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

Ac servo system, parameters
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Mitsubishi Electric AC Servo System
MR-JET-G
User's Manual
(Parameters)
-MR-JET-_G
-MR-JET-_G-N1

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

  • Page 1 Mitsubishi Electric AC Servo System MR-JET-G User's Manual (Parameters) -MR-JET-_G -MR-JET-_G-N1...
  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.
  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 [Pr. PB18_Low-pass filter setting (LPF)] ............35 [Pr.
  • Page 8 [Pr. PB82_Position command smoothing filtering time constant (PFT)] ....... 54 Extension setting servo parameters group ([Pr.
  • Page 9 [Pr. PE48_Lost motion compensation function selection (*LMOP)]........78 [Pr.
  • Page 10 [Pr. PT10_Stopper type homing - Stopping time (ZTM)] ......... . 102 [Pr.
  • Page 11 I/O setting servo parameters group ([Pr. PD_ _ ]) ..........123 Extension setting 2 servo parameters group ([Pr.
  • Page 12 [Pr. NPB22_User name No.7] ............. . 154 [Pr.
  • Page 13: Chapter 1 Servo Parameter Details

    Settable servo parameters and values depend on the controller model, servo amplifier firmware 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. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, or by other means.
  • Page 14: Basic Setting Servo Parameters Group ([Pr. Pa

    Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Ver. 00003000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA01.1_Operation mode selection] Initial value Setting range Ver. Refer to the text 0: Standard control mode 4: Linear servo motor control mode...
  • Page 15: [Pr. Pa04_Function Selection A-1 (*Aop1)]

    [Pr. PA04_Function selection A-1 (*AOP1)] Initial value Setting range Ver. 00002000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA04.2_Servo forced stop selection] Initial value Setting range Ver. Refer to the text 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 16: [Pr. Pa08_Auto Tuning Mode (Atu)]

    [Pr. PA08_Auto tuning mode (ATU)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA08.0_Gain adjustment mode selection] Initial value Setting range Ver. Refer to the text Select the gain adjustment mode. 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2...
  • Page 17 [Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting] Initial value Setting range Ver. Refer to the text 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 18: [Pr. Pa09_Auto Tuning Response (Rsp)]

    [Pr. PA09_Auto tuning response (RSP)] Initial value Setting range Ver. Refer to the text 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 20.4 23.0 25.9 29.2 32.9...
  • Page 19: [Pr. Pa10_In-Position Range (Inp)]

    [Pr. PA10_In-position range (INP)] Initial value Setting range Ver. 1600 [Refer to the text below for the unit.] 0 to 16777215 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 20: [Pr. Pa12_Reverse Rotation Torque Limit (Tln)]

    [Pr. PA12_Reverse rotation torque limit (TLN)] Initial value Setting range Ver. 1000.0 [%] 0.0 to 1000.0 The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration, or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration.
  • Page 21: [Pr. Pa14_Travel Direction Selection (*Pol)]

    [Pr. PA14_Travel direction selection (*POL)] Initial value Setting range Ver. 0 to 1 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 22: [Pr. Pa17_Servo Motor Series Setting (**Msr)]

    [Pr. PA17_Servo motor series setting (**MSR)] Initial value Setting range Ver. 00000000h Refer to the text To select the linear servo motor to be used, set this servo parameter and [Pr. PA18.0-3 Servo motor type setting]. Set this at the same time with [Pr. PA18.0-3]. Refer to the following table for setting values. Linear servo motor series Linear servo motor (primary side) Servo parameter...
  • Page 23: [Pr. Pa19_Servo Parameter Writing Prohibited (*Blk)]

    [Pr. PA19_Servo parameter writing prohibited (*BLK)] Initial value Setting range Ver. 000000ABh Refer to the text Select a reference range and writing range for the servo parameter. Refer to the following table for setting values. PA19 Setting value PT, PV operation ...
  • Page 24: [Pr. Pa20_Tough Drive Setting (*Tds)]

    [Pr. PA20_Tough drive setting (*TDS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA20.1_Vibration tough drive selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Machine resonance suppression filter change mode enabled 2: Machine resonance suppression filter automatic setting mode Selecting other than "0"...
  • Page 25: [Pr. Pa22_Position Control Configuration Selection (**Pcs)]

    [Pr. PA22_Position control configuration selection (**PCS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA22.1_Super trace function selection] Initial value Setting range Ver. Refer to the text 0: Disabled 2: Enabled [Pr.
  • Page 26: [Pr. Pa24_Function Selection A-4 (Aop4)]

    [Pr. PA24_Function selection A-4 (AOP4)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA24.0_Vibration suppression mode selection] Initial value Setting range Ver. Refer to the text 0: Standard mode 1: 3 inertia mode 2: Low response mode 4: Path tracking mode...
  • Page 27: [Pr. Pa28_Function Selection A-6 (**Aop6)]

    [Pr. PA28_Function selection A-6 (**AOP6)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA28.4_Speed range limit selection] Initial value Setting range Ver. Refer to the text Select the speed to be used for the range restriction of the speed data. 0: Maximum speed 1: Permissible speed [Pr.
  • Page 28: 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 Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB01.0_Filter tuning mode selection] Initial value Setting range Ver.
  • Page 29: [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 Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection] Initial value Setting range Ver.
  • Page 30: [Pr. Pb06_Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2)]

    [Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)] Initial value Setting range Ver. 7.00 [Multiplier] 0.00 to 300.00 Set the load to motor inertia ratio or load to motor mass ratio. Setting a value different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.
  • Page 31: [Pr. Pb08_Position Control Gain

    [Pr. PB08_Position control gain (PG2)] Initial value Setting range Ver. 37.0 [rad/s] 1.0 to 2000.0 Set the gain of the position loop. Set this servo parameter when increasing the position responsiveness to level load disturbance. Increasing the setting value improves responsiveness to the load disturbance, but increasing the value too much raises the likelihood of vibration and noise.
  • Page 32: [Pr. Pb12_Overshoot Amount Compensation (Ova)]

    [Pr. PB12_Overshoot amount compensation (OVA)] Initial value Setting range Ver. 0 [%] 0 to 100 Set a dynamic friction torque in percentage to the rated torque at servo motor rated speed. Alternatively, set a percentage of dynamic friction force against the continuous thrust at linear servo motor rated speed. If the response level is too low or if the torque/thrust is limited, the efficiency of the servo parameter may decrease.
  • Page 33: [Pr. Pb16_Notch Shape Selection 2 (Nhq2)]

    [Pr. PB16_Notch shape selection 2 (NHQ2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set forms of the machine resonance suppression filter 2. When [Pr. PA08.0 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 34: [Pr. Pb17_Shaft Resonance Suppression Filter (Nhf)]

    [Pr. PB17_Shaft resonance suppression filter (NHF)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr. PB23.0 Shaft resonance suppression filter selection] is set to "0" (automatic setting), the value will be calculated automatically from the servo motor used and load to motor inertia ratio.
  • Page 35 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 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
  • Page 36 Setting value Frequency [Hz] 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 37: [Pr. Pb18_Low-Pass Filter Setting (Lpf)]

    Setting value Frequency [Hz] [Pr. PB17.2_Notch depth selection] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB [Pr. PB18_Low-pass filter setting (LPF)] Initial value Setting range Ver. 3141 [rad/s] 100 to 36000 Set the low-pass filter.
  • Page 38: [Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (Vrf11)]

    [Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)] Initial value Setting range Ver. 100.0 [Hz] 0.1 to 300.0 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 39: [Pr. Pb23_Low-Pass Filter Selection (Vfbf)]

    [Pr. PB23_Low-pass filter selection (VFBF)] Initial value Setting range Ver. 00001000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB23.0_Shaft resonance suppression filter selection] Initial value Setting range Ver. Refer to the text Select the shaft resonance suppression filter. 0: Automatic setting 1: Manual setting 2: Disabled...
  • Page 40: [Pr. Pb24_Slight Vibration Suppression Control (*Mvs)]

    [Pr. PB24_Slight vibration suppression control (*MVS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB24.0_Slight vibration suppression control selection] Initial value Setting range Ver. Refer to the text Select the slight vibration suppression control. 0: Disabled 1: Enabled The slight vibration suppression control is enabled when "3"...
  • Page 41: [Pr. Pb26_Gain Switching Function (*Cdp)]

    [Pr. PB26_Gain switching function (*CDP)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant 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 42: [Pr. Pb27_Gain Switching Condition (Cdl)]

    [Pr. PB26.5_Gain switching selection during a stop] Initial value Setting range Ver. Refer to the text 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 Gain switching 2 selection] is set to "2" (the same condition as [Pr.
  • Page 43: [Pr. Pb32_Speed Integral Compensation After Gain Switching (Vicb)]

    [Pr. PB32_Speed integral compensation after gain switching (VICB)] Initial value Setting range Ver. 0.0 [ms] 0.0 to 5000.0 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 Speed integral compensation] is applied.
  • Page 44: [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 Ver. 0.00 0.00 to 0.30 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 45 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 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 46 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 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 47: [Pr. Pb46_Machine Resonance Suppression Filter 3 (Nh3)]

    [Pr. PB45.2_Notch depth selection] Initial value Setting range Ver. Refer to the text 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 48: [Pr. Pb48_Machine Resonance Suppression Filter 4 (Nh4)]

    [Pr. PB47.2_Notch width selection] Initial value Setting range Ver. Refer to the text 0: α = 2 1: α = 3 2: α = 4 3: α = 5 [Pr. PB48_Machine resonance suppression filter 4 (NH4)] Initial value Setting range Ver.
  • Page 49: [Pr. Pb50_Machine Resonance Suppression Filter 5 (Nh5)]

    [Pr. PB50_Machine resonance suppression filter 5 (NH5)] Initial value Setting range Ver. 4500 [Hz] 10 to 9000 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 50: [Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (Vrf21)]

    [Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)] Initial value Setting range Ver. 100.0 [Hz] 0.1 to 300.0 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 51: [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 Ver. 0.0 [Hz] 0.0 to 300.0 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. PB52 Vibration suppression control 2 - Vibration frequency] is applied.
  • Page 52: [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 Ver. 0.00 0.00 to 0.30 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 53: [Pr. Pb68_Gain Switching 2 - Position Control Gain (Pg2C)]

    [Pr. PB68_Gain switching 2 - Position control gain (PG2C)] Initial value Setting range Ver. 0.0 [rad/s] 0.0 to 2000.0 Set the position control gain for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB08 Position control gain] is applied.
  • Page 54: [Pr. Pb72_Vibration Suppression Control 1 - Resonance Frequency After Gain Switching 2 (Vrf12C)]

    [Pr. PB72_Vibration suppression control 1 - Resonance frequency after gain switching 2 (VRF12C)] Initial value Setting range Ver. 0.0 [Hz] 0.0 to 300.0 Set the resonance frequency for 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 55: [Pr. Pb75_Vibration Suppression Control 2 - Vibration Frequency After Gain Switching 2 (Vrf21C)]

    [Pr. PB75_Vibration suppression control 2 - Vibration frequency after gain switching 2 (VRF21C)] Initial value Setting range Ver. 0.0 [Hz] 0.0 to 300.0 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. PB52 Vibration suppression control 2 - Vibration frequency] is applied.
  • Page 56: [Pr. Pb78_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching 2 (Vrf24C)]

    [Pr. PB78_Vibration suppression control 2 - Resonance frequency damping after gain switching 2 (VRF24C)] Initial value Setting range Ver. 0.00 0.00 to 0.30 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 57: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC01_Excessive error alarm trigger level (ERZ)] Initial value Setting range Ver. 0 [rev], [mm] 0 to 1000 Set an excessive error alarm trigger level. If using a rotary servo motor, set the level in units of rev. If 200 rev or higher is set, the value will be clamped to 200 rev. If using a linear servo motor, the unit of the servo motor speed is [mm/s].
  • Page 58: [Pr. Pc05_Function Selection C-2 (**Cop2)]

    [Pr. PC05_Function selection C-2 (**COP2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC05.0_Motor-less operation selection] Initial value Setting range Ver. Refer to the text Enable or disable motor-less operation. This operation can be used only in semi closed loop control while a rotary servo motor is used.
  • Page 59: [Pr. Pc06_Function Selection C-3 (*Cop3)]

    [Pr. PC06_Function selection C-3 (*COP3)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC06.0_In-position range unit selection] Initial value Setting range Ver. Refer to the text Select a unit of the in-position range. This servo parameter is enabled only in the position mode.
  • Page 60: [Pr. Pc19_Function Selection C-6 (*Cop6)]

    [Pr. PC19_Function selection C-6 (*COP6)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC19.0_[AL. 099 Stroke limit warning] selection] Initial value Setting range Ver. Refer to the text Enable or disable [AL. 099 Stroke limit warning]. When "Disabled"...
  • Page 61: [Pr. Pc21_Alarm History Clear (*Bps)]

    [Pr. PC21_Alarm history clear (*BPS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC21.0_Alarm clear history selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When "1"...
  • Page 62: [Pr. Pc26_Function Selection C-8 (**Cop8)]

    [Pr. PC26_Function selection C-8 (**COP8)] Initial value Setting range Ver. 00000050h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC26.0_A/B/Z-phase input encoder connection selection] Initial value Setting range Ver. Refer to the text 0: Disabled (only serial encoders are supported) 2: Enabled (only A/B/Z-phase input encoders are supported) [Pr.
  • Page 63: [Pr. Pc29_Function Selection C-B (*Copb)]

    Only set this to "disabled" when configuring the absolute position detection system in cyclic synchronous mode with a motion module manufactured by Mitsubishi Electric.  _ _ x _ ...
  • Page 64: [Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (Rsup1)]

    [Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] Initial value Setting range Ver. 0 [0.0001 rev], [0.01 mm] -25000 to 25000 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 65: [Pr. Pc65_Zero Speed 2 Level (Zsp2L)]

    [Pr. PC65_Zero speed 2 level (ZSP2L)] Initial value Setting range Ver. 50.00 [r/min], [mm/s] 0.00 to 655.35 Set the level of speed at which zero speed 2 turns on. If the state where the absolute value of the servo motor speed exceeds the setting value of this servo parameter continues for the time set in [Pr.
  • Page 66: [Pr. Pc70_In-Position 2 - Output Range (Inp2R)]

    [Pr. PC70_In-position 2 - Output range (INP2R)] Initial value Setting range Ver. 100 [Refer to the text below for the unit.] 0 to 4294967295 Set the position range where the in-position 2 output turns on. If the state where the error between the command position and the actual position is within the setting value of this servo parameter continues for the time set in [Pr.
  • Page 67: [Pr. Pc73_Speed Reached 2 - Output Filtering Time (Sa2F)]

    [Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] Initial value Setting range Ver. 10 [ms] 0 to 65535 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 filtering time] continues for the setting value of this servo parameter or longer, bit 10 (Target velocity reached) of [Statusword (Obj.
  • Page 68: [Pr. Pc78_Function Selection C-F (*Copf)]

    [Pr. PC78_Function selection C-F (*COPF)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC78.1_Maximum torque limit 1 selection] Initial value Setting range Ver. Refer to the text Select whether to enable or disable the maximum torque limit 1. 0: Disabled 1: Enabled [Pr.
  • Page 69 [Pr. PC79.1_DI status read selection] Initial value Setting range Ver. Refer to the text Select whether to return the on/off state of the input device or the on/off state of the pin when reading [Digital inputs (Obj. 60FDh)]. Setting digit (BIN) Function ...
  • Page 70: 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 Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD01.0_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr.
  • Page 71: [Pr. Pd03_Input Device Selection 1 (*Di1)]

    [Pr. PD03_Input device selection 1 (*DI1)] Initial value Setting range Ver. 0000000Ah Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
  • Page 72: [Pr. Pd05_Input Device Selection 3 (*Di3)]

    [Pr. PD05_Input device selection 3 (*DI3)] Initial value Setting range Ver. 00000022h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
  • Page 73: [Pr. Pd08_Output Device Selection 2 (*Do2)]

    [Pr. PD08_Output device selection 2 (*DO2)] Initial value Setting range Ver. 00000004h Refer to the relevant detail No. Refer to the relevant 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 74: [Pr. Pd11_Input Filter Setting (*Dif)]

    [Pr. PD11_Input filter setting (*DIF)] Initial value Setting range Ver. 00000007h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD11.0_Input signal filter selection] Initial value Setting range Ver. Refer to the text Setting value Filtering time [ms] No filter 0.500 1.000...
  • Page 75: [Pr. Pd13_Function Selection D-2 (*Dop2)]

    [Pr. PD13_Function selection D-2 (*DOP2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD13.2_INP output signal ON condition selection] Initial value Setting range Ver. Refer to the text Select a condition for outputting INP (In-position). This function is enabled in the cyclic synchronous position mode and the profile position mode.
  • Page 76: [Pr. Pd14_Function Selection D-3 (*Dop3)]

    [Pr. PD14_Function selection D-3 (*DOP3)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD14.1_Warning occurrence - Output device selection] Initial value Setting range Ver. Refer to the text Select ALM (Malfunction) output status at warning occurrence. Setting value Device status Warning occurrence...
  • Page 77: [Pr. Pd41_Function Selection D-4 (*Dop4)]

    The status of the limit switches (S_FLS and S_RLS) is returned. Even if "1" is set, the limit switches are enabled during the test operation and at magnetic pole detection. Set "1" if the controller is a Mitsubishi Electric motion module. [Pr. PD41.3_Sensor input method selection]...
  • Page 78: [Pr. Pd60_Di Pin Polarity Selection (*Dip)]

    [Pr. PD60_DI pin polarity selection (*DIP)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. For DI pin numbers corresponding to setting digits, refer to the following table. If this servo parameter is set incorrectly, [AL. 037 Parameter error] may occur. Servo parameter number Setting digit (BIN) Name...
  • Page 79: 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 Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PE41.0_Robust filter selection] Initial value Setting range Ver.
  • Page 80: [Pr. Pe46_Lost Motion Filter Setting (Lmflt)]

    [Pr. PE46_Lost motion filter setting (LMFLT)] Initial value Setting range Ver. 0 [0.1 ms] 0 to 30000 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 81: [Pr. Pe50_Lost Motion Compensation Non-Sensitive Band (Lmct)]

    [Pr. PE50_Lost motion compensation non-sensitive band (LMCT)] Initial value Setting range Ver. 0 [pulse], [kpulse] 0 to 65535 Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses is equal to or less than the setting value, the speed is recognized as 0. The setting unit can be changed with [Pr. PE48 Lost motion compensation function selection].
  • Page 82: 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 Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF02.4_Memory writing frequency warning enable/disable selection] Initial value Setting range Ver.
  • Page 83: [Pr. Pf21_Drive Recorder Switching Time Setting (Drt)]

    [Pr. PF21_Drive recorder switching time setting (DRT)] Initial value Setting range Ver. 0 [s] -1 to 32767 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 84: [Pr. Pf29_Function Selection F-10 (*Fop10)]

    [Pr. PF29_Function selection F-10 (*FOP10)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF29.1_State selection with forced stop in progress] Initial value Setting range Ver. Refer to the text Select the PDS state transition for when the forced stop is in progress.
  • Page 85: [Pr. Pf32_Oscillation Detection Alarm Time (*Vibt)]

    [Pr. PF32_Oscillation detection alarm time (*VIBT)] Initial value Setting range Ver. 50 [100 ms] 0 to 50 Set the time from when oscillation is detected until the occurrence of an alarm or warning. When "0" is set, the time until the occurrence of the alarm or warning is 5000 ms. When an oscillation detection alarm or warning is generated during normal operation, set a value larger than "10"...
  • Page 86: [Pr. Pf80_Drive Recorder - Operation Condition Selection (Drmc)]

    [Pr. PF80_Drive recorder - Operation condition selection (DRMC)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF80.0_Drive recorder - Operation mode selection] Initial value Setting range Ver. Refer to the text 0: Automatic setting mode 1: Manual setting mode When "0"...
  • Page 87: [Pr. Pf81_Drive Recorder - Sampling Operation Selection (Drms)]

    [Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF81.0_Drive recorder - Sampling start selection] Initial value Setting range Ver. Refer to the text Set this servo parameter to start drive recorder sampling.
  • Page 88 [Pr. PF82.1_Drive recorder - Trigger binding condition selection] Initial value Setting range Ver. Refer to the text Select the trigger binding condition for 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 89: [Pr. Pf84_Drive Recorder - Trigger Channel Selection (Drtc)]

    [Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] Initial value Setting range Ver. 00008101h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF84.0-1_Drive recorder - Trigger channel selection 1] Initial value Setting range Ver. Refer to the text Set the trigger channel No.
  • Page 90: [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (Drtl1)]

    [Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] Initial value Setting range Ver. -2147483648 to 2147483647 Set the trigger level of trigger channel No. 1 of the drive recorder in decimal. Set the value considering the decimal point. For example, if setting a torque of 100.0 [%] for the trigger level, set this servo parameter to "1000" because the torque unit is [0.1 %].
  • Page 91: [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (Drac1)]

    [Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] Initial value Setting range Ver. 00020201h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection] Initial value Setting range Ver. 201h Refer to the text Select the data to be assigned to analog channel 1 of the drive recorder.
  • Page 92: [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 Feedback position +...
  • Page 93: [Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (Drac3)]

    [Pr. PF89_Drive recorder - Analog channel setting 3 (DRAC3)] Initial value Setting range Ver. 00090205h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF89.0-2_Drive recorder - Analog channel 5 selection] Initial value Setting range Ver. 205h Refer to the text Select the analog channel 5 of the drive recorder.
  • Page 94: [Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (Drdc1)]

    [Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)] Initial value Setting range Ver. 00120000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] Initial value Setting range Ver. 0000h Refer to the text Refer to the following table for setting values.
  • Page 95: [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (Drdc2)]

    [Pr. PF91.4-7_Drive recorder - Digital channel 2 selection] Initial value Setting range Ver. 0012h Refer to the text Refer to the following for values that can be assigned. Page 92 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)] Initial value Setting range Ver.
  • Page 96: [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (Drdc4)]

    [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)] Initial value Setting range Ver. 801D8015h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF94.0-3_Drive recorder - Digital channel 7 selection] Initial value Setting range Ver. 8015h Refer to the text Refer to the following for values that can be assigned.
  • Page 97: 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 Ver. 00000301h Refer to the relevant detail No. Refer to the relevant detail No. Select a function of the linear servo motor. [Pr.
  • Page 98: [Pr. Pl04_Function Selection L-2 (*Lit2)]

    [Pr. PL04_Function selection L-2 (*LIT2)] Initial value Setting range Ver. 00000003h Refer to the relevant detail No. Refer to the relevant detail No. Select a function of the linear servo motor. [Pr. PL04.0_[AL. 042 Servo control error] detection function selection] Initial value Setting range Ver.
  • Page 99: [Pr. Pl07_Torque Deviation Error Detection Level (Lb3)]

    [Pr. PL07_Torque deviation error detection level (LB3)] Initial value Setting range Ver. 100 [%] 0 to 1000 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 100: [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 Ver. 00000000h Refer to the relevant detail No. Refer to the relevant 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 101: [Pr. Pl18_Magnetic Pole Detection - Minute Position Detection Method - Identification Signal Amplitude (Idlv)]99

    [Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection] Initial value Setting range Ver. Refer to the text Select the load to mass of the linear servo motor primary-side ratio used for the minute position detection method. Select a value closest to the actual load.
  • Page 102: 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 Ver. 00000300h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PT01.1_Speed/acceleration/deceleration unit selection] Initial value Setting range Ver.
  • Page 103: [Pr. Pt02_Function Selection T-1 (*Top1)]

    [Pr. PT02_Function selection T-1 (*TOP1)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PT02.7_Internal position command - Process speed selection] Initial value Setting range Ver. Refer to the text Select the process speed of the position commands generated in the servo amplifier.
  • Page 104: [Pr. Pt08_Homing Position Data (Zps)]

    [Pr. PT08_Homing position data (ZPS)] Initial value Setting range Ver. 0 [pulse] -2147483648 to 2147483647 Set the address that is to be the reference point of the machine coordinate system. Subtracting the setting value of this servo parameter from the machine home position gives the coordinate of the home position.
  • Page 105: [Pr. Pt15_Software Position Limit + (Lmp)]

    [Pr. PT15_Software position limit + (LMP)] Initial value Setting range Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Set the address increasing side of the software position limit. Set the stop method in [Pr. PD12.2 Stop process selection at software position limit detection]. When [Pr.
  • Page 106: [Pr. Pt38_Function Selection T-7 (**Top7)]

    [Pr. PT38_Function selection T-7 (**TOP7)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD38.4_Limit switch release position assessment function selection] Initial value Setting range Ver. Refer to the text Set the limit switch release position assessment function.
  • Page 107 • Homing methods Setting Homing direction Homing methods Address increasing direction Dog type (Rear end detection - Z-phase reference) Count type (Front end detection - Z-phase reference)  Data set type Address increasing direction Stopper type (Stopper position reference) Dog type (Rear end detection - rear end reference) Count type (Front end detection - front end reference) Dog cradle type Dog type last Z-phase reference...
  • Page 108: [Pr. Pt49_Speed Acceleration Time Constant (Sta)]

    [Pr. PT49_Speed acceleration time constant (STA)] Initial value Setting range Ver. 0 [ms] 0 to 50000 Set the acceleration time taken by the motor to reach the rated speed from a full stop for the command. If the preset speed command is lower than Servo motor speed the rated speed, acceleration/deceleration time will be shorter.
  • Page 109: [Pr. Pt51_S-Pattern Acceleration/Deceleration Time Constants (Stc)]

    [Pr. PT51_S-pattern acceleration/deceleration time constants (STC)] Initial value Setting range Ver. 0 [ms] 0 to 5000 Set the time of the arc part for S-pattern acceleration/deceleration time constants. This setting enables smooth start/stop of the servo motor. When "0" is set, linear acceleration/deceleration is performed. Acceleration time Deceleration time constant...
  • Page 110: [Pr. Pt55_Function Selection T-10 (*Top10)]

    [Pr. PT55_Function selection T-10 (*TOP10)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PT55.0_Homing deceleration time constant selection] Initial value Setting range Ver. Refer to the text Set a value to be used for the acceleration time constant and deceleration time constant at homing. Setting Acceleration time constant Deceleration time constant...
  • Page 111: [Pr. Pt65_Profile Speed Command (Pvc)]

    [Pr. PT65_Profile speed command (PVC)] Initial value Setting range Ver. 100.00 [r/min], [mm/s] 0.00 to 21474836.47 Set the profile speed command. This function is enabled in the profile position mode. The setting value will be clamped at the motor maximum speed. When changing the speed to the permissible speed, set the speed in [Pr.
  • Page 112: [Pr. Pt68_Function Selection T-11 (**Top11)]

    [Pr. PT68_Function selection T-11 (**TOP11)] Initial value Setting range Ver. 00000002h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PT68.0_Quick stop method selection] Initial value Setting range Ver. Refer to the text Select the quick stop method. 2: Servo-off after Quick stop This function corresponds to [Quick stop option code (Obj.
  • Page 113: Network Setting Servo Parameters Group ([Pr. Pn

    1.10 Network setting servo parameters group ([Pr. PN_ _ ]) [Pr. PN02_Communication error - Detection time (CERT)] Initial value Setting range Ver. 0 [ms] 0 to 1000 Set the threshold until network disconnecting and [AL. 086.2 Network communication error 2] are detected. The maximum setting range is 1000 ms.
  • Page 114: [Pr. Pn20_Parameter Automatic Backup Update Interval (**Pabi)]

    [Pr. PN20_Parameter automatic backup update interval (**PABI)] Initial value Setting range Ver. 0 [h] 0 to 1000 Set the backup interval for a parameter automatic backup to be performed when the specified time passes on an hourly basis. When the value is set to "0", a parameter automatic backup when the specified time passes is not performed. When the set backup time is reached while the servo amplifier is not connected to a controller, and the power of the servo amplifier is cycled, even if a connection is established with the controller, backup operation is not immediately performed.
  • Page 115: Positioning Extension Setting Servo Parameters Group ([Pr. Pv

    1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) [Pr. PV01_Profile speed command extension setting (PVC2)] Initial value Setting range Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Set the speed command used in the profile position mode (pp). The unit is [pulse/s].
  • Page 116: [Pr. Pv07_Profile Deceleration (Pdec)]

    [Pr. PV07_Profile deceleration (PDEC)] Initial value Setting range Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Set the deceleration used in the profile position mode (pp) and the profile velocity mode (pv). The unit is [pulse/s When the setting value of this servo parameter is "0", the servo motor decelerates in accordance with the time constant set in [Pr.
  • Page 117: [Pr. Pv13_Creep Speed Extension Setting (Crfe)]

    [Pr. PV13_Creep speed extension setting (CRFE)] Initial value Setting range Ver. 100000 [Refer to the text below for the unit.] 0 to 4294967295 When performing a homing, set the servo motor speed after proximity dog. The unit is [pulse/s]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT06 Creep speed] are mutually exclusive.
  • Page 118: [Pr. Pv19_Speed Reached 2 - Output Range - Extension Setting (Sa2Re)]

    [Pr. PV19_Speed reached 2 - Output range - Extension setting (SA2RE)] Initial value Setting range Ver. 20000 [Refer to the text below for the unit.] 0 to 65535 Set the speed range in which the speed reached 2 turns on in the profile velocity mode (pv). If the state where the error between the command speed and the servo motor speed is within the setting value of this servo parameter continues for the time set in [Pr.
  • Page 119: [Pr. Pv24_Speed Unit Conversion - Electronic Gear - Denominator (*Vcdv)]

    [Pr. PV24_Speed unit conversion - Electronic gear - Denominator (*VCDV)] Initial value Setting range Ver. 1 to 256 Set the electric gear denominator for converting the speed command (command unit/s) into a value in speed units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". [Pr.
  • Page 120: Chapter 2 Lists Of Servo Parameter Supported Modes

    LISTS OF SERVO PARAMETER SUPPORTED MODES Structure The following shows the meaning of each abbreviation used in the lists. "" indicates the modes that can be used, and "" indicates the modes that cannot be used or modes that are not used even if set. Mode List abbreviation Meaning...
  • Page 121: Lists Of Supported Control Modes

    Lists of supported control modes Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Standard Linear PA01 PA01.1                 ...
  • Page 122: 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 123 Detail No. Operation mode Control mode Standard Linear           PB45 PB45.0-1           PB45.2 PB46         ...
  • Page 124: 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 125: 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 PD01.2                     PD03 PD03.0-1 PD04 PD04.0-1...
  • Page 126: 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 PF02.4           PF02.5 ...
  • Page 127: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) Detail No. Operation mode Control mode Standard Linear PL01 PL01.0                     PL01.2 PL02 ...
  • Page 128: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _ ]) Detail No. Operation mode Control mode Standard Linear           PT01 PT01.1           PT02 PT02.7 ...
  • Page 129: Positioning Extension Setting Servo Parameters Group ([Pr. Pv

    Positioning extension setting servo parameters group ([Pr. PV_ _ Detail No. Operation mode Control mode Standard Linear            PV01            PV03 PV05 ...
  • Page 130: Chapter 3 Lists Of Servo Parameter Initial Values

    LISTS OF SERVO PARAMETER INITIAL VALUES Basic setting servo parameters group ([Pr. PA_ _ ]) Initial value Remark PA01 00003000h   PA02 00000000h  PA03 00000000h  PA04 00002000h PA05 10000 For manufacturer setting PA06   PA07 PA08 00000001h ...
  • Page 131: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Initial value Remark  PB01 00000000h PB02 00000000h   PB03 36000  PB04 PB05 For manufacturer setting  PB06 7.00 PB07 15.0   PB08 37.0 PB09   PB10 33.7 PB11 ...
  • Page 132 Initial value Remark PB49 00000000h   PB50 4500  PB51 00000000h  PB52 100.0  PB53 100.0  PB54 0.00  PB55 0.00 PB56   PB57 PB58 0.00   PB59 0.00  PB60 PB61 For manufacturer setting PB62 00000000h For manufacturer setting...
  • Page 133: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Initial value Remark  PC01 PC02  PC03 00000000h For manufacturer setting  PC04 00000000h  PC05 00000000h  PC06 00000000h PC07   PC08 PC09 00000000h For manufacturer setting PC10 00000001h For manufacturer setting PC11...
  • Page 134 Initial value Remark PC49 00000000h For manufacturer setting PC50 00000000h For manufacturer setting PC51 00000000h For manufacturer setting PC52 00000000h For manufacturer setting PC53 00000000h For manufacturer setting PC54 00000000h For manufacturer setting PC55 00000000h For manufacturer setting PC56 00000000h For manufacturer setting PC57 00000000h...
  • Page 135: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Initial value Remark  PD01 00000000h PD02 00000000h For manufacturer setting  PD03 0000000Ah  PD04 0000000Bh  PD05 00000022h PD06 00000000h For manufacturer setting PD07 00000005h   PD08 00000004h PD09 00000003h ...
  • Page 136 Initial value Remark PD51 00000062h For manufacturer setting PD52 00000000h For manufacturer setting PD53 00000000h For manufacturer setting PD54 00000000h For manufacturer setting PD55 00000000h For manufacturer setting PD56 00000000h For manufacturer setting PD57 00000000h For manufacturer setting PD58 00000000h For manufacturer setting PD59 00000000h...
  • Page 137: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Initial value Remark PE01 00000000h For manufacturer setting PE02 00000000h For manufacturer setting PE03 00000003h For manufacturer setting PE04 For manufacturer setting PE05 For manufacturer setting PE06 For manufacturer setting PE07 For manufacturer setting PE08...
  • Page 138 Initial value Remark PE49   PE50 PE51 00000000h For manufacturer setting PE52 00000000h For manufacturer setting  PE53 PE54 00000000h For manufacturer setting PE55 00000000h For manufacturer setting PE56 00000000h For manufacturer setting PE57 00000000h For manufacturer setting PE58 00000000h For manufacturer setting PE59...
  • Page 139: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Initial value Remark PF01 00000000h For manufacturer setting PF02 00000000h  PF03 00000000h For manufacturer setting PF04 For manufacturer setting PF05 00000000h For manufacturer setting  PF06 00000013h PF07 00000000h For manufacturer setting PF08 00000000h...
  • Page 140 Initial value Remark PF49 For manufacturer setting PF50 For manufacturer setting PF51 00000000h For manufacturer setting PF52 00000000h For manufacturer setting PF53 For manufacturer setting PF54 For manufacturer setting PF55 For manufacturer setting PF56 For manufacturer setting PF57 00000000h For manufacturer setting PF58 00000000h For manufacturer setting...
  • Page 141: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) Initial value Remark PL01 00000301h   PL02 1000 PL03 1000   PL04 00000003h PL05   PL06  PL07  PL08 00001010h  PL09 PL10 For manufacturer setting PL11 For manufacturer setting PL12...
  • Page 142 Initial value Remark PL52 For manufacturer setting PL53 For manufacturer setting PL54 00000000h For manufacturer setting PL55 00000000h For manufacturer setting PL56 00000000h For manufacturer setting PL57 00000000h For manufacturer setting PL58 00000000h For manufacturer setting PL59 00000000h For manufacturer setting PL60 00000000h For manufacturer setting...
  • Page 143: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _ ]) Initial value Remark  PT01 00000300h PT02 00000001h  PT03 00000000h For manufacturer setting PT04 00000000h For manufacturer setting  PT05 100.00  PT06 10.00 PT07   PT08 PT09 1000 ...
  • Page 144 Initial value Remark PT49   PT50  PT51 PT52 For manufacturer setting  PT53 PT54 For manufacturer setting  PT55 00000000h PT56   PT57 PT58 100.00 For manufacturer setting PT59 500.00 For manufacturer setting PT60 1000.00 For manufacturer setting PT61 200.00 For manufacturer setting...
  • Page 145: Network Setting Servo Parameters Group ([Pr. Pn

    Network setting servo parameters group ([Pr. PN_ _ ]) Initial value Remark PN01 00000000h For manufacturer setting PN02  PN03 00000000h For manufacturer setting PN04 For manufacturer setting  PN05 PN06 00000000h For manufacturer setting PN07 00000000h For manufacturer setting PN08 00000000h For manufacturer setting...
  • Page 146: Positioning Extension Setting Servo Parameters Group ([Pr. Pv

    Positioning extension setting servo parameters group ([Pr. PV_ _ ]) Initial value Remark  PV01 PV02 For manufacturer setting PV03 2147483647  PV04 For manufacturer setting PV05  PV06 For manufacturer setting  PV07 PV08 For manufacturer setting  PV09 PV10 For manufacturer setting ...
  • Page 147: 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 via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
  • Page 148 MEMO 4 SERVO PARAMETER SETTING METHOD 4.2 Object dictionary...
  • Page 149: Chapter 5 Network Parameter Details

    Depending on the model of the motion module, servo amplifier firmware version, and MR Configurator2 software version, some network parameters and ranges cannot be set. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2.
  • Page 150: Network Basic Parameters

    Network basic parameters [Pr. NPA01_IP address setting] Initial value Setting range Size Ver. Refer to the text 4 bytes For the setting of IP addresses which are necessary for communication, select whether to use the rotary switches or to use network parameters to obtain the IP addresses.
  • Page 151: [Pr. Npa02_Ip Address]

    [Pr. NPA02_IP address] Initial value Setting range Size Ver. 192.168.3.1 (C0A80301h) Refer to the text 4 bytes Set the IP address. Set each octet to a value between 0 to 255. In the eight digits of hexadecimal, the first to forth octets are expressed with each pair of digits. digits digits digits...
  • Page 152: [Pr. Npa08_Host Name]

    [Pr. NPA08_Host name] Initial value Setting range Size Ver. 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 153: User Authentication Parameters

    User authentication parameters [Pr. NPB01_User authentication and authorization setting] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the connection method to use for setting the user authentication parameter. To enable this network parameter, cycle the power or reset the software after setting. When this network parameter is set to "1"...
  • Page 154: [Pr. Npb06_Password No.1]

    [Pr. NPB06_Password No.1] Initial value Setting range Size Ver.   user Set the password to use when accessing the FTP server function of the servo amplifier. Set the password in accordance with the following restrictions. Number of characters Type of characters 4 to 32 •...
  • Page 155: [Pr. Npb13_User Name No.4]

    [Pr. NPB13_User name No.4] Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes Set the user name (No.4) to use when accessing the FTP server function of the servo amplifier. Page 151 [Pr. NPB04_User name No.1] [Pr.
  • Page 156: [Pr. Npb20_Authorization Level No.6]

    [Pr. NPB20_Authorization level No.6] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the authorization level for the user (No.6). Page 151 [Pr. NPB05_Authorization level No.1] [Pr. NPB21_Password No.6] Initial value Setting range Size Ver. ...
  • Page 157: [Pr. Npb27_Password No.8]

    [Pr. NPB27_Password No.8] Initial value Setting range Size Ver.    Set the password (No.8) to use when accessing the FTP server function of the servo amplifier. Page 152 [Pr. NPB06_Password No.1] 5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters...
  • Page 158: 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 via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool. 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
  • Page 159 MEMO 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
  • Page 160: Revisions

    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 161: 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 162: 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)-0300478ENG-B...
  • Page 164 IB(NA)-0300478ENG-B(2007)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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