor decelerates to a stop in accordance with the setting of [Quick stop option code (Obj.

  • Page 106: Timing Chart

    Timing chart When [Quick stop option code (Obj. 605Ah)] is set to "2" The servo motor decelerates to a stop with [Quick stop deceleration (Obj. 6085h)], and the state shifts to "Switch On Disabled". Quick stop command (Enabled) Operation Enabled Quick Stop Active Switch On Disabled Rated speed...

  • Page 107: Halt

    3.16 Halt Halt defined in CiA 402 enables temporary stop of the servo motor. When 1 is set in Bit 8 (HALT) of [Controlword (Obj. 6040h)], the servo motor decelerates to a stop with the deceleration time constant of [Homing acceleration (Obj. 609Ah)], and then the state remains as "Operation Enable" (Servo-on), in accordance with the setting of [Halt option code (Obj.

  • Page 108: Chapter 4 Applicable Functions

    APPLICABLE FUNCTIONS This chapter explains the applicable functions. Please select the applicable function to be used from the following table. Function to operate safely Applicable function Outline Reference Software position limit Prevents a moving part from colliding with the equipment. Page 131 Software position limit Page 132 Torque limit Torque limit...

  • Page 109: Tough Drive Function

    Tough drive function Tough drive function is a function that allows the operation to continue without stopping the device, even when an alarm would occur normally. This function also features the vibration tough drive and the instantaneous power failure tough drive. Vibration tough drive Vibration tough drive function is a function to: 1) prevent vibration, as the mechanical resonance frequency changes due to aging of the machine;...
  • Page 110 Timing chart ■Instantaneous power failure time > [Pr. PF25 Instantaneous power failure tough drive - Detection time] The alarm occurs when the instantaneous power failure time exceeds [Pr. PF25 Instantaneous power failure tough drive - Detection time]. MTTR (During tough drive) turns on after the instantaneous power failure is detected. MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
  • Page 111 ■Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive - Detection time] The operation status differs depending on how much the bus voltage decreases. • 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.
  • Page 112 • [AL. 010 Undervoltage] occurs regardless of the enabled instantaneous power failure tough drive even if the bus voltage decreases to the undervoltage level or lower within the instantaneous power failure time. Time for instantaneous power failure (Energization) Power supply (Power failure) [Pr.

  • Page 113: Machine Diagnosis

    Machine diagnosis The machine diagnosis function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier and detects errors in machine parts such as ball screws and bearings. The machine diagnosis function features the following functions: Diagnosis Diagnosis item...
  • Page 114 Setting method ■Friction estimation function Startup the system. Setting of [Pr. PF31] When the maximum operation speed is under the rated speed, set the value to 1/2 of the maximum speed during operation. Alternatively, set [Pr. PF34.6] to "1" (automatic setting) to automatically calculate [Pr. PF31]. Drive the servo motor.
  • Page 115 Friction estimation function Speed [Pr. PF31] Zero speed Forward rotation Servo motor speed 0 r/min Time Reverse rotation Zero speed [Pr. PF31] To perform friction estimation, the servo motor must be rotated at zero speed or higher, and operated for 150 s both in the high and low-speed sections.
  • Page 116 Vibration estimation function The vibration estimation function monitors torque vibrations to estimate high-frequency, minute vibration levels and vibration frequencies. An increase in the vibration level and a change in the vibration frequency due to excess play or deterioration in guides, ball screws, and belts can be observed. Vibration level Torque Vibration frequency...
  • Page 117 Related objects For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C20h Machine diagnostic status The machine diagnostic status is returned. *1*2 [Bit 0 to 3: Friction estimation status at forward rotation] 0: Friction is being estimated. (normal) 1: Estimation has finished.

  • Page 118: Drive Recorder

    Drive recorder This function continuously monitors the servo amplifier status and records the state transition before and after an alarm for a fixed period of time. By using MR Configurator2 via a network or USB connection, the data recorded inside the servo amplifier can be read in order to analyze alarms.
  • Page 119 Precautions • When using the graph function with an engineering tool, the drive recorder function cannot be used. To use the drive recorder function, wait until the time set in [Pr. PF21 Drive recorder switching time setting] passes, cycle the power of the servo amplifier, or perform the software reset after using the graph function.

  • Page 120: Specification Outline

    Specification outline A specification outline of the drive recorder is shown in this section. The drive recorder contains the automatic setting mode that uses factory settings and the manual setting mode that collects waveforms by optionally setting the trigger condition, sampling cycle, and other areas with the servo parameters. In the automatic setting mode, when an alarm occurs in the servo amplifier, conditions of the servo amplifier (such as the servo motor speed and droop pulses) before/after alarm occurrence are recorded.
  • Page 121 Method of reading recorded data Drive recorder data can be read with an engineering tool (MR Configurator2) via a network or USB connection. A connection example is shown below. • Transferring files with direct connection or via a hub (Ethernet/MR Configurator2) Personal Servo amplifier computer...
  • Page 122 ■Reading recorded data via a network When reading the recorded data from the drive recorder via a network, use the engineering tool or the FTP server function. The read data can be checked with GX LogViewer. The data is saved in a file as shown below. Path Remark /drvrec/dr1_nnnn.json...

  • Page 123: Servo Parameter/Object Dictionary

    Servo parameter/object dictionary This section shows the servo parameters and object dictionary related to the drive recorder. If [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (automatic setting mode) (initial value), the setting values of [Pr. PF81 Drive recorder - Sampling operation selection] to [Pr. PF94 Drive recorder - Digital channel setting 2] are disabled. The drive recorder operates automatically with the alarm trigger.
  • Page 124 Servo Symbol Name Outline parameter PF87.0-2 DRAC1 Drive recorder - Analog channel 1 selection Set the data to be assigned to analog channel 1. Initial value: 201h (Servo motor speed +) PF87.4-6 DRAC1 Drive recorder - Analog channel 2 selection Set the data to be assigned to analog channel 2.
  • Page 125 ■Trigger channel selection Setting value Meaning Analog channel 1 Analog channel 2 Analog channel 3 Analog channel 4 Analog channel 5 Analog channel 6 Analog channel 7 Digital channel 1 Digital channel 2 Digital channel 3 Digital channel 4 Digital channel 5 Digital channel 6 Digital channel 7 Digital channel 8...
  • Page 126 ■Analog channel Setting value Data type Unit Category   No assigned function Servo motor speed 1 r/min 16-bit data Torque/instantaneous torque 0.1 % Current command 0.1 % Command pulse frequency (speed unit) 1 r/min Droop pulses (1 pulse unit) 1 pulse Speed command 1 r/min...
  • Page 127 ■Digital channel Setting value Symbol Name Classification 0000 CSON Servo ON command 0001 Forward rotation stroke end 0002 Reverse rotation stroke end 0005 Proportional control 0006 Reset 0012 EM2/1 Forced stop 0013 CRDY Ready-on command 0016 STO1 STO1 0017 STO2 STO2 001A CDP2...
  • Page 128 Object dictionary For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2C02h Drive recorder status Returns the operating status of the drive recorder. 2A70h ARRAY Drive recorder history newest Returns the total number of Sub Indexes. Drive recorder history index Returns the saved index of the drive recorder.

  • Page 129: Standard Acquisition Waveform List

    Standard acquisition waveform list When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), the acquired data is changed by [Pr. PA23 Drive recorder desired alarm trigger setting]. If [Pr. PA23] is set to the initial value (00000000h), the data shown in the "Standard"...

  • Page 130: Waveform Recording Inapplicable Alarm List

    Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 046 Servo Torque Current Internal Temperature Bus voltage Effective  32 ms 32768 ms motor command temperature of servo load ratio speed +...

  • Page 131: List Of Auxiliary Recording Data

    List of auxiliary recording data A list of auxiliary record data saved by the drive recorder is shown. Instantaneous monitor data The instantaneous monitor data is saved in the vicinity of the trigger condition establishment. System configuration display data The system configuration display data saved by the drive recorder is as follows. Incompatible items are indicated as [----]. Name Outline Servo amplifier identification information...

  • Page 132: Software Reset

    Software reset Software reset is a function to reset the internal status of the servo amplifier and obtain the same effect as cycling the power. By performing the software reset, the setting of the servo parameters can be reflected without cycling the power. •...

  • Page 133: Software Position Limit

    Software position limit Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit position is specified, the command position is clamped at the limit position. Specify the limit position relative to the machine home position (position address = 0).

  • Page 134: Torque Limit

    Torque limit The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. Item Outline Internal torque limit The maximum torque is limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].

  • Page 135: Setting Method

    Setting method Servo parameter setting The maximum torque is always limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit] during operation. Set the rated torque at 100.0 [%]. Servo parameter Symbol Name Outline PA11...

  • Page 136: Speed Limit

    Speed limit During the torque mode, this function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in the torque mode. • When [Velocity limit value (Obj. 2D20h)] is mapped to cyclic communication, values written from engineering tools are overwritten from the controller.

  • Page 137: Infinite Feed Function

    Infinite feed function To use the infinite feed function with a Mitsubishi Electric controller in the cyclic synchronous mode, set [Pr. PC29.5 [AL. 0E3.1 Absolute position counter warning] selection] to disabled. Servo amplifier life diagnosis function The servo amplifier life diagnosis function is a function to diagnose the service life of the servo amplifier itself. The approximate service life of the servo amplifier being used can be determined.

  • Page 138: Relay Usage Count Display Function

    Relay usage count display function Displays the number of times the inrush relay has been turned on/off from the time of shipment and the usage count of the dynamic brake. • MR Configurator2 or a controller is required to acquire the number of times the inrush relay has been turned on/off and the usage count of the dynamic brake.

  • Page 139: Encoder Communication Diagnosis Function

    4.10 Encoder communication diagnosis function This servo amplifier has a function to diagnose the failure of the differential driver or receiver used for the encoder communication circuit. By inputting the diagnostic signal to the encoder communication circuit, an error on the differential driver or receiver is detected.

  • Page 140: Disconnection/Incorrect Wiring Detection Function

    4.11 Disconnection/incorrect wiring detection function Output open phase detection function This function detects an open phase due to servo motor power supply cable (U/V/W) disconnection and generates [AL. 139 Open-phase error] after the detection. Restrictions • The output open phase detection function will be disabled if an alarm or warning other than [AL. 139 Open-phase error] has occurred.

  • Page 141: Overload Protection (Electronic Thermal) Function

    4.12 Overload protection (electronic thermal) function An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 050 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve. [AL. 051 Overload 2] occurs if the maximum current is applied continuously for several seconds due to a machine collision, etc.

  • Page 142: Command Offset

    4.13 Command offset The command offset function compensates position/speed/torque commands by adding a desired offset amount to the commands. Position offset, velocity offset, and torque offset can be set. Functions Outline Position offset • In the position mode, an offset can be added to [Target position (Obj. 607Ah)]. Velocity offset •...
  • Page 143 Setting method Set the position offset with [Position offset (Obj. 60B0h)], the velocity offset with [Velocity offset (Obj. 60B1h)], and the torque offset with [Torque offset (Obj. 60B2h)]. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name...

  • Page 144: Chapter 5 Monitoring

    MONITORING Summary The status of servo motor speed, torque, bus voltage, and other areas of the servo amplifier can be checked with the engineering tools. This chapter shows an example when using MR Configurator2 as the engineering tool. Items that can be monitored with "Display All" can also be monitored by objects. For details, refer to User's Manual (Object Dictionary).
  • Page 145 Monitor signal (analog) On MR Configurator2, the status of the monitor signal (analog) can be obtained by using the "Display all" function and the graph function. Refer to the list in this section for the signals which can be obtained with the "Display all" function and the graph function. Name Description Availability...
  • Page 146 Name Description Availability Display all Graph function   Excessive error alarm margin The margin for the excessive error alarm level is displayed in the encoder pulse unit. The excessive error alarm occurs at 0 pulses. Overload alarm margin The margins for the alarm levels of [AL. 050 Overload 1] and [AL. 051 Overload 2] are ...
  • Page 147 Monitor signal (digital) The status of the monitor signal (digital) can be obtained by using the I/O monitor and graph functions of MR Configurator2. As for DI/DO in the table, DI indicates the monitor signal (digital) inputted to a servo amplifier; DO indicates the monitor signal (digital) outputted from a servo amplifier.

  • Page 148: Signal Block Diagram

    Signal block diagram The following signal block diagram indicates the points at where the monitor signals (analog) are detected. Semi closed loop control Speed command Speed command Current Droop pulses Bus voltage input 1 input 2 command Current Position Speed detector command command...

  • Page 149: Checking With Mr Configurator2

    Checking with MR Configurator2 By using this engineering tool, the status of the servo amplifier (including the servo motor speed, torque, and bus voltage) can be checked. In the "Display all" function, the analog data signals of the servo amplifier can be displayed in a list and be readily checked. In the graph function, the monitor signals can be saved with the high-speed sampling cycle, and the change of signals can be checked when the gains of the servo amplifier are adjusted.

  • Page 150: I/O Monitor Display

    Set the sampling time, trigger, and other areas as required, then start measurement. The waveform is displayed on completion of measurement. The obtained data can be checked by clicking "Zoom", "Cursor", and other buttons. I/O monitor display The I/O signals of the servo amplifier and the on/off status of the I/O device can be displayed. The input/output status of the signals and wiring can be checked at device startup and throughout the project creation progress.

  • Page 151: System Configuration Display

    System configuration display System information including the serial number and model of the servo amplifier, servo motor, and other equipment are displayed. The items displayed 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.

  • Page 152: Chapter 6 Network Function

    NETWORK FUNCTION The function explained in this chapter is available for the following servo amplifier. MR-JET-_G This is a function that uses an Ethernet communication to access servo amplifiers remotely. The network function of the servo amplifier is as follows. Function Description FTP server function...

  • Page 153: Managing Accounts

    Managing accounts To use the network function, set an account. Accounts can be set with the following network parameters. Up to 8 accounts can be set. Account User name Authorization level Password User information No. 1 [Pr. NPB04] [Pr. NPB05] [Pr.

  • Page 154: Setting An Account

    Setting an account Set an account with MR Configurator2. Set the user information No. 1 account with [Pr. NPB04 User name No.1], [Pr. NPB05 Authorization level No.1], and [Pr. NPB06 Password No.1]. User name Set a user name according to the following rule. Item Usable character Number of characters...

  • Page 155: Ftp Server Function

    FTP server function FTP (File Transfer Protocol) is a protocol to transfer files between network-connected devices. The FTP server function is supported. Devices with the FTP client function can access files in the servo amplifier via FTP communication. The following shows the port numbers used for the FTP server.

  • Page 156: Directory Structure

    Directory structure The following shows the directories that can be accessed from the FTP client. Directory Function Details Page 155 Firmware update /fw/ Firmware update /drvrec/ Drive recorder Page 116 Drive recorder fw directory To allow an account to access the fw directory, set Bit 0 of the relevant authorization level to "1". The fw directory allows firmware updates of the servo amplifier.

  • Page 157: Firmware Update

    Firmware update The MR-JET series servo amplifier has a function to update the firmware. This function can update the servo amplifier firmware to the desired version. To update the firmware, a special firmware update tool is required. For information on the firmware update tool and firmware update file, contact your local sales office.

  • Page 158: Revisions

    Section 3.4 and Chapter 6 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 159: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 160: Trademarks

    TRADEMARKS MELSERVO is a 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-B...
  • Page 162 IB(NA)-0300458ENG-B(2007)MEE MODEL: MODEL CODE: 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 When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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