Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5-G/MR-J5W-G
User's Manual
(Parameters)
-MR-J5-_G_
-MR-J5W_-_G

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  Summary of Contents for Mitsubishi Electric MELSERVO-J5 MR-J5-G Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Parameters) -MR-J5-_G_ -MR-J5W_-_G...
  • 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: U.s. Customary Units

    [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: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 U.S.
  • Page 6 [Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)]......35 [Pr. PB20_Vibration suppression control 1 - Resonance frequency (VRF12)] ......35 [Pr.
  • Page 7 [Pr. PC02_Electromagnetic brake sequence output (MBR)] ........54 [Pr.
  • Page 8 [Pr. PF18_STO diagnosis error detection time (**STOD)] ......... . 77 [Pr.
  • Page 9 [Pr. PL06_Speed deviation error detection level (LB2)]......... . . 100 [Pr.
  • Page 10 Positioning control setting servo parameter group ([Pr. PT_ _]) ....... . 131 Network setting servo parameter group ([Pr.
  • Page 11: Chapter 1 Detailed Lists Of Servo Parameters

    Settable servo parameters and values depend on the controller model, servo amplifier software version, and MR Configurator2 software version. For details, refer to the controller user’s manual. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. The software version of the servo amplifier can be checked with MR Configurator2, objects, or others.
  • Page 12: Basic Setting Servo Parameters Group ([Pr. Pa

    Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Setting method Supported software version 00003000h 00003000h to 00003280h Each axis Refer to each detail No. [Pr. PA01.1_Operation mode selection] Initial value Setting range Supported software version 0h to 6h 0: Standard control mode...
  • Page 13: [Pr. Pa03_Absolute Position Detection System (*Abs)]

    [Pr. PA02.4_Simple converter selection] Initial value Setting range Supported software version 0h to 1h When using the simple converter, set this servo parameter. The simple converter and external regenerative option can be used together. When using an external regenerative option, set the regenerative option to be used with [Pr.
  • Page 14: [Pr. Pa04_Function Selection A-1 (*Aop1)]

    [Pr. PA04_Function selection A-1 (*AOP1)] Initial value Setting range Setting method Supported software version 00002000h 00000000h to 00004100h Common Refer to each detail No. [Pr. PA04.2_Servo forced stop selection] Initial value Setting range Supported software version 0h to 1h 0: Enabled (The forced stop input EM2 or EM1 is used) 1: Disabled (The forced stop input EM2 and EM1 are not used) [Pr.
  • Page 15: [Pr. Pa08_Auto Tuning Mode (Atu)]

    [Pr. PA08_Auto tuning mode (ATU)] Initial value Setting range Setting method Supported software version 00000001h 00000000h to 01210006h Each axis Refer to each detail No. [Pr. PA08.0_Gain adjustment mode selection] Initial value Setting range Supported software version 0h to 6h Select the gain adjustment mode.
  • Page 16 [Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting] Initial value Setting range Supported software version 0h to 1h Set the load to motor inertia ratio at quick tuning. If the load connected to the servo motor is larger than the load to motor inertia ratio set in the servo parameter, an overshoot may occur in positioning operation after quick tuning.
  • Page 17: [Pr. Pa09_Auto Tuning Response (Rsp)]

    [Pr. PA09_Auto tuning response (RSP)] Initial value Setting range Setting method Supported software version 1 to 40 Each axis Set the auto tuning response. Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] Low response 10.0 11.3 12.7 14.3 16.1 18.1...
  • Page 18: [Pr. Pa10_In-Position Range (Inp)]

    [Pr. PA10_In-position range (INP)] Initial value Setting range Setting method Supported software version 25600 [Refer to the text] 0 to 16777215 Each axis Set the in-position range in the command pulse unit. With the setting of [Pr. PC06.0 In-position range unit selection], the unit can be changed to the servo motor encoder pulse unit.
  • Page 19: [Pr. Pa12_Reverse Rotation Torque Limit (Tln)]

    [Pr. PA12_Reverse rotation torque limit (TLN)] Initial value Setting range Setting method Supported software version 1000.0 [%] 0.0 to 1000.0 Each axis The torque or thrust generated by the servo motor can be limited. Set on the assumption that the rated torque or continuous thrust is 100.0 [%]. Set the servo parameter when limiting the torque of the servo motor for CW power running or CCW regeneration, or limiting the thrust of the linear servo motor for positive direction power running or negative direction regeneration.
  • Page 20: [Pr. Pa14_Travel Direction Selection (*Pol)]

    [Pr. PA14_Travel direction selection (*POL)] Initial value Setting range Setting method Supported software version 0 to 1 Each axis The rotation/travel direction can be changed without changing the polarity of the command from the controller. The polarities of the position and speed information are changed by the setting value of [Pr. PA14 Travel direction selection]. Torque information changes with the combination of [Pr.
  • Page 21: [Pr. Pa15_Encoder Output Pulses (*Enr)]

    [Pr. PA15_Encoder output pulses (*ENR)] Initial value Setting range Setting method Supported software version 4000 [pulse/rev] 1 to 67108864 Each axis Set the encoder output pulses outputted from the servo amplifier, by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio.
  • Page 22: [Pr. Pa18_Servo Motor Type Setting (**Mty)]

    Linear servo motor series Linear servo motor (primary side) Servo parameter Setting value of [Pr. PA17] Setting value of [Pr. PA18.0-3] LM-F LM-FP2B-06M-1SS0 (natural cooling) 000000B2h 2201h LM-FP2D-12M-1SS0 (natural cooling) 2401h LM-FP2F-18M-1SS0 (natural cooling) 2601h LM-FP4B-12M-1SS0 (natural cooling) 4201h LM-FP4D-24M-1SS0 (natural cooling) 4401h LM-FP4F-36M-1SS0 (natural cooling) 4601h...
  • Page 23: [Pr. Pa19_Servo Parameter Writing Prohibited (*Blk)]

    [Pr. PA19_Servo parameter writing prohibited (*BLK)] Initial value Setting range Setting method Supported software version 000000ABh 00000000h to 0000FFFFh Each axis Select a reference range and writing range of the servo parameter. Refer to the following table for setting values. PA19 Setting value PT, PV...
  • Page 24: [Pr. Pa20_Tough Drive Setting (*Tds)]

    [Pr. PA20_Tough drive setting (*TDS)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00001110h Each axis Refer to each detail No. [Pr. PA20.1_Vibration tough drive selection] Initial value Setting range Supported software version 0h to 2h 0: Disabled 1: Machine resonance suppression filter change mode enabled 2: Machine resonance suppression filter automatic setting method...
  • Page 25: [Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (Drat)]

    [Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 000FFFFFh Common Refer to each detail No. This servo parameter is enabled in the following conditions: • [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (Automatic setting mode) •...
  • Page 26: [Pr. Pa26_Function Selection A-5 (*Aop5)]

    [Pr. PA26_Function selection A-5 (*AOP5)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 000000A1h Each axis Refer to each detail No. [Pr. PA26.0_Torque limit function selection at instantaneous power failure] Initial value Setting range Supported software version 0h to 1h 0: Disabled 1: Enabled...
  • Page 27: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00001002h Each axis Refer to each detail No. [Pr. PB01.0_Filter tuning mode selection] Initial value Setting range Supported software version...
  • Page 28: [Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control Ii) (Vrft)]

    [Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000022h Each axis Refer to each detail No. [Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection] Initial value Setting range Supported software version...
  • Page 29: [Pr. Pb07_Model Control Gain

    [Pr. PB07_Model control gain (PG1)] Initial value Setting range Setting method Supported software version 15.0 [rad/s] 1.0 to 8000.0 Each axis Set the response gain to the target position. Increasing the setting value will improve the responsiveness to the position command. However, if the setting value increases excessively, vibration and noise will occurs.
  • Page 30: [Pr. Pb10_Speed Integral Compensation (Vic)]

    [Pr. PB10_Speed integral compensation (VIC)] Initial value Setting range Setting method Supported software version 33.7 [ms] 0.1 to 1000.0 Each axis Set the integral time constant of the speed loop. Decreasing the setting value will improve the responsiveness, but will be liable to generate vibration and noise. The setting of this servo parameter will be automatic or manual depending on the setting of [Pr.
  • Page 31: [Pr. Pb14_Notch Shape Selection 1 (Nhq1)]

    [Pr. PB14_Notch shape selection 1 (NHQ1)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000330h Each axis Refer to each detail No. [Pr. PB14.1_Notch depth selection 1] Initial value Setting range Supported software version 0h to 3h 0: -40 dB 1: -14 dB 2: -8 dB...
  • Page 32: [Pr. Pb16_Notch Shape Selection 2 (Nhq2)]

    [Pr. PB16_Notch shape selection 2 (NHQ2)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000331h Each axis Refer to each detail No. Set forms of the machine resonance suppression filter 2. When [Pr. PA08 Gain adjustment mode selection] is set to "5" (Quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
  • Page 33: [Pr. Pb17_Shaft Resonance Suppression Filter (Nhf)]

    [Pr. PB17_Shaft resonance suppression filter (NHF)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 0000039Fh Each axis Refer to each detail No. Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr.
  • Page 34 Setting value Frequency [Hz] Disabled Disabled Disabled Disabled Disabled Disabled Disabled Disabled 4500 4000 3600 3272 3000 2769 2571 2400 2250 2117 2000 1894 1800 1714 1636 1565 1500 1440 1384 1333 1285 1241 1200 1161 1125 1090 1058 1028 1000 1 DETAILED LISTS OF SERVO PARAMETERS 1.3 Gain/filter setting servo parameters group ([Pr.
  • Page 35 Setting value Frequency [Hz] 1 DETAILED LISTS OF SERVO PARAMETERS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 36: [Pr. Pb18_Low-Pass Filter Setting (Lpf)]

    Setting value Frequency [Hz] [Pr. PB17.2_Notch depth selection] Initial value Setting range Supported software version 0h to 3h 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB [Pr. PB18_Low-pass filter setting (LPF)] Initial value Setting range Setting method Supported software version 3141 [rad/s] 100 to 36000...
  • Page 37: [Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (Vrf11)]

    [Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)] Initial value Setting range Setting method Supported software version 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 1 to suppress low-frequency machine vibration. When "1" (Automatic setting) is selected in [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection], this servo parameter will be set automatically.
  • Page 38: [Pr. Pb23_Low-Pass Filter Selection (Vfbf)]

    [Pr. PB23_Low-pass filter selection (VFBF)] Initial value Setting range Setting method Supported software version 00001000h 00000000h to 00001022h Each axis Refer to each detail No. [Pr. PB23.0_Shaft resonance suppression filter selection] Initial value Setting range Supported software version 0h to 2h Select the shaft resonance suppression filter.
  • Page 39: [Pr. Pb24_Slight Vibration Suppression Control (*Mvs)]

    [Pr. PB24_Slight vibration suppression control (*MVS)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000031h Each axis Refer to each detail No. [Pr. PB24.0_Slight vibration suppression control selection] Initial value Setting range Supported software version 0h to 1h Select the slight vibration suppression control.
  • Page 40: [Pr. Pb26_Gain Switching Function (*Cdp)]

    [Pr. PB26_Gain switching function (*CDP)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00110215h Each axis Refer to each detail No. 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.
  • Page 41: [Pr. Pb27_Gain Switching Condition (Cdl)]

    [Pr. PB26.5_Gain switching selection during a stop] Initial value Setting range Supported software version 0h to 1h 0: Gain switching 2 during a stop is disabled 1: Gain switching 2 during a stop is enabled This servo parameter is enabled in the following condition: [Pr. PB26.4] is set to "2" (same condition as [Pr. PB26.0 Gain switching selection]) and [Pr.
  • Page 42: [Pr. Pb32_Speed Integral Compensation After Gain Switching (Vicb)]

    [Pr. PB32_Speed integral compensation after gain switching (VICB)] Initial value Setting range Setting method Supported software version 0.0 [ms] 0.0 to 5000.0 Each axis Set the speed integral compensation 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. PB10] is applied. The setting value of this servo parameter is enabled when [Pr.
  • Page 43: [Pr. Pb36_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching (Vrf14B)]

    [Pr. PB36_Vibration suppression control 1 - Resonance frequency damping after gain switching (VRF14B)] Initial value Setting range Setting method Supported software version 0.00 0.00 to 0.30 Each axis Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
  • Page 44 Setting value Frequency [Hz] 34.5 33.3 31.3 29.4 27.8 26.3 25.0 23.8 22.7 21.7 20.8 20.0 19.2 18.5 17.9 17.2 16.7 15.6 14.7 13.9 13.2 12.5 11.9 11.4 10.9 10.4 1 DETAILED LISTS OF SERVO PARAMETERS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 45 Setting value Frequency [Hz] 4.31 4.17 3.91 3.68 3.47 3.29 3.13 2.98 2.84 2.72 2.60 2.50 2.40 2.31 2.23 2.08 1.95 1.84 1.74 1.64 1.56 1.49 1.42 1.36 1.30 1.25 1.20 1.16 1.12 1 DETAILED LISTS OF SERVO PARAMETERS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 46: [Pr. Pb46_Machine Resonance Suppression Filter 3 (Nh3)]

    [Pr. PB45.2_Notch depth selection] Initial value Setting range Supported software version 0h to Fh Refer to the following table for details. Setting value Depth [dB] -40.0 -24.1 -18.1 -14.5 -12.0 -10.1 -8.5 -7.2 -6.0 -5.0 -4.1 -3.3 -2.5 -1.8 -1.2 -0.6 [Pr.
  • Page 47: [Pr. Pb48_Machine Resonance Suppression Filter 4 (Nh4)]

    [Pr. PB47.2_Notch width selection] Initial value Setting range Supported software version 0h to 3h 0: α = 2 1: α = 3 2: α = 4 3: α = 5 [Pr. PB48_Machine resonance suppression filter 4 (NH4)] Initial value Setting range Setting method Supported software version 4500 [Hz]...
  • Page 48: [Pr. Pb50_Machine Resonance Suppression Filter 5 (Nh5)]

    [Pr. PB50_Machine resonance suppression filter 5 (NH5)] Initial value Setting range Setting method Supported software version 4500 [Hz] 10 to 9000 Each axis Set the notch frequency of the machine resonance suppression filter 5. When [Pr. PB51.0 Machine resonance suppression filter 5 selection] is set to "1" (Enabled), set the notch frequency with this servo parameter.
  • Page 49: [Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (Vrf21)]

    [Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)] Initial value Setting range Setting method Supported software version 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 to suppress low-frequency machine vibration. When "1" (Automatic setting) is selected in [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection], this servo parameter will be set automatically.
  • Page 50: [Pr. Pb56_Vibration Suppression Control 2 - Vibration Frequency After Gain Switching (Vrf21B)]

    [Pr. PB56_Vibration suppression control 2 - Vibration frequency after gain switching (VRF21B)] Initial value Setting range Setting method Supported software version 0.0 [Hz] 0.0 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 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.
  • Page 51: [Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching (Vrf24B)]

    [Pr. PB59_Vibration suppression control 2 - Resonance frequency damping after gain switching (VRF24B)] Initial value Setting range Setting method Supported software version 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
  • Page 52: [Pr. Pb65_Gain Switching 2 Condition (Cdl2)]

    [Pr. PB65_Gain switching 2 condition (CDL2)] Initial value Setting range Setting method Supported software version 10 [Refer to the text] 0 to 16777215 Each axis Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain switching selection].
  • Page 53: [Pr. Pb71_Vibration Suppression Control 1 - Vibration Frequency After Gain Switching 2 (Vrf11C)]

    [Pr. PB71_Vibration suppression control 1 - Vibration frequency after gain switching 2 (VRF11C)] Initial value Setting range Setting method Supported software version 0.0 [Hz] 0.0 to 300.0 Each axis 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.
  • Page 54: [Pr. Pb74_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching 2 (Vrf14C)]

    [Pr. PB74_Vibration suppression control 1 - Resonance frequency damping after gain switching 2 (VRF14C)] Initial value Setting range Setting method Supported software version 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
  • Page 55: [Pr. Pb77_Vibration Suppression Control 2 - Vibration Frequency Damping After Gain Switching 2 (Vrf23C)]

    [Pr. PB77_Vibration suppression control 2 - Vibration frequency damping after gain switching 2 (VRF23C)] Initial value Setting range Setting method Supported software version 0.00 0.00 to 0.30 Each axis Set the damping of the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
  • Page 56: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC01_Excessive error alarm level (ERZ)] Initial value Setting range Setting method Supported software version 0 [rev], [mm] 0 to 1000 Each axis Set an excessive error alarm level. For rotary servo motor and direct drive motor, set in rev unit. If 200 rev or higher is set, the value will be clamped to 200 rev. For linear servo motors, set in mm unit.
  • Page 57: [Pr. Pc04_Function Selection C-1 (**Cop1)]

    [Pr. PC03.1_Encoder output pulse setting selection] Initial value Setting range Supported software version 0h to 4h 0: Output pulse setting 1: Dividing ratio setting 3: A-phase/B-phase pulse electronic gear setting 4: A/B-phase pulse through output setting This servo parameter cannot be set for C-axis. Refer to the following table for details of [Pr.
  • Page 58: [Pr. Pc05_Function Selection C-2 (**Cop2)]

    [Pr. PC05_Function selection C-2 (**COP2)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00010001h Each axis Refer to each detail No. [Pr. PC05.0_Motor-less operation selection] Initial value Setting range Supported software version 0h to 1h Enable or disable motor-less operation. The operation can be used only in the rotary servo motor control mode and semi closed loop control.
  • Page 59: [Pr. Pc07_Zero Speed (Zsp)]

    [Pr. PC07_Zero speed (ZSP)] Initial value Setting range Setting method Supported software version 50 [r/min], [mm/s] 0 to 10000 Each axis Set an output range of the zero speed signal (ZSP). The zero speed signal detection has a hysteresis of 20 [r/min] (20 [mm/s]). [Pr.
  • Page 60: [Pr. Pc10_Analog Monitor 2 Output (Mod2)]

    [Pr. PC09.3_Analog monitor 1 output axis selection] Initial value Setting range Supported software version 0h to 2h 0: A-axis 1: B-axis 2: C-axis [Pr. PC10_Analog monitor 2 output (MOD2)] Initial value Setting range Setting method Supported software version 00000001h 00000000h to 0000041Fh Common Refer to each detail No.
  • Page 61: [Pr. Pc17_Function Selection C-4 (**Cop4)]

    [Pr. PC16.5_Servo motor incorrect wiring detection function execution method selection] Initial value Setting range Supported software version 0h to 2h Set the execution method for the servo motor incorrect wiring detection function. 0: Detect servo motor incorrect wiring at initial servo-on after enabling servo motor incorrect wiring detection 1: Detect servo motor incorrect wiring at initial servo-on after cycling the power When [Pr.
  • Page 62: [Pr. Pc20_Function Selection C-7 (*Cop7)]

    [Pr. PC19.6_Output open phase - Judgment speed selection] Initial value Setting range Supported software version 0h to 1h 0: Servo motor speed 1: Speed command When "0" (Servo motor speed) is set, the value of the servo motor speed is used for the speed judgment of the output open phase detection.
  • Page 63: [Pr. Pc21_Alarm History Clear (*Bps)]

    [Pr. PC21_Alarm history clear (*BPS)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000001h Each axis Refer to each detail No. [Pr. PC21.0_Alarm clear history selection] Initial value Setting range Supported software version 0h to 1h 0: Disabled 1: Enabled When "1"...
  • Page 64: [Pr. Pc26_Function Selection C-8 (**Cop8)]

    [Pr. PC26_Function selection C-8 (**COP8)] Initial value Setting range Setting method Supported software version 00000050h 00000000h to 00001252h Each axis Refer to each detail No. [Pr. PC26.3_Load side encoder cable communication method selection] Initial value Setting range Supported software version 0h to 1h 0: Two-wire type 1: Four-wire type...
  • Page 65: [Pr. Pc29_Function Selection C-B (*Copb)]

    Only when configuring the absolute position detection system with motion modules manufactured by Mitsubishi Electric, set this for "disabled".  _ _ x _ ...
  • Page 66: [Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (Rsup1)]

    [Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] Initial value Setting range Setting method Supported software version 0 [0.0001 rev], [0.01 mm] -25000 to 25000 Each axis Set the compensation amount of the vertical axis freefall prevention function. Set the compensation amount in either the servo motor rotation amount unit or linear servo motor travel distance unit. When a positive value is set, the compensation is performed to the command address increasing direction.
  • Page 67: [Pr. Pc69_Following Error Output Filtering Time (Fewf)]

    [Pr. PC69_Following error output filtering time (FEWF)] Initial value Setting range Setting method Supported software version 10 [ms] 0 to 65535 Each axis Set the time until the following error output turns on. When the state in which droop pulses ≥ [Pr. PC67 Following error output level] continues for the time set in the servo parameter setting value, bit 13 (Following error) of [Statusword (Obj.
  • Page 68: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD01_Input signal automatic on selection 1 (*DIA1)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000FF0h Each axis Refer to each detail No. [Pr. PD01.0_For manufacturer setting] This servo parameter is for manufacturer setting.
  • Page 69: [Pr. Pd03_Input Device Selection 1 (*Di1)]

    [Pr. PD03_Input device selection 1 (*DI1)] Initial value Setting range Setting method Supported software version 0000000Ah 00000000h to 0000007Fh Each axis Refer to each detail No. Select the device to be assigned to the input signal of CN3 connector. The connector pin numbers to be assigned are as follows.
  • Page 70: [Pr. Pd05_Input Device Selection 3 (*Di3)]

    [Pr. PD05_Input device selection 3 (*DI3)] Initial value Setting range Setting method Supported software version 00000022h 00000000h to 0003007Fh Each axis Refer to each detail No. Select the device to be assigned to the input signal of CN3 connector. The connector pin numbers to be assigned are as follows.
  • Page 71: [Pr. Pd08_Output Device Selection 2 (*Do2)]

    [Pr. PD07.0-1_Device selection] Initial value Setting range Supported software version 00h to 1Fh Refer to the following table for setting values. Setting Output signal device Always off BWNG WNGSTOP CDPS ABSV MTTR CDPS2 [Pr. PD08_Output device selection 2 (*DO2)] Initial value Setting range Setting method Supported software version...
  • Page 72: [Pr. Pd09_Output Device Selection 3 (*Do3)]

    [Pr. PD09_Output device selection 3 (*DO3)] Initial value Setting range Setting method Supported software version 00000003h 00000000h to 0000007Fh Each axis Refer to each detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
  • Page 73: [Pr. Pd12_Function Selection D-1 (*Dop1)]

    [Pr. PD12_Function selection D-1 (*DOP1)] Initial value Setting range Setting method Supported software version 00000101h 00000101h to 00004101h Each axis Refer to each detail No. Set the following: the stop process selection during LSP/LSN signal off, stop process selection at detection of software position limit, and whether to enable or disable the servo motor thermistor.
  • Page 74: [Pr. Pd14_Function Selection D-3 (*Dop3)]

    The status of the limit switches (S_FLS and S_RLS) is returned. Even when "1" is set, limit switches are enabled during the test operation and at magnetic pole detection. When the controller is a Mitsubishi Electric manufactured motion unit, set "1". [Pr. PD41.3_Sensor input method selection]...
  • Page 75: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE41_Function selection E-3 (EOP3)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 01110001h Each axis Refer to each detail No. [Pr. PE41.0_Robust filter selection] Initial value Setting range Supported software version 0h to 1h...
  • Page 76: [Pr. Pe46_Lost Motion Filter Setting (Lmflt)]

    [Pr. PE46_Lost motion filter setting (LMFLT)] Initial value Setting range Setting method Supported software version 0 [0.1 ms] 0 to 30000 Each axis When "0" is set, the value is compensated with the compensation amount of the value that was set in [Pr. PE44 Lost motion compensation positive-side compensation - Value selection] and [Pr.
  • Page 77: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) [Pr. PF02_Function selection F-2 (*FOP2)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00110112h Common Refer to each detail No. [Pr. PF02.0_Target alarm selection of the other axis error warning] Initial value Setting range Supported software version...
  • Page 78: [Pr. Pf06_Function Selection F-5 (*Fop5)]

    [Pr. PF06_Function selection F-5 (*FOP5)] Initial value Setting range Setting method Supported software version 00000013h 00000000h to 00000013h Each axis Refer to each detail No. [Pr. PF06.0_Electronic dynamic brake selection] Initial value Setting range Supported software version 0h to 3h Enable or disable the electronic dynamic brake.
  • Page 79: [Pr. Pf18_Sto Diagnosis Error Detection Time (**Stod)]

    [Pr. PF18_STO diagnosis error detection time (**STOD)] Initial value Setting range Setting method Supported software version 10 [s] 0 to 60 Common Set the time from when the error of the STO input or STO circuit is detected until the occurrence of [AL. 068.1 Mismatched STO signal error].
  • Page 80: [Pr. Pf21_Drive Recorder Switching Time Setting (Drt)]

    [Pr. PF21_Drive recorder switching time setting (DRT)] Initial value Setting range Setting method Supported software version 0 [s] -1 to 32767 Common Set the drive recorder switching time. When communication is shut off during the use of a graph function, the function will be switched to the drive recorder function after the time set in this servo parameter has passed.
  • Page 81: [Pr. Pf25_Semi-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive - Detection Time) (Cvat)]

    [Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (instantaneous power failure tough drive - detection time) (CVAT)] Initial value Setting range Setting method Supported software version 200 [ms] 30 to 500 Common Set the time until the occurrence of [AL. 010.1 Voltage drop in the control circuit power]. To comply with SEMI-F47 standard, changes from the initial value (200 ms) is not required.
  • Page 82: [Pr. Pf34_Machine Diagnosis Function Selection (*Mfp)]

    [Pr. PF34_Machine diagnosis function selection (*MFP)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 01414234h Each axis Refer to each detail No. [Pr. PF34.0_Friction failure prediction warning selection] Initial value Setting range Supported software version 0h to 3h 0: Disabled 1: Enabled (Automatic threshold setting) 2: Enabled (Manual threshold setting)
  • Page 83: [Pr. Pf40_Machine Failure Prediction Servo Parameter (Mfpp)]

    [Pr. PF34.6_Friction estimate area judgment speed setting] Initial value Setting range Supported software version 0h to 1h Select the setting method of "Machine diagnosis function - Friction judgment speed". 0: Manual setting 1: Automatic setting Setting "1" (Automatic setting) calculates [Pr. PF31 Machine diagnosis function - Friction judgment speed] in accordance with the servo motor operation pattern.
  • Page 84: [Pr. Pf41_Failure Prediction - Servo Motor Total Travel Distance (Fpmt)]

    [Pr. PF40.4_Static friction failure prediction - Threshold multiplication] Initial value Setting range Supported software version 0h to Fh Set a multiplication for calculating the threshold used in the static friction failure prediction function. Setting a small threshold multiplication for static friction failure prediction will decrease the threshold used for static friction failure prediction.
  • Page 85: [Pr. Pf43_Friction Failure Prediction - Standard Deviation (Psd)]

    [Pr. PF43_Friction failure prediction - Standard deviation (PSD)] Initial value Setting range Setting method Supported software version 0 [0.1 %] 0 to 20000 Each axis Set the friction torque standard deviation at the rated speed. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (Enabled (Manual threshold setting)).
  • Page 86: [Pr. Pf46_Vibration Failure Prediction - Standard Deviation (Vsd)]

    [Pr. PF46_Vibration failure prediction - Standard deviation (VSD)] Initial value Setting range Setting method Supported software version 0 [0.1 %] 0 to 20000 Each axis Set the vibration level standard deviation during servo motor operation. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (Enabled (Manual threshold setting)).
  • Page 87: [Pr. Pf68_Backlash Threshold Multiplication (Bltt)]

    [Pr. PF68_Backlash threshold multiplication (BLTT)] Initial value Setting range Setting method Supported software version 0 to 3600000 Each axis Set a threshold multiplication to set a threshold used for gear failure prediction. The threshold used for the gear failure prediction is expressed by the following equation. Backlash threshold = [Pr.
  • Page 88: [Pr. Pf71_Belt Failure Prediction Function Selection (Bfp)]

    [Pr. PF71_Belt failure prediction function selection (BFP)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000031h Each axis Refer to each detail No. [Pr. PF71.0_Belt tension deterioration prediction function selection] Initial value Setting range Supported software version 0h to 2h 0: Disabled 1: Execute only belt tension estimation...
  • Page 89: [Pr. Pf75_Static Friction When Extended (Asf)]

    [Pr. PF75_Static friction when extended (ASF)] Initial value Setting range Setting method Supported software version 0 [0.1 %] 0 to 10000 Each axis Set a static friction for when the belt stretches or for when the belt is looser than at the time of the attachment. Set the friction at forward rotation and static friction at reverse rotation, which are estimated by the friction estimation function, or the average of the estimated frictions according to the value of [Pr.
  • Page 90: [Pr. Pf80_Drive Recorder - Operation Condition Selection (Drmc)]

    [Pr. PF80_Drive recorder - Operation condition selection (DRMC)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00001F01h Each axis Refer to each detail No. [Pr. PF80.0_Drive recorder - Operation mode selection] Initial value Setting range Supported software version 0h to 1h 0: Automatic setting mode 1: Manual setting mode...
  • Page 91: [Pr. Pf81_Drive Recorder - Sampling Operation Selection (Drms)]

    [Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000002h Each axis Refer to each detail No. [Pr. PF81.0_Drive recorder - Sampling start selection] Initial value Setting range Supported software version 0h to 2h Set this servo parameter to start drive recorder sampling.
  • Page 92 [Pr. PF82.1_Drive recorder - Trigger binding condition selection] Initial value Setting range Supported software version 0h to 2h Select a trigger binding condition of the drive recorder. When this servo parameter is set to "0" (Disabled), the settings of [PF84.2-3 Drive recorder - Trigger channel selection 2] and [PF86 Drive recorder - Trigger level setting 2] are disabled.
  • Page 93: [Pr. Pf83_Drive Recorder - Trigger Operation Axis Common Selection (**Drtax)]

    [Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000001h Common Refer to each detail No. [Pr. PF83.0_Drive recorder - Trigger axis common selection] Initial value Setting range Supported software version 0h to 1h For when the trigger conditions of the drive recorder are met on a multi axis servo amplifier, select whether to store only the...
  • Page 94: [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (Drtl1)]

    [Pr. PF84.2-3_Drive recorder - Trigger channel selection 2] Initial value Setting range Supported software version 01h to 88h Set the trigger channel No. 2 of the drive recorder. The setting value is the same as that of [Pr. PF84.0-1]. The servo parameter is disabled in the following conditions. •...
  • Page 95: [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (Drac1)]

    [Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] Initial value Setting range Setting method Supported software version 00020201h 00000000h to 02FF02FFh Each axis Refer to each detail No. [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection] Initial value Setting range Supported software version 201h 000h to 2FFh...
  • Page 96: [Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (Drac2)]

    Setting value Data type Unit Category Servo motor speed + 0.1 r/min 32-bit data Command pulse frequency + kpulse/s Command pulse frequency (speed unit) + 0.1 r/min Droop pulses (1 pulse unit) + 1 pulse Speed command + 0.1 r/min Position within one-revolution + 1 pulse Load-side encoder information 1 +...
  • Page 97: [Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (Drac3)]

    [Pr. PF89_Drive recorder - Analog channel setting 3 (DRAC3)] Initial value Setting range Setting method Supported software version 00090205h 00000000h to 02FF02FFh Each axis Refer to each detail No. [Pr. PF89.0-2_Drive recorder - Analog channel 5 selection] Initial value Setting range Supported software version 205h 000h to 2FFh...
  • Page 98: [Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (Drdc1)]

    [Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)] Initial value Setting range Setting method Supported software version 00120000h 00000000h to 8FFF8FFFh Each axis Refer to each detail No. [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] Initial value Setting range Supported software version 0000h 0000h to 8FFFh...
  • Page 99: [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (Drdc2)]

    [Pr. PF91.4-7_Drive recorder - Digital channel 2 selection] Initial value Setting range Supported software version 0012h 0000h to 8FFFh Refer to the following for values that can be assigned. Page 96 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)] Initial value Setting range Setting method...
  • Page 100: [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (Drdc4)]

    [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)] Initial value Setting range Setting method Supported software version 801D8015h 00000000h to 8FFF8FFFh Each axis Refer to each detail No. [Pr. PF94.0-3_Drive recorder - Digital channel 7 selection] Initial value Setting range Supported software version 8015h 0000h to 8FFFh...
  • Page 101: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) [Pr. PL01_Function selection L-1 (**LIT1)] Initial value Setting range Setting method Supported software version 00000301h 00000000h to 00000655h Each axis Refer to each detail No. Select a function of the linear servo motor or direct drive motor. [Pr.
  • Page 102: [Pr. Pl04_Function Selection L-2 (*Lit2)]

    [Pr. PL04_Function selection L-2 (*LIT2)] Initial value Setting range Setting method Supported software version 00000003h 00000000h to 00001007h Each axis Refer to each detail No. Select a function of the linear servo motor or direct drive motor. [Pr. PL04.0_[AL. 042 Servo control error] detection function selection] Initial value Setting range Supported software version...
  • Page 103: [Pr. Pl07_Torque Deviation Error Detection Level (Lb3)]

    [Pr. PL07_Torque deviation error detection level (LB3)] Initial value Setting range Setting method Supported software version 100 [%] 0 to 1000 Each axis Set the torque/thrust deviation error detection level of the servo control error detection. When the difference between a current command and current feedback is larger than the setting value, [AL. 042.3 Servo control error by torque/thrust deviation] occurs.
  • Page 104: [Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (Ltsts)]

    [Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00001FFFh Each axis Refer to each detail No. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4" (Minute position detection method).
  • Page 105: Pr. Pl18_Magnetic Pole Detection - Minute Position Detection Method - Identification Signal Amplitude (Idlv

    [Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection] Initial value Setting range Supported software version 0h to Fh Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used for the minute position detection method.
  • Page 106: Positioning Control Setting Servo Parameter Group ([Pr. Pt

    Positioning control setting servo parameter group ([Pr. PT_ _]) [Pr. PT05_Homing speed (ZRF)] Initial value Setting range Setting method Supported software version 100.00 [r/min], [mm/s] 0.00 to 167772.15 Each axis Set the servo motor speed for homing. The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr.
  • Page 107: [Pr. Pt09_Travel Distance After Proximity Dog (Dct)]

    [Pr. PT09_Travel distance after proximity dog (DCT)] Initial value Setting range Setting method Supported software version 1000 [pulse] 0 to 2147483647 Each axis Set a travel distance after proximity dog at homing for the count type (Front end detection Z-phase reference) (Homing method -2, -34) and dog reference.
  • Page 108: [Pr. Pt17_Software Position Limit - (Lmn)]

    [Pr. PT17_Software position limit - (LMN)] Initial value Setting range Setting method Supported software version 0 [Refer to the text] -2147483648 to 2147483647 Each axis Set an address decreasing side of the software position limit. The other specifications are the same as [Pr. PT15]. [Pr.
  • Page 109: [Pr. Pt45_Homing Method (Hmm)]

    [Pr. PT45_Homing method (HMM)] Initial value Setting range Setting method Supported software version -43 to 37 Each axis Set a homing method. Refer to the following table for details. An attempt to execute a homing with an unsupported homing method triggers Homing error. At this time, homing cannot be executed.
  • Page 110: [Pr. Pt55_Function Selection T-10 (*Top10)]

    [Pr. PT55_Function selection T-10 (*TOP10)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000001h Each axis Refer to each detail No. [Pr. PT55.0_Homing deceleration time constant selection] Initial value Setting range Supported software version 0h to 1h Set a value to be used for the acceleration time constant and deceleration time constant at homing.
  • Page 111: [Pr. Pt68_Function Selection T-11 (**Top11)]

    [Pr. PT68_Function selection T-11 (**TOP11)] Initial value Setting range Setting method Supported software version 00000002h 00000002h to 00000206h Each axis Refer to each detail No. [Pr. PT68.0_Quick stop option code - Method selection] Initial value Setting range Supported software version 2h to 2h Select the quick stop method.
  • Page 112: Network Setting Servo Parameter Group ([Pr. Pn

    1.10 Network setting servo parameter group ([Pr. PN_ [Pr. PN02_Communication error - Detection time (CERT)] Initial value Setting range Setting method Supported software version 0 [ms] 0 to 1000 Common Set the threshold until network disconnecting and [AL. 086.2 Network communication error 2] are detected. The maximum setting range is 1000 ms.
  • Page 113: Chapter 2 Lists Of Servo Parameter Supported Modes

    LISTS OF SERVO PARAMETER SUPPORTED MODES Structure The following shows the meanings of each abbreviations used on the list. "" indicates the modes than can be used, and "-" indicates the modes that cannot be used or modes that are not used even if set. Mode List of abbreviation Meaning...
  • Page 114 Detail No. Operation mode Control mode Standard Linear PA20 PA20.1               PA20.2        PA21 PA21.0       ...
  • Page 115: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Standard Linear        PB01 PB01.0        PB01.3       ...
  • Page 116 Detail No. Operation mode Control mode Standard Linear PB45 PB45.0-1               PB45.2         PB46       ...
  • Page 117: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Standard Linear         PC01         PC02      ...
  • Page 118: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Detail No. Operation mode Control mode Standard Linear        PD01 PD01.0-7 PD03 PD03.0-1             ...
  • Page 119: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Standard Linear        PF02 PF02.0        PF02.4      ...
  • Page 120: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Detail No. Operation mode Control mode Standard Linear PF82 PF82.0               PF82.1        PF82.2        PF82.3 ...
  • Page 121: Positioning Control Setting Servo Parameter Group ([Pr. Pt

    Positioning control setting servo parameter group ([Pr. PT_ _]) Detail No. Operation mode Control mode Standard Linear         PT05         PT06      ...
  • Page 122: Chapter 3 Lists Of Servo Parameter Initial Value

    LISTS OF SERVO PARAMETER INITIAL VALUE Basic setting servo parameters group ([Pr. PA_ _ ]) Symbol Setting method Initial value (unit) PA01 **STY Each axis 00003000h PA02 **REG Common 00000000h PA03 *ABS Each axis 00000000h PA04 *AOP1 Common 00002000h  PA05 For manufacturer setting 10000 [pulse]...
  • Page 123: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Symbol Setting method Initial value (unit) PB01 FILT Each axis 00000000h PB02 VRFT Each axis 00000000h PB03 TFBGN Each axis 36000 [rad/s] PB04 Each axis 0 [%]  PB05 For manufacturer setting 500 [rad/s] PB06 Each axis...
  • Page 124 Symbol Setting method Initial value (unit) PB49 NHQ4 Each axis 00000000h PB50 Each axis 4500 [Hz] PB51 NHQ5 Each axis 00000000h PB52 VRF21 Each axis 100.0 [Hz] PB53 VRF22 Each axis 100.0 [Hz] PB54 VRF23 Each axis 0.00 PB55 VRF24 Each axis 0.00 PB56...
  • Page 125: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Symbol Setting method Initial value (unit) PC01 Each axis 0 [rev], [mm] PC02 Each axis 0 [ms] PC03 *ENRS Each axis 00000000h PC04 **COP1 Each axis 00000000h PC05 **COP2 Each axis 00000000h PC06 *COP3...
  • Page 126 Symbol Setting method Initial value (unit) PC49 For manufacturer setting  00000000h  PC50 For manufacturer setting 00000000h  PC51 For manufacturer setting 00000000h  PC52 For manufacturer setting 00000000h  PC53 For manufacturer setting 00000000h  PC54 For manufacturer setting 00000000h ...
  • Page 127: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Symbol Setting method Initial value (unit) PD01 *DIA1 Each axis 00000000h PD02 For manufacturer setting  00000000h PD03 *DI1 Each axis 0000000Ah PD04 *DI2 Each axis 0000000Bh PD05 *DI3 Each axis 00000022h ...
  • Page 128: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Symbol Setting method Initial value (unit) PD51 For manufacturer setting  00000062h  PD52 For manufacturer setting 00000000h  PD53 For manufacturer setting 00000000h  PD54 For manufacturer setting 00000000h  PD55 For manufacturer setting 00000000h  PD56 For manufacturer setting 00000000h ...
  • Page 129 Symbol Setting method Initial value (unit)  PE26 For manufacturer setting 00000000h  PE27 For manufacturer setting 00000000h  PE28 For manufacturer setting 00000000h  PE29 For manufacturer setting 00000000h  PE30 For manufacturer setting 00000000h  PE31 For manufacturer setting 00000000h PE32 For manufacturer setting...
  • Page 130: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Symbol Setting method Initial value (unit) PE79 For manufacturer setting  0 [r/min], [mm/s]  PE80 For manufacturer setting 00000000h  PE81 For manufacturer setting 00000000h  PE82 For manufacturer setting 00000000h  PE83 For manufacturer setting 00000000h  PE84 For manufacturer setting 00000000h ...
  • Page 131 Symbol Setting method Initial value (unit)  PF38 For manufacturer setting 00000000h  PF39 For manufacturer setting 00000000h PF40 MFPP Each axis 00000000h PF41 FPMT Each axis 0 [10 rev], [m] PF42 Each axis 0 [0.1 %] PF43 Each axis 0 [0.1 %] PF44 For manufacturer setting...
  • Page 132: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Symbol Setting method Initial value (unit) PF91 DRDC1 Each axis 00120000h PF92 DRDC2 Each axis 80058010h PF93 DRDC3 Each axis 8000800Ah PF94 DRDC4 Each axis 801D8015h PF95 **DRCLR Each axis 00000000h  PF96 For manufacturer setting 00000000h  PF97 For manufacturer setting 00000000h PF98 For manufacturer setting...
  • Page 133: Positioning Control Setting Servo Parameter Group ([Pr. Pt

    Symbol Setting method Initial value (unit)  PL39 For manufacturer setting 00000000h  PL40 For manufacturer setting 00000000h  PL41 For manufacturer setting 00000000h  PL42 For manufacturer setting 00000000h  PL43 For manufacturer setting 00000000h  PL44 For manufacturer setting 00000000h PL45 For manufacturer setting...
  • Page 134 Symbol Setting method Initial value (unit) PT14 *BKC Each axis 0 [pulse] PT15 Each axis 0 [Refer to the text]  PT16 For manufacturer setting 00000000h PT17 Each axis 0 [Refer to the text]  PT18 For manufacturer setting 00000000h ...
  • Page 135: Network Setting Servo Parameter Group ([Pr. Pn

    Symbol Setting method Initial value (unit) PT67 VLMT Each axis 3000.00 [r/min], [mm/s] PT68 TOP11 Each axis 00000002h  PT69 For manufacturer setting 00000000h  PT70 For manufacturer setting 00000000h  PT71 For manufacturer setting 00000000h  PT72 For manufacturer setting PT73 For manufacturer setting ...
  • Page 136 Symbol Setting method Initial value (unit) PN24 For manufacturer setting  00000000h  PN25 For manufacturer setting 00000000h  PN26 For manufacturer setting 00000000h  PN27 For manufacturer setting 00000000h  PN28 For manufacturer setting 00000000h  PN29 For manufacturer setting 00000000h ...
  • Page 137: Chapter 4 Servo Parameter Setting Method

    Engineering tool Servo parameters can be set using an engineering tool manufactured by Mitsubishi Electric such as MR Configurator2. Connect a personal computer and the servo amplifier with a USB cable. For details on how to set servo parameters, refer to Help or the manual of the engineering tool.
  • Page 138 MEMO 4 Servo parameter setting method 4.2 Object dictionary...
  • Page 139: Chapter 5 Detailed List Of The Network Parameters

    Depending on the model of the motion module, servo amplifier software version, and MR Configurator2 software version, some of the network parameters and the range cannot be set. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2.
  • Page 140: [Pr. Npa02_Ip Address]

    Setting value Rotary switches (SW1/SW2) IP address "00000001h" (Network  1st octet The 1st octet of the setting value in [Pr. NPA02] is used. parameters are 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.
  • Page 141: [Pr. Npa08_Host Name]

    [Pr. NPA08_Host name] Initial value Setting range Size 0 (All NULL) 63 characters (Refer to the text.) 64 bytes Select a host name. Set a character string of up to 63 characters for the 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 (_).
  • Page 142: Chapter 6 Network Parameter Setting Method

    Network parameter setting method Engineering tool The network parameters can be set with MR Configurator2. Connect a personal computer and the servo amplifier with a USB cable. For details on how to set servo parameters, refer to Help or the manual of the engineering tool. 6 Network parameter setting method 6.1 Engineering tool...
  • Page 143 MEMO 6 Network parameter setting method 6.1 Engineering tool...
  • Page 144: Revisions

    First edition This manual confers no industrial property 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 145: 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 146: 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. SH(NA)-030308ENG-A...
  • Page 148 SH(NA)-030308ENG-A(1906)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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