Mitsubishi Electric MELSERVO-J5 Series User Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Servo Drives
  5. MELSERVO-J5 MR-J5-G Series
  6. User manual

Mitsubishi Electric MELSERVO-J5 Series User Manual

Ac servo system
Hide thumbs Also See for MELSERVO-J5 Series:
Table of Contents

Advertisement

Quick Links

Download this manual
Mitsubishi Electric AC Servo System
MR-J5-G-N1/MR-J5W-G-N1
User's Manual
(Introduction)
-MR-J5-_G-_N1
-MR-J5W_-_G-N1

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric MELSERVO-J5 Series

Summary of Contents for Mitsubishi Electric MELSERVO-J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction) -MR-J5-_G-_N1 -MR-J5W_-_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: Disposal Of Waste

    [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 Use this servo safely with preparation of the following related manuals as necessary if you use the servo for the first time. (1) MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction) (this manual) The manual is necessary primarily for installing, wiring, and using options.

  • Page 6: U.s. Customary Units

    Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr.

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE .
  • Page 8 Servo amplifier setting initialization ............53 Initialization procedure by MR Mode Change .
  • Page 9 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) ....... . . 80 Lists of servo parameter initial value .

  • Page 10: Chapter 1 Specifications

    SPECIFICATIONS Outline MR-J5_-_G-_N1 are EtherCAT servo amplifiers. EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff Automation GmbH. One MR-J5W_-_G-N1 servo amplifier can drive two or three servo motors. Thus, the footprint can be reduced dramatically when compared to install two or three MR-J5-_G-_N1 servo amplifiers.
  • Page 11 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. ■MR-J5-_G-_N1 M R - - 6 0 G Special specification Series Symbol Special specification Rated output None Standard Symbol Rated output [kW] Load-side encoder A/B/Z-phase input compatible 0.75 ■MR-J5W_-_G-N1...

  • Page 12: Servo Amplifier Standard Specifications

    MR-J5-_G-N1 Mitsubishi Electric high-speed serial communication interface MR-J5-_G-RJN1 Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection,...
  • Page 13 *1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 If closely mounting the servo amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective load ratio.

  • Page 14: Mr-J5W2-_G-N1

    Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection,...

  • Page 15: Mr-J5W3-_G-N1

    MR-J5W3-_G-N1 Model: MR-J5W3-_-N1 222G 444G Output Voltage 3-phase 0 V AC to 240 V AC Rated current (each axis) [A] Main circuit power Voltage/ At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz supply input Frequency At DC input...

  • Page 16: Functional Safety

    Functional safety Item Specifications MR-J5-_G-_N1 MR-J5-_G-_RJN1/MR-J5W_-_G-N1 Safety sub-function STO (IEC/EN 61800-5-2) Safety performance Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 Response performance 8 ms or less (STO input off →...

  • Page 17: Function Block Diagram

    Function block diagram The following shows the function block diagram of this servo amplifier. MR-J5-_G-_N1 Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Diode stack Dynamic brake Relay circuit MCCB Current Power detector supply Regenerative Charge light Cooling fan Electromagnetic brake...

  • Page 18: Mr-J5W_-_G-N1

    MR-J5W_-_G-N1 The following is an example using MR-J5W3-_G-N1. Regenerative option P+ C CNP1 CNP2 Diode Built-in stack regenerative A-axis Relay TRM (A) resistor servo motor MCCB Regenerative Power Current A-axis supply detector output Charge Dynamic light brake circuit A Cooling fan A-axis STO circuit Control...

  • Page 19: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment • To prevent a malfunction, do not connect these connectors to any network other than the specified network. • Equipment other than the servo amplifier and servo motor is optional or a recommended product. The following is an example using MR-J5-20G-RJN1. R S T Power supply CN1A...

  • Page 20: Chapter 2 Function

    FUNCTION Function restrictions Category Function Network communication cycle restrictions (minimum) MR-J5-_G-N1 MR-J5-_G-RJN1 MR-J5W2-_G-N1 MR-J5W3-_G-N1 Control mode Profile position mode (pp) 250 μs 250 μs 500 μs 500 μs   Profile velocity mode (pv) 250 μs 250 μs   Profile torque mode (tq) 250 μs 250 μs...
  • Page 21 Network Subcategory Function Description Detailed explanation Open network EtherCAT COMMUNICATION This function connects the servo amplifier to equipment MR-J5-G-N1 User's Manual such as a controller through EtherCAT communication. (Communication Function) Position detection Subcategory Function Description Detailed explanation  Control method Semi closed loop system This function uses the motor encoder to configure semi closed loop systems.
  • Page 22 Operation function Subcategory Function Description Detailed explanation Stop function Quick Stop This function stops the servo motor with a specified Refer to "Quick stop" in the method and switches to the servo-off status. following manual. MR-J5 User's Manual (Function) Halt This function stops the servo motor while the servo-on Refer to "Halt"...
  • Page 23 Control function Subcategory Function Description Detailed explanation Vibration suppression Advanced vibration suppression This function suppresses vibration and residual vibration Refer to "Advanced vibration control II at an arm end. suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance suppression This function decreases the gain of the specific frequency Refer to "Machine resonance...
  • Page 24 Adjustment function Subcategory Function Description Detailed explanation Automatic adjustment Quick tuning This function automatically adjusts the gain at servo-on in Refer to "Quick tuning" in the a short time without acceleration/deceleration operation following manual. of the servo motor. Response without overshoot is MR-J5 User's Manual possible, saving gain adjustment time.
  • Page 25 I/O, monitor Subcategory Function Description Detailed explanation DI/DO Input signal selection (device This function assigns the input devices including LSP Refer to "Assigning I/O devices" selection) (forward rotation stroke end) to certain pins of the in the following manual. connector. MR-J5 User's Manual (Function) Output signal selection (device...
  • Page 26 Protective functions Subcategory Function Description Detailed explanation Alarm Alarm function When an error occurs during operation, the Refer to "Alarm function" in the corresponding alarm or warning is displayed. When an following manual. alarm occurs, ALM (Malfunction) turns off and stops the MR-J5 User's Manual servo motor.
  • Page 27 Diagnostics Subcategory Function Description Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo status and Refer to "Drive recorder" in the records the state transition before and after an alarm for a following manual. fixed period of time. The recorded data can be checked MR-J5 User's Manual by the Waveform-Display button on the drive recorder (Function)

  • Page 28: Security

    Security To completely prevent unauthorized access to the system from external devices, the user also must take safety measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by the unauthorized access. 2 FUNCTION 2.2 Security...

  • Page 29: Chapter 3 Structure

    STRUCTURE Parts identification MR-J5-_G-_N1 The diagram shows MR-J5-10G-RJN1. Inside of the display cover SFTY (14) (20) Side (15) (16) (10) (11) (17) (12) (13) (18) (19) Bottom Name Application Detailed explanation Page 31 Switch setting and Display section The 3-digit, 7-segment LED display shows the servo status and alarm number.
  • Page 30 Name Application Detailed explanation (10) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin assignments" in the following manual. MR-J5 User's Manual (Hardware) (11) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 28 External encoder connector (12)
  • Page 31 MR-J5W_-_G-N1 (21) Inside of the display cover (10) (12) SFTY (13) (14) (22) Side (15) (16) (17) (18) (19) (20) (11) Name Application Detailed explanation Page 31 Switch setting and Display section The 3-digit, 7-segment LED display shows the servo status and alarm number.
  • Page 32 Name Application Detailed explanation (15) STO input signal connector (CN8) Connect an external safety relay to use the STO function. Refer to "USING STO FUNCTION [G] [A]" in the following manual. MR-J5 User's Manual (Hardware) (16) I/O signal connector (CN3) Connect the digital I/O signals.

  • Page 33: Switch Setting And Display Of The Servo Amplifier

    Switch setting and display of the servo amplifier Switching to the test operation mode and configuring network setting can be done with switches on the servo amplifier. The network communication status and alarm status can be also checked on the display (3-digit, 7-segment LED) of servo amplifier.

  • Page 34: 7-Segment Led

    Test operation select switch (SW3-1) Turning "ON (up)" the test operation select switch enables the test operation mode. In the test operation mode, functions such as JOG operation, positioning operation, and machine analyzer are available using MR Configurator2. Page 47 Test operation Disabling control axis switches (SW3-2, SW3-3, and SW3-4) Turning "ON (up)"...
  • Page 35 Alarm display When an alarm/warning occurs, the alarm status is displayed after the network connection status. This is an example of the alarm display for when [AL. 032.2 Overcurrent] is occurring. ■1-axis servo amplifier Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s...
  • Page 36 When the network is not connected The network connection status is displayed for each axis. 1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier C-axis network status B-axis network status B-axis network status Network status A-axis network status A-axis network status The 7-segment LED display during cyclic communication is as follows.

  • Page 37: Cn1A/Cn1B Connector Led

    Other status displays Display Status Description Test operation mode Indicates that the test operation mode was set. CPU error Indicates a CPU watchdog error has occurred.  This is for manufacturer setting. Initialization in progress Indicates that initialization of settings such as parameters is in progress. CN1A/CN1B connector LED The following shows the LED display of the CN1A and CN1B connectors.

  • Page 38: Status Leds

    Status LEDs The LED states (RUN MS/ERR NS) indicate the network status of the servo amplifier. SFTY Description Page 37 LED behavior (green) (red) SFTY Off: Indicates that the functional safety cannot be activated. (green) On: Indicates that the functional safety can be activated. 3 STRUCTURE 3.2 Switch setting and display of the servo amplifier...

  • Page 39: Led Behavior

    LED behavior RUN MS (RUN LED), ERR NS (ERROR LED), and Link/Activity operate in compliance with the EtherCAT standard (ETG.1300 EtherCAT Indicator and Labeling Specification). Definitions of LED displays The following shows the LED status definitions. LED state Definition The LED is lit steady. The LED is unlit.

  • Page 40: Chapter 4 Startup

    STARTUP • MR-J5_-_G-_N1 servo amplifiers can only be set with MR Configurator2 version 1.105K or later. • This chapter explains how to start up the servo amplifier by using MR Configurator2 version 1.100E. • Before starting operation, check each servo parameter. Depending on the machine, an unexpected operation may occur.
  • Page 41 Start MR Configurator2 and create a new project. For the connection setting, select USB. Select the servo amplifier model. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen. 4 STARTUP...
  • Page 42 From the display selection tree on the "Parameter Setting" screen, select the group of servo parameters to be set. After changing the servo parameter, click "Selected Items Write" or "Axis Writing". 4 STARTUP...
  • Page 43 Servo parameters with * before the abbreviation and servo parameters marked as ** are enabled by cycling the power or performing a software reset. Click "Software Reset" in MR Configurator2 to perform the software reset. 4 STARTUP...

  • Page 44: Turning On Servo Amplifier For The First Time

    Turning on servo amplifier for the first time • For the controller settings, refer to the appropriate controller manual. • For the gain adjustment, refer to the following. MR-J5 User's Manual (Adjustment) When turning on the servo amplifier for the first time, perform startup according to the procedures shown below. Procedure Description Reference...

  • Page 45: Test Operation Of The Servo Motor Alone In Test Operation Mode

    Test operation of the servo motor alone in test operation mode • If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2). Check that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly.

  • Page 46: Equipment Configuration Setting

    To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at first and check the operation. After the test operation is completed, turn off the power and "OFF (down)"...

  • Page 47: Operation By Controller Command

    Operation by controller command Confirm that the servo motor operates correctly under the commands from the controller. Give a low speed command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input signal.

  • Page 48: Instructions On Startup

    Instructions on startup Instructions for power-on • When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm.

  • Page 49: Duplicate Setting

    Duplicate setting Servo amplifier parameters for which setting has been completed can be copied to another servo amplifier. Use this function when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up multiple devices with the same configuration. Restrictions ■The following data are not duplicated.

  • Page 50: Test Operation Mode

    Test operation mode Setting the servo amplifier to the test operation mode enables the test operation while the personal computer and servo amplifier are connected via a USB cable. Turn off the power. Turn "ON (up)" the test operation select switch (SW3-1). SFTY Set SW3-1 to "ON (up)".
  • Page 51 Positioning operation Positioning operation can be performed without the controller. Perform the operation on the Positioning Mode screen of MR Configurator2. ■ Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr.
  • Page 52 Program operation Positioning operation using multiple operation patterns can be performed without a controller. Perform this operation on the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2. Open the Program Operation screen of MR Configurator2. Item Screen operation Program display...

  • Page 53: Motor-Less Operation

    Motor-less operation • The motor-less operation cannot be used in the linear servo motor control mode or direct drive motor control mode. Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running.

  • Page 54: Output Signal (Do) Forced Output

    Output signal (DO) forced output Output signals can be forcibly switched on/off regardless of the servo status. Use this function for checking output signal wiring and other areas. Operate this function on the DO Forced Output screen of MR Configurator2. Each output signal can be turned on/off by clicking the ON/OFF button next to its name.

  • Page 55: Servo Amplifier Setting Initialization

    Servo amplifier setting initialization Servo amplifier settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2). However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not initialized.

  • Page 56: Chapter 5 Maintenance, Inspection And Parts Replacement

    MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items Precautions • Do not disassemble, repair, or modify the product. • For repair and parts replacement, contact your local sales office. • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the servo amplifier. Periodic inspection Perform the following inspections.

  • Page 57: Parts With A Service Life

    Parts with a service life The service life of the following parts is listed below. In addition, the service life varies depending on the operating methods and environment. If any fault is found in a part, it is necessary to replace it immediately regardless of its service life. For parts replacement, please contact your local sales office.

  • Page 58: Replacing Fan Unit

    Replacing fan unit The internal circuits of the servo amplifier may be damaged by static electricity. Take the following precautions. • Ensure that the work bench and your body are grounded. • Do not directly touch conductive areas such as the connector pins and electrical parts. The fan unit is composed of a cooling fan and its cover.

  • Page 59: Chapter 6 Compliance With Global Standards

    COMPLIANCE WITH GLOBAL STANDARDS Compliance with global standards Refer to the following manual for information about compliance with global standards. Safety Instructions and Precautions for MR-J5 AC Servos (IB(NA)-0300391) Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods Rev.
  • Page 60 ■Transportation precaution for customers For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric is also required.

  • Page 61: Symbol For The New Eu Battery Directive

    • This mark is valid only in EU. This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex. MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused.

  • Page 62: Status Of General-Purpose Ac Servo Products For Compliance With The China Rohs Directive

    Status of general-purpose AC servo products for compliance with the China RoHS directive Outline The China RoHS directive: (Management Methods for Controlling Pollution by Electronic 电子信息产品污染控制管理办法 Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: (Management Methods for the Restriction of the Use of 电器电子产品有害物质限制使用管理办法...
  • Page 63 Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive.

  • Page 64: Chapter 7 Servo Parameter

    Servo parameter Refer to the following manual for the parameters not described in this chapter. MR-J5-G/MR-J5W-G User's Manual (Parameters) Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Setting method Supported software version 00003000h 00003000h to 00013080h Each axis...

  • Page 65: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB82_Position command smoothing filtering time constant (PFT)] Initial value Setting range Setting method Supported software version 0.0 [ms] 0.0 to 100.0 Each axis Set the position command smoothing filtering time constant. This servo parameter can be used when [Pr.

  • Page 66: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC42_Function selection C-10 (COP10)] Initial value Setting range Setting method Supported software version 00000000h 00000000h to 00000001h Each axis Refer to each detail No. [Pr. PC42.0_Forward/Reverse rotation torque limit 2 selection] Initial value Setting range Supported software version...

  • Page 67: [Pr. Pc44_Reverse Rotation Torque Limit 2 (Tln2)]

    [Pr. PC44_Reverse rotation torque limit 2 (TLN2)] 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 this servo parameter 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 when limiting the thrust of the linear servo motor for positive direction power running or negative direction regeneration.

  • Page 68: [Pr. Pc73_Speed Reached 2 - Output Filtering Time (Sa2F)]

    [Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] Initial value Setting range Setting method Supported software version 0 [ms] 0 to 65535 Each axis This servo parameter sets the time until the speed reached 2 output turns on. If the state where the error between the speed command and the servo motor speed is within [Pr. PC72 Speed reached 2 - Output range] continues for the setting value of this servo parameter or longer, bit 10 (Target velocity reached) of [Statusword (Obj.

  • Page 69: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE53_Maximum torque limit 1 (TLMX1)] 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. When [Pr.

  • Page 70: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _]) [Pr. PT01_Command mode selection (**CTY)] Initial value Setting range Setting method Supported software version 00000300h 00000300h to 00000310h Each axis Refer to each detail No. [Pr. PT01.1_Speed/acceleration/deceleration unit selection] Initial value Setting range Supported software version 0h to 1h...

  • Page 71: Network Setting Servo Parameters Group ([Pr. Pn

    Network setting servo parameters group ([Pr. PN_ [Pr. PN02_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PN05_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PN18_Counter level for communication error detection (CERN)] Initial value Setting range Setting method Supported software version 0 to 32767...

  • Page 72: Lists Of Supported Control Modes

    Lists of supported control modes The following shows the meaning of each abbreviation used in the lists. "" 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 73: Basic Setting Servo Parameters Group ([Pr. Pa

    Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PA01 PA01.1                ...

  • Page 74: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD             PB01 PB01.0    ...
  • Page 75 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PB45 PB45.0-1                         PB45.2 PB46 ...

  • Page 76: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD              PC01    ...

  • Page 77: I/O Setting Servo Parameters Group ([Pr. Pd

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PC76 PC76.1                         PC76.2 PC78 PC78.1...

  • Page 78: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD             PE01 PE01.0   ...

  • Page 79: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PF02 PF02.0               ...

  • Page 80: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD             PF82 PF82.0             PF82.1 ...

  • Page 81: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PT01 PT01.1                ...
  • Page 82 Positioning extension setting servo parameters group ([Pr. PV_ _ Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PV01                 ...
  • Page 83 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...
  • Page 84 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 For manufacturer setting 36000 PB04 Each axis   PB05 For manufacturer setting PB06 Each axis...
  • Page 85 Symbol Setting method Initial value Unit PB52 VRF21 Each axis 100.0 PB53 VRF22 Each axis 100.0  PB54 VRF23 Each axis 0.00  PB55 VRF24 Each axis 0.00 PB56 VRF21B Each axis PB57 VRF22B Each axis PB58 VRF23B Each axis 0.00 ...
  • Page 86 Extension setting servo parameters group ([Pr. PC_ _ ]) Symbol Setting method Initial value Unit PC01 Each axis rev, mm PC02 Each axis  PC03 *ENRS Each axis 00000000h  PC04 **COP1 Each axis 00000000h  PC05 **COP2 Each axis 00000000h ...
  • Page 87 Symbol Setting method Initial value Unit   PC52 For manufacturer setting 00000000h   PC53 For manufacturer setting 00000000h   PC54 For manufacturer setting 00000000h   PC55 For manufacturer setting 00000000h   PC56 For manufacturer setting 00000000h ...
  • Page 88 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 ...
  • Page 89 Symbol Setting method Initial value Unit   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 90 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Symbol Setting method Initial value Unit  PE01 **FCT1 Each axis 00000000h PE02 For manufacturer setting  00000000h   PE03 *FCT2 Each axis 00000003h  PE04 **FBN Each axis ...
  • Page 91 Symbol Setting method Initial value Unit   PE52 For manufacturer setting 00000000h PE53 TLMX1 Each axis 1000.0   PE54 For manufacturer setting 00000000h   PE55 For manufacturer setting 00000000h   PE56 For manufacturer setting 00000000h  ...
  • Page 92 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Symbol Setting method Initial value Unit   PF01 For manufacturer setting 00000000h PF02 *FOP2 Common 00000000h    PF03 For manufacturer setting 00000000h   PF04 For manufacturer setting ...
  • Page 93 Symbol Setting method Initial value Unit   PF52 For manufacturer setting 00000000h   PF53 For manufacturer setting   PF54 For manufacturer setting   PF55 For manufacturer setting   PF56 For manufacturer setting   PF57 For manufacturer setting 00000000h PF58...
  • Page 94 Motor extension setting servo parameters group ([Pr. PL_ _ ]) Symbol Setting method Initial value Unit  PL01 **LIT1 Each axis 00000301h PL02 **LIM Each axis 1000 μm PL03 **LID Each axis 1000 μm  PL04 *LIT2 Each axis 00000003h PL05 Each axis mm, 0.01 rev...
  • Page 95 Symbol Setting method Initial value Unit   PL52 For manufacturer setting   PL53 For manufacturer setting   PL54 For manufacturer setting 00000000h   PL55 For manufacturer setting 00000000h   PL56 For manufacturer setting 00000000h  ...

  • Page 96: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _]) Symbol Setting method Initial value Unit  PT01 **CTY Each axis 00000310h PT02 *TOP1 Each axis 00000001h    PT03 For manufacturer setting 00000000h   PT04 For manufacturer setting 00000000h PT05 Each axis...
  • Page 97 Symbol Setting method Initial value Unit   PT52 For manufacturer setting PT53 Each axis 100.0   PT54 For manufacturer setting  PT55 *TOP10 Each axis 00000000h PT56 Each axis PT57 Each axis PT58 For manufacturer setting  100.00 ...

  • Page 98: Network Setting Servo Parameters Group ([Pr. Pn

    Network setting servo parameters group ([Pr. PN_ _]) Symbol Setting method Initial value Unit   PN01 For manufacturer setting 00000000h PN02 For manufacturer setting     PN03 For manufacturer setting 00000000h   PN04 For manufacturer setting ...
  • Page 99 Positioning extension setting servo parameters group ([Pr. PV_ _ Symbol Setting method Initial value Unit PV01 PVC2 Each axis Refer to the text PV02 For manufacturer setting   PV03 MPVCE Each axis 2147483647 Refer to the text   PV04 For manufacturer setting PV05...

  • Page 100: Chapter 8 Network Parameters

    NETWORK PARAMETERS Refer to the following manual for the parameters not described in this chapter. MR-J5-G/MR-J5W-G User's Manual (Parameters) Network basic parameters [Pr. NPA01_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. NPA02_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr.
  • Page 101 MEMO 8 NETWORK PARAMETERS 8.1 Network basic parameters...

  • Page 102: Revisions

    First edition This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 103: 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 104: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.  EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 106 SH(NA)-030366ENG-A(2001)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.

This manual is also suitable for:

Melservo-j5-g-n1Melservo-j5w-g-n1

Table of Contents