Mitsubishi Electric MR-JET User Manual
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Mitsubishi Electric MR-JET 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 MR-JET

  • 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 This manual covers the following servo amplifiers. • MR-JET-_G/MR-JET-_G-N1 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.

  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 3.11 Electromagnetic brake interlock function........... . 68 Base circuit shut-off delay time function .
  • Page 8 4.13 Command offset ............... 112 CHAPTER 5 MONITORING Explanation of monitor signals .

  • Page 9: 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 Subcategory Function...
  • Page 10 I/O, monitor Subcategory Function Description Detailed explanation Page 58 Assigning I/O DI/DO Input signal selection (device This function assigns input devices including LSP (forward rotation selection) stroke end) to certain pins of the connector. devices Output signal selection (device This function assigns output devices including MBR Page 58 Assigning I/O setting) (Electromagnetic brake interlock) to certain pins of the connector.
  • Page 11 Diagnostics Subcategory Function Description Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo status and records Page 90 Drive recorder the state transition before and after an alarm for a fixed period of time. Click the Waveform-Display button in the drive recorder window of MR Configurator2 to check the recorded data.

  • Page 12: 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 mode This is a control mode where a position command is received at a constant period to drive the servo motor in the synchronous communication with a controller.

  • Page 13: 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 14 Index Object Name Data Type Access Default Description 6091h ARRAY Gear ratio Gear ratio Motor revolutions Number of revolutions of the servo motor shaft (numerator) Page 54 Electronic gear function Shaft revolutions Number of revolutions of the drive shaft (denominator) Page 54 Electronic gear function ...

  • Page 15: 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 16 Index Object Name Data Type Access Default Description 60A9h  SI unit velocity  SI unit velocity The SI unit velocity is returned. FEB44700h (0.01 r/min) 00000300h (pulse/s)  60B1h Velocity offset Velocity offset (vel units) 60B2h  Torque offset Torque offset Unit: 0.1 % (with rated torque being 100 %) Controlword/Statusword...

  • Page 17: 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 18 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 19: 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 Index Object...
  • Page 20 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 21 Homing method list To execute homing securely, move the linear servo motor to the opposite stroke end with csv or other modes from the controller, then start homing. [Digital inputs (Obj. 60FDh)] can be used to check whether the linear servo motor has reached the stroke end.
  • Page 22 Method No. Homing methods Rotation direction Description Homing without index pulse Forward rotation This is the same as the dog type front end reference homing. Note that if the stroke end is detected during homing, [AL. 090 Homing incomplete warning] occurs. Homing without index pulse Forward rotation Although this type is the same as the dog cradle type homing, the stop position...
  • Page 23 CiA 402-type Homing method The following shows the CiA 402-type homing. ■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.
  • Page 24 ■Method 7, 8, 11, 12: Homing on home switch and index pulse These methods include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the same operation as dog type last Z-phase reference homing.
  • Page 25 ■Method 33 and 34: Homing on index pulse These homing methods set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z- phase reference homing except that the creep speed is applied at the start. Index Pulse ■Method 35 and 37: Homing on current position These homing methods set the current position as a home position.
  • Page 26 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 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.
  • Page 27 ■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 28 ■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 29 ■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 30 ■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 31 ■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 32 ■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 33 ■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 34 ■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 35 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 36 ■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 37 ■Method -3 (Data set type homing) The following figure shows the operation of Homing method -3. This is the same as the Homing method 37. Statusword bit 12 Homing attained Homing position data Forward rotation Servo motor speed 0 r/min Reverse rotation Controlword bit 4...
  • Page 38 ■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 39 ■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 40 ■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 41 ■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 42 ■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 43 ■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 44: Chapter 3 Basic Function

    Outline of servo parameter and object dictionary On MR-JET servo amplifiers, the functions of the servo amplifiers are set with servo parameters, and objects enable communication of data such as command values and feedback values with controllers. Servo parameter For the servo parameters that updates data periodically in the cyclic communication, do not write a value with the engineering tool or other tools, as the values will be overwritten from the controller.

  • Page 45: 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 46: Rotation Direction Selection

    Rotation direction selection The rotation direction of a 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. The servo motor rotation direction is as follows. Forward rotation (CCW) Reverse rotation (CW) •...

  • Page 47: Setting Methods Of Functions

    Setting methods of functions Setting with servo parameters The rotation direction can be changed without changing the polarity of the command from the controller. The position/speed information used by commands from the controller and in the feedback information to be transmitted to the controller can be changed by setting [Pr.
  • Page 48 Setting with object dictionary [Polarity (Obj. 607Eh)] enables the rotation 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 49 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 Travel direction selection] and [Pr. PC29.3 Torque POL reflection selection]. • [Target position (Obj. 607Ah)] •...

  • Page 50: 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 51 When wiring the limit switch to the servo amplifier Refer to the system configuration example shown in this section, and input the signal of the limit switch to the servo amplifier. Set [Pr. PD41.3 Sensor input method selection] to "0" to use the initial setting (Input from the servo amplifier (LSP/LSN/ DOG)).
  • Page 52 • [Pr. PA14 Travel direction selection] = "1" (CW) This example shows a case where CCW direction of the servo amplifier is different from the positioning address increasing direction of the controller. The on/off status of LSN (Reverse rotation stroke end) is outputted as FLS (Upper stroke limit) to the controller, and the on/off status of LSP (Forward rotation stroke end) is outputted as RLS (Lower stroke limit).
  • Page 53 ■System configuration example The following shows an example where the limit switch is wired to the controller. To FLS (Upper stroke limit), input the limit signal which suppresses the operation in the positioning address increasing direction against the command from the controller.

  • Page 54: 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 55: 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 or command unit/s can be selected. Setting unit Explanation r/min Use this when setting the speed data as servo motor speed (encoder unit). Command unit/s Use this when setting the speed data in command units.

  • Page 56: 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 57: Setting Example

    Setting example The electronic gears on the position command side are illustrated in the function block diagrams. The position feedback side is multiplied by the inverse number of the electronic gear ratio. 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 58 Setting example of 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 59: 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 60: Assigning I/O Devices

    Assigning I/O devices Signals can be assigned to the external I/O signal of the servo amplifier. Also, the signals can be set to be automatically turned on without wiring. 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 61: 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 62: Alarm Function

    After releasing the alarm or warning, resume the operation. Refer to the following manual for the details of alarms and warnings. MR-JET User's Manual (Troubleshooting) Operation status at alarm occurrence The following shows the status of servo amplifiers at alarm occurrence.

  • Page 63: 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. Alarm deactivation...

  • Page 64: 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 65: Stop Method At Occurrence Of Alarms/Warnings

    The servo motor stop methods at alarm occurrence are as follows: forced stop deceleration, stop with dynamic brake, and stop with electronic dynamic brake. For the servo motor stop method of each alarm number, refer to the following manual. MR-JET User's Manual (Troubleshooting) Forced stop deceleration The servo motor stops with the dynamic brake after forced stop deceleration.

  • Page 66: Timing Chart For Alarm Occurrence

    Timing chart for alarm occurrence In the torque 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. When restarting the operation in the cyclic synchronous position mode, confirm the position command.
  • Page 67 ■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 68: Forced Stop Deceleration Function

    3.10 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 69: 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 is below [Pr. PC07 Zero speed] after completion of the deceleration command, the base circuit is shut off and the dynamic brake activates.

  • Page 70: Electromagnetic Brake Interlock Function

    3.11 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 71: 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 72 ■Turning the quick stop command (from controller) or EM2 (Forced stop 2) on/off In the torque 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 73 ■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 74 ■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 75 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 69 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 76: Vertical Axis Freefall Prevention Function

    3.12 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 77: Acceleration/Deceleration Function

    3.13 Acceleration/deceleration function The acceleration/deceleration function enables smooth acceleration/deceleration. The following methods are available for the acceleration/deceleration function. Item Explanation Reference Acceleration/deceleration This is a method for performing acceleration/deceleration in accordance with the specified Page 75 Acceleration/ time constant method acceleration/deceleration time constants [ms].

  • Page 78: 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 independent of the rated speed of the servo motor can be performed. The control mode influences whether the acceleration/deceleration is set in the servo parameters, objects, or other settable areas.

  • Page 79: Quick Stop

    3.14 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 66 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 80: 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 81: Halt

    3.15 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 82: 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 104 Software position limit Page 105 Torque limit Torque limit...

  • Page 83: Tough Drive Function

    2) instantaneously reset the filter when machine resonance occurs. For details, refer to "Vibration tough drive" in the following manual. MR-JET User's Manual (Adjustment) Instantaneous power failure tough drive The instantaneous power failure tough drive function avoids the occurrence of [AL. 010 Undervoltage], even when an instantaneous power failure occurs during operation.
  • Page 84 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 85 ■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 86 • [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 87: 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 88 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 89 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 90 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 91 Related objects index Object Name Data Type Access Description 2C20h Machine diagnostic status The machine diagnostic status is returned. [Bit 0 to 3: Friction estimation status at forward *1*2 rotation] 0: Friction is being estimated. (normal) 1: Estimation is completed. (normal) 2: The motor may have rotated more frequently in one direction than the other.

  • Page 92: 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 93: 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 94 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. • Connect directly to file transfer (USB) Servo amplifier Engineering tool MR Configurator2 USB cable Reading data recorded by the drive recorder...
  • Page 95 ■Reconfiguring parameters Servo parameters that set the sampling cycle, trigger condition, and other areas cannot be changed during sampling. Use the following procedure to change these parameters. Set [Pr. PF81.0] to "0" (stop sampling) and stop sampling. Set the sampling cycle, trigger condition, and other areas with servo parameters. Item Servo parameter Reference...

  • Page 96: 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 97 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 98 ■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 99 ■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 100 ■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 101 Object dictionary Index Object Name Data Access Default Description Type 2C02h Drive recorder status 0000h Returns the operating status of the drive recorder. 2A70h ARRAY Drive recorder history The total number of Sub Index is returned. newest  Drive recorder history The saved index of the drive recorder is returned.

  • Page 102: 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 103 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 motor load ratio speed +...

  • Page 104: Waveform Recording Inapplicable Alarm List

    Alarms that are not covered in the alarm history are not subject to recording by the drive recorder. For details, refer to the following manual. MR-JET User's Manual (Troubleshooting) The alarms shown in the following table are saved in the alarm history, but are not subject to recording by the drive recorder.

  • Page 105: Software Reset

    To perform a software reset from the controller, refer to the appropriate manual from the following list that matches the network to be connected. Network Reference manual CC-Link IE TSN MR-JET-G User's Manual (Communication Function) 4 APPLICABLE FUNCTIONS 4.4 Software reset...

  • Page 106: 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 107: 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 value of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].

  • Page 108: Status Check Of Limiting Torque

    Status check of limiting torque TLC (Limiting torque) and Bit 13 (S_TLC) of [Status DO1 (Obj. 2D10h)] turn on when the servo motor torque reaches the torque that was limited by the forward rotation torque limit and the reverse rotation torque limit. 4 APPLICABLE FUNCTIONS 4.6 Torque limit...

  • Page 109: Speed Limit

    [Status DO2 (Obj. 2D12h)] will turn on. 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. 4 APPLICABLE FUNCTIONS...

  • Page 110: Servo Amplifier Life Diagnosis Function

    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. The servo amplifier life diagnosis function features the following functions.

  • Page 111: 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 112: Encoder Communication Diagnosis Function

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

  • Page 113: 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 114: Command Offset

    4.13 Command offset "Command offset" is a function that compensates the position/speed/torque commands by adding a desired amount of offset to the commands. Position offset, velocity offset, and torque offset can be set. Function Outline Position offset • In the position mode, an offset can be added to [Target position (Obj. 607Ah)]. Velocity offset •...
  • Page 115 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)]. Index Object Name Data Type Access Default Description  60B0h Position offset Position offset Unit: pos units ...

  • Page 116: Chapter 5 Monitoring

    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 MR-JET-G User's Manual (Object Dictionary).
  • Page 117 Name Description Availability Display all Graph function   Bus voltage This indicates the bus voltage of the converter part of the servo amplifier (between P+ and N-). Servo motor thermistor The thermistor temperature is displayed for the servo motor with a thermistor. ...
  • Page 118 • Off: The external input signal and the input from the controller are off. Symbol Device name Description DI/DO ABSV Absolute position undetermined Refer to "Signal (device) explanations" in the following manual. MR-JET User's Manual (Hardware) Malfunction BWNG Battery warning WNGSTOP Motor stop warning Gain switching CDP2...

  • Page 119: 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 120: 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 121 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. 5 MONITORING 5.2 Checking with MR Configurator2...

  • Page 122: I/O Monitor Display

    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. System configuration display System information including the serial number and model of the servo amplifier, servo motor, and other equipment are displayed.
  • Page 123 MEMO 5 MONITORING 5.2 Checking with MR Configurator2...

  • Page 124: 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 125: 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 126: 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-A...
  • Page 128 IB(NA)-0300458ENG-A(1911)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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