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Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

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Table of Contents
Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Function)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5-_A_

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

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Function) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5-_A_...
  • Page 3: Safety Instructions

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

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

    Object units This section explains the pos units, vel units, and acc units used in this manual. ■pos units The unit is pulse. ■vel units The unit can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection] as shown in the following table. Setting value Unit 0.01 r/min, 0.01 mm/s...
  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 8 Command unit select function [G] [WG] ........... . . 99 Speed command unit selection function [G] [WG].
  • Page 9 Setting method ............... . . 163 Procedure for replacing the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder Related objects .
  • Page 10 Software position limit [G] [WG] ............261 Setting method .
  • Page 11 Functions and configuration ............. 321 Outline .
  • Page 12: Chapter 1 Function

    FUNCTION Function explanation This section lists the functions mentioned in this manual. For details of the functions, refer to each section indicated in the detailed explanation column. For the functions which are not listed here, refer to "FUNCTION" in the User's Manual (Introduction). Control mode Functions Detailed functions...
  • Page 13 Position detection Functions Detailed functions Description MR-J5 Detailed explanation firmware version  Page 156 Scale Control method Scale measurement function This function connects the scale measurement encoder in the state of the semi closed loop measurement function [G] control to transmit the position information of the [WG] scale measurement encoder to the controller.
  • Page 14 I/O, monitor Functions Detailed functions Description MR-J5 Detailed explanation firmware version Page 112 Assigning I/ DI/DO Input signal selection (device This function assigns input devices such as LSP selection) (Forward rotation stroke end) to certain pins of O devices the connector. Page 112 Assigning I/ Output signal selection (device This function assigns output devices such as...
  • Page 15 Protective functions Functions Detailed functions Description MR-J5 Detailed explanation firmware version Page 116 Alarm Alarm Alarm function This function displays an alarm or warning when an error occurs during operation. When an alarm function occurs, ALM (Malfunction) turns off and stops the servo motor.
  • Page 16 Functional safety Functions Detailed functions Description MR-J5 Detailed explanation firmware version  Page 342 STO Safety sub-function STO (Safe torque off) This function electrically shuts off the servo motor driving energy with input signals from external function devices (shut-off by the secondary-side output). This is equivalent to the stop category 0 of IEC/ EN 60204-1.
  • Page 17 Instantaneous power failure measures Functions Detailed functions Description MR-J5 Detailed explanation firmware version Page 154 Compliance Tough drive SEMI-F47 function This function uses the electrical energy charged in the capacitor to avoid triggering [AL. 010 with SEMI-F47 standard Undervoltage] in case that an instantaneous power failure occurs during operation.
  • Page 18 Diagnostics Functions Detailed functions Description MR-J5 Detailed explanation firmware version Page 234 Drive Drive data Drive recorder This function continuously monitors the servo diagnosis status and records the state transition before and recorder after an alarm for a fixed period of time. The recorded data can be checked by the Waveform- Display button on the drive recorder window of MR Configurator2 being clicked.
  • Page 19: Chapter 2 Control Mode

    CONTROL MODE Control mode [G] [WG] The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are shown in the following. Category Control mode Symbol Description CiA 402 control mode Cyclic synchronous position This is a control mode to drive servo motors by receiving a position mode command at a constant period in the synchronous communication with a...
  • Page 20: 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 21 Index Object Name Description  60E0h Positive torque limit value Torque limit value (forward) Unit: 0.1 % (with rated torque being 100 %) 60E1h  Negative torque limit value Torque limit value (reverse) Unit: 0.1 % (with rated torque being 100 %) 6091h ARRAY Gear ratio...
  • Page 22: 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 23 Index Object Name Description  60A8h SI unit position SI unit position 00000000h (1 pulse) 60A9h  SI unit velocity SI unit velocity The SI unit velocity is returned. FEB44700h (0.01 r/min) FB010300h (0.01 mm/s) 00000300h (pulse/s)  60B1h Velocity offset Velocity offset Unit: vel units 60B2h...
  • Page 24: 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 25 Index Object Name Description  60A9h SI unit velocity SI unit velocity The SI unit velocity is returned. FEB44700h (0.01 r/min) FB010300h (0.01 mm/s) 00000300h (pulse/s) 60B2h  Torque offset Torque offset Unit: 0.1 % (with rated torque being 100 %) Controlword/Statusword By changing [Controlword (Obj.
  • Page 26: Profile Position Mode (Pp)

    Profile position mode (pp) This mode is available on servo amplifiers with firmware version A5 or later. The following shows the functions and related objects of the profile position mode (pp). [Torque offset (Obj. 60B2h)] × [Velocity offset (Obj. 60B1h)] [Positive torque limit value (Obj.
  • Page 27 Index Object Name Description  6086h Motion profile type Acceleration/deceleration type selection -1: S-pattern 0: Linear ramp (not supported) 1: Sin ramp (not supported) 2: Jerk-free ramp (not supported) 3: Jerk-limited ramp (not supported) 605Ah  Quick stop option code Operation setting for Quick stop Page 144 Quick stop [G] [WG] ...
  • Page 28 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary or are common depending on the control mode. The bits that vary depending on the control mode are listed in the following tables.
  • Page 29 Single Set-point Update of positioning servo parameters during a positioning operation is immediately accepted. (The current positioning operation is canceled and the next positioning operation is started.) Actual speed New set-point ([Controlword (Obj. 6040h)] bit 4) Target position (set-point) Profile velocity Current target position processed Set-point acknowledge ([Statusword (Obj.
  • Page 30: Profile Velocity Mode (Pv)

    Profile velocity mode (pv) This mode is available on servo amplifiers with firmware version A5 or later. The following shows the functions and related objects of the profile velocity mode (pv). [Torque offset (Obj. 60B2h)] × [Positive torque limit value (Obj. 60E0h)] [Negative torque limit value (Obj.
  • Page 31 Index Object Name Description 6092h ARRAY Feed constant Travel distance per revolution of an output shaft Feed Travel distance setting Shaft revolutions Number of servo motor shaft revolutions  60E0h Positive torque limit value Torque limit value (forward) Unit: 0.1 % (with rated torque being 100 %) ...
  • Page 32 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary or are common depending on the control mode. The bits that vary depending on the control mode are listed in the following tables.
  • Page 33 Operation sequence Deceleration with [Profile deceleration (Obj. 6084h)] [Velocity actual value (Obj. 606Ch)] Acceleration with [Profile deceleration (Obj. 6083h)] [Target velocity (Obj. 60FFh)] [Velocity window time (Obj. 606Eh)] Target reached ([Statusword (Obj. 6041h)] bit 10) [Velocity threshold time (Obj. 6070h)] Speed ([Statusword (Obj.
  • Page 34: Profile Torque Mode (Tq)

    Profile torque mode (tq) This mode is available on servo amplifiers with firmware version A5 or later. The following shows the functions and related objects of the profile torque mode (tq). [Torque offset (Obj. 60B2h)] [Target torque (Obj. 6071h)] [Target slope (Obj. 6087h)] [Torque demand [Torque profile type (Obj.
  • Page 35 Index Object Name Description  607Eh Polarity Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL Page 84 Rotation/travel direction selection [G] [WG] 2D20h  Velocity limit value Speed limit value Unit: vel units  60A8h SI unit position SI unit position...
  • Page 36 Operation sequence [Torque demand value (Obj. 6074h)] Change in accordance with [Torque slope (Obj. 6087h)] Change in accordance with [Torque slope (Obj. 6087h)] [Target torque (Obj. 6071h)] HALT ([Controlword (Obj. 6040h)] bit 8) 2 CONTROL MODE 2.1 Control mode [G] [WG]...
  • Page 37: Continuous Operation To Torque Control Mode (Ct)

    Continuous operation to torque control mode (ct) This mode is available on servo amplifiers with firmware version B2 or later. Restrictions The following functions are not available in the continuous operation to torque control mode. Therefore, if an alarm occurs, the servo motor will stop using the method DB or EDB, or coast.
  • Page 38 Functions and the related objects The following shows the functions of the continuous operation to torque control mode (ct) and the related objects. Max torque (6072h) Torque demand value (6074h) Torque Torque limit value (60E0h, 60E1h) limit Target torque (6071h) function ×...
  • Page 39 Index Object Name Description  60A8h SI unit position SI unit position 00000000 (1 pulse) 60A9h  SI unit velocity SI unit velocity The SI unit velocity is returned. FEB44700h (0.01 r/min) FB010300h (0.01 mm/s) 00000300h (pulse/s)  60B2h Torque offset Torque offset Unit: 0.1 % (with rated torque being 100 %) ■Controlword/Statusword...
  • Page 40 Behavior ■Behavior of the continuous operation to torque control mode If a workpiece comes into contact with a target object in the continuous operation to torque control mode, the torque control is performed assuming that the command torque is the sum of the values set in [Target torque (Obj. 6071h)], [Pr. PE47 Unbalanced torque offset], and [Torque offset (Obj.
  • Page 41 ■Switching between the CSV mode and continuous operation to torque control mode The following shows a timing chart when the mode is switched between the CSV mode and continuous operation to torque control mode. Servo motor speed Continuous operation CSV mode to torque control mode CSV mode 1000...
  • Page 42: Homing Mode (Hm) And Homing

    Homing mode (hm) and homing 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.
  • Page 43 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 44 • When using an incremental external encoder in the fully closed loop control mode • When using a direct drive motor manufactured by Mitsubishi Electric in the direct drive motor control mode To execute homing securely, move the linear servo motor to the opposite stroke end with csv or other operation modes from the controller, then start homing.
  • Page 45 Method No. Homing methods Rotation Description direction Homing on negative limit switch Reverse After the reverse rotation stroke end is detected, the position is shifted away and index pulse rotation from the stroke end in the reverse direction. Then, the position specified by the first Z-phase signal is used as the home position.
  • Page 46 Method No. Homing methods Rotation Description direction Homing on index pulse Forward Although this type is the same as the dogless Z-phase reference homing, the rotation creep speed is applied as the movement start speed. Homing on current position  The current position is set as the home position.
  • Page 47 CiA 402-type Homing method The following shows the CiA 402-type homing. ■Method 1: Homing on negative limit switch and index pulse This homing method uses the stroke end as reference and sets the Z-phase right after the stroke end as a home position. After the reverse rotation stroke end is detected, the position is shifted away from the stroke end at creep speed in the forward rotation direction.
  • Page 48 ■Method 3 and 4: Homing on positive home switch and index pulse These homing methods use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position. Method 3 has the same operation as the dog type last Z-phase reference homing, and Method 4 has the same operation as the dog cradle type homing at a forward rotation start.
  • Page 49 ■Method 17 to 30: Homing without index pulse Method 17 to 30 have the same operation as Method 1 to Method 14; however, these methods set the home position on the dog but not on the Z-phase. The following figure shows the operation of the homing methods of Method 19 and Method 20. Method 19 and Method 20 have the same operation as Method 3 and Method 4;...
  • Page 50 Operation example of the CiA 402-type Homing method The following shows an operation example of the homing in the CiA 402-type Homing method. ■Method 1 (Homing on negative limit switch and index pulse) and Method 2 (Homing on positive limit switch and index pulse) The following figure shows the operation of Homing method 2.
  • Page 51 ■Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3. The homing direction of Homing method 5 is opposite to that of Homing method 3.
  • Page 52 ■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 53 ■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 54 ■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 55 ■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 56 ■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 57 ■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 58 ■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 59 ■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 60 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 61 ■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 62 ■Method -3 (Data set type homing) The following figure shows the operation of Homing method -3. This is the same as Homing method 37. Statusword bit 12 Homing attained Homing position data Forward rotation Servo motor speed 0 r/min Reverse rotation Controlword bit 4 Homing operation start...
  • Page 63 ■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 64 ■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 65 ■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 66 ■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 67 ■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 68 ■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 69: Control Mode [A]

    Control mode [A] 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 Pulse/analog/DI command Position control mode This is a control mode which operates the servo motor with the input of the pulse train.
  • Page 70 Pulse train input ■Input pulse waveform selection The command pulses can be inputted in three different forms, and either positive or negative logic can be selected. Set the command pulse train form in [Pr. PA13 Command pulse input form]. ■Connection and waveform •...
  • Page 71 RD (Ready) When the servo-on state is made by turning on SON (servo-on), RD turns on. When SON (servo-on) is turned off or at alarm occurrence, RD is off. SON (Servo-on) Occurring Alarm 100 ms occurring 10 ms or shorter 10 ms or shorter or shorter RD (Ready)
  • Page 72 Position command speed adjustment time constant (position smoothing) With [Pr. PB03 Position command speed adjustment time constant (position smoothing)], set the constant of a primary delay filter to the position command. Also, the control methods in "Primary delay" or "Linear acceleration/deceleration" can be selected with [Pr. PB25.1 Position acceleration/deceleration filter method selection].
  • Page 73: Speed Control Mode (S)

    Speed control mode (S) Set [Pr. PA01.0] to "2" (Speed control mode). The speed can be controlled with the servo parameter setting or with the applied voltage of VC (Analog speed command). Speed setting ■Speed command and speed The servo motor is operated at the speed set in the servo parameter or at the speed set in the applied voltage of VC (Analog speed command).
  • Page 74 ■SP1 (Speed selection 1)/SP2 (Speed selection 2) and speed command value The speed command can be selected with SP1 (Speed selection 1) and SP2 (Speed selection 2). Input device Speed command value VC (Analog speed command) [Pr. PC05 Internal speed 1] [Pr.
  • Page 75: Torque Control Mode (T)

    Torque control mode (T) Set [Pr. PA01.0] to "4" (Torque control mode). The torque can be controlled with the combination of the applied voltage of TC (Analog torque command) and either of RS1 (Forward rotation selection) or RS2 (Reverse rotation selection). Torque control ■Torque command and torque The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo...
  • Page 76 Torque limit The maximum torque is always limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit] during operation. A relation between limit value and servo motor torque is the same as in the description of the position control mode. Note that TLA (Analog torque limit) is unavailable.
  • Page 77 ■Speed limit value selection The speed limit can be selected with SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3). Input device Speed limit VLA (Analog speed limit) [Pr. PC05 Internal speed 1] [Pr. PC06 Internal speed 2] [Pr.
  • Page 78: Position/Speed Control Switching Mode (P/S)

    Position/speed control switching mode (P/S) Set [Pr. PA01.0] to "1" (Position/Speed control switching mode). Switching between the position control and speed control is enabled at a zero speed status. Refer to the following. Page 67 Control mode switching by using LOP (Control switching) Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact.
  • Page 79 Speed setting in speed control mode ■Speed command and speed The servo motor is operated at the speed set in the servo parameter or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as in the section of the speed control mode.
  • Page 80: Speed/Torque Control Switching Mode (S/T)

    Speed/torque control switching mode (S/T) Set [Pr. PA01.0] to "3" (Speed control mode and torque control mode). Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact. The control mode may be switched at any time. LOP (Control switching) Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact.
  • Page 81 Speed limit in torque control mode ■Speed limit value and speed The speed is limited to the limit value of the servo parameter or the value set in the applied voltage of VLA (Analog speed limit). A relation between the VLA (Analog speed limit) applied voltage and the limit value is the same as the specification in the section of the torque control mode.
  • Page 82: Torque/Position Control Switch Mode (T/P)

    Torque/position control switch mode (T/P) Set [Pr. PA01.0] to "5" (Torque/position control switching mode). Switching between the torque control and position control is enabled at a zero speed status. Refer to the following. Page 67 Control mode switching by using LOP (Control switching) Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact.
  • Page 83: Chapter 3 Basic Function

    BASIC FUNCTION This chapter explains each function that is used for basic operation of the servo amplifier. Set each function as required. For advanced operation of the servo amplifier, refer to the following. Page 148 APPLICABLE FUNCTIONS Precautions • To prevent a malfunction and machine damage, on the first operation after setting, check the operating condition with a low speed command.
  • Page 84 The following is an example of the servo parameter number PA01 with the setting values of "FEDCBA98" in hexadecimal. • When setting a servo parameter with one particular digit [Pr. PA01] = Detail No. PA01.0 = "8" PA01.1 = "9" PA01.2 = "A"...
  • Page 85: Object Dictionary [G] [Wg]

    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 86: Rotation/Travel Direction Selection [G] [Wg]

    Rotation/travel direction selection [G] [WG] The rotation direction of a servo motor or the travel direction of a linear servo motor can be changed according to position commands, speed commands, and torque commands. Set the directions with servo parameters or objects in accordance with the system configurations.
  • Page 87: Setting Methods Of Functions

    Setting methods of functions Setting with servo parameters The rotation/travel direction can be changed without changing the polarity of the command from the controller. With regards to the commands from the controller, and in the feedback information to be transmitted to the controller, the position/speed information is changed with the setting of [Pr.
  • Page 88 Setting with object dictionary [Polarity (Obj. 607Eh)] enables the rotation/travel direction to be changed without changing the polarity of the command from the controller. The setting of [Polarity (Obj. 607Eh)] for the position information and speed information corresponds to [Pr. PA14 Travel direction selection].
  • Page 89 Target object The following shows objects in which the polarity is reversed by the setting of [Polarity (Obj. 607Eh)], and by the settings of [Pr. PA14] and [Pr. PC29.3]. • [Target position (Obj. 607Ah)] • [Target velocity (Obj. 60FFh)] • [Target torque (Obj. 6071h)] •...
  • Page 90: Rotation/Travel Direction Selection [A]

    Rotation/travel direction selection [A] The rotation direction of a servo motor or the travel direction of a linear servo motor can be changed according to position commands, speed commands, and torque commands. Set the directions with servo parameters in accordance with the system configurations.
  • Page 91: Setting Methods Of Functions

    Setting methods of functions Setting with servo parameters The rotation/travel direction in each control mode is as follows: ■For position control mode With the setting of [Pr. PA14 Travel direction selection], the rotation/travel direction can be changed without changing the forward/reverse rotation pulse inputs of the input pulse train.
  • Page 92: Stroke Limit Function [G] [Wg]

    Stroke limit function [G] [WG] 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 93: Setting Methods Of Functions

    Setting methods of functions Refer to the following table, and make the appropriate settings for the system configuration. Item Reference Page 91 When wiring the limit switch to the servo amplifier When wiring the limit switch to the servo amplifier Page 93 When wiring the limit switch to equipment other than the servo When wiring the limit switch to equipment other than the servo amplifier amplifier...
  • Page 94 ■System configuration example • [Pr. PA14 Travel direction selection] = "0" (CCW or the positive direction) Set LSP (Upper stroke end) for the limit signal that suppresses the operation in CCW or the positive direction. The on/off status of LSP (Forward rotation stroke end) is outputted as FLS (Upper stroke limit) to the controller, and the on/off status of LSN (Reverse rotation stroke end) is outputted as RLS (Lower stroke limit).
  • Page 95 When wiring the limit switch to equipment other than the servo amplifier By wiring the limit switch to equipment other than the servo amplifier, such as a controller, the stroke limit function is enabled to be used with input signals from the controller. Refer to the system configuration example shown in this section when installing the limit switch.
  • Page 96: 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 97: Servo Parameter List

    Servo parameter list The settings related to the stroke limit function can be performed directly with the servo parameters. Perform the settings as required. Servo Symbol Name Outline parameter PC19.0 *COP6 [AL. 099 Stroke limit warning] Enable or disable [AL. 099 Stroke limit warning]. selection When "Disabled"...
  • Page 98: Stroke Limit Function [A]

    Stroke limit function [A] 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 99: Stop Method At Stroke Limit Detection

    When the movable range is not limited On a system configuration without the limited movable range, such as a conveyor, set LSP/LSN to be automatically turned on. As the signal is set to be always turned on, the servo motor does not stop with the stroke limit. This can be set from the "Basic Setting"...
  • Page 100: Limit Switch Release Position Assessment Function [G] [Wg]

    Limit switch release position assessment function [G] [WG] Outline The limit switch release position assessment function is available on servo amplifiers with firmware version B2 or later. This function can be used in the cyclic synchronous position mode (csp) or cyclic synchronous velocity mode (csv). Use this function in the following cases: After the limit switch has been detected, the moving part passes through the limit switch detection position and stops.
  • Page 101: Command Unit Select Function [G] [Wg]

    Command unit select function [G] [WG] Speed command unit selection function [G] [WG] This function is available on servo amplifiers with firmware version A5 or later. This is a function to select setting units for speed data. Either r/min (mm/s) or command unit/s can be selected. Setting unit Explanation r/min, mm/s...
  • Page 102: Command Unit Select Function [A]

    Command unit select function [A] The unit of torque command can be selected. Torque command unit selection function This is a function to select setting units of torque data. The setting units of analog torque command and torque limit can be selected.
  • Page 103: Electronic Gear Function [G] [Wg]

    Electronic gear function [G] [WG] 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 104: Setting Example

    Setting example The electronic gears on the position command side are illustrated in the function block diagrams. The inverse number of the electronic gear ratio is multiplied to the position feedback side. In the cyclic synchronous position mode Adjust [Pr. PA06 Electronic gear - Numerator] and [Pr. PA07 Electronic gear - Denominator] so that the travel distance set in the controller matches the travel distance on the machine.
  • Page 105 Setting example for a ball screw The following shows an example where the ball screw is moved at 10 μm per pulse. Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 67108864 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side...
  • Page 106 For profile position mode Adjust [Pr. PA06 Electronic gear - Numerator] and [Pr. PA07 Electronic gear - Denominator] so that the travel distance set in the servo amplifier matches the travel distance on the machine. [Motor revolutions (Obj. 6091h: 01h)] and [Shaft revolutions (Obj.
  • Page 107 Setting example for a ball screw Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 67108864 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side : Number of gear teeth on load gear Servo motor encoder resolution: P = 67108864 [pulse/rev]...
  • Page 108: Electronic Gear Function [A]

    3.10 Electronic gear function [A] 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 109: Setting Example

    Setting example The electronic gears on the position command side are illustrated in the function block diagrams. The inverse number of the electronic gear ratio is multiplied to the position feedback side. For position control 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 110 ■Setting example for a ball screw The following shows an example where the ball screw is moved at 10 μm per pulse. Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 67108864 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side...
  • Page 111: Electronic Gear Selection Function

    Electronic gear selection function With the input devices CM1 (Electric gear selection 1) and CM2 (Electronic gear selection 2), the numerator of the electronic gear (CMX) can be selected. The electronic gear numerator (CMX) switches at the same time as CM1 and CM2 are turned on or off.
  • Page 112: In-Position Range Setting

    3.11 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 113: Setting Method [G] [Wg]

    Setting method [G] [WG] The servo parameters related to the in-position setting are as follows. Servo Symbol Name Outline parameter PA10 In-position range Set the in-position range. Initial value: 25600 [pulse] PC06.0 *COP3 In-position range unit selection Select a unit of the in-position range. 0: Command input pulse unit (initial value) 1: Servo motor encoder pulse unit PD13.2...
  • Page 114: Assigning I/O Devices

    3.12 Assigning I/O devices External I/O signals for the servo amplifier can be assigned to I/O devices. Also, some signals can be assigned to the I/O devices without wiring (Automatic ON). In addition, if the external input signal causes chattering due to noise or other factors, the input filter can be used to suppress the effect of noise.
  • Page 115: Setting Method [G] [Wg]

    Setting method [G] [WG] Servo parameter list Input/output device selection, input signal automatic ON selection, input signal filter selection, and DI pin polarity selection settings can be performed directly with servo parameters. ■MR-J5-_G_ Servo Symbol Name Outline parameter PD01.2 *DIA1 Input signal automatic ON LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) can be set selection...
  • Page 116: Setting Method [A]

    Setting method [A] Servo parameter list Input/output device selection, input signal automatic ON selection, input signal filter selection, and DI pin polarity selection settings can be performed directly with servo parameters. Servo Symbol Name Outline parameter PD01.0-3 *DIA1 Input signal automatic ON The input devices to which "Automatic ON"...
  • Page 117: Regenerative Option Selection

    Refer to "Regenerative option" in the following manual for the details of the regenerative options. MR-J5 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 118: Alarm Function

    3.14 Alarm function This function displays an alarm or warning when an error occurs during operation. When an alarm occurs, ALM (Malfunction) turns off and the servo motor stops. When a warning occurs, the servo motor may not stop for each warning number. The stop method changes depending on whether the forced stop deceleration function is enabled or disabled.
  • Page 119: Operation Status At Warning Occurrence [G] [Wg]

    Operation status at warning occurrence [G] [WG] The following shows the status of servo amplifiers at a warning occurrence. Status Reference The No. of the warning that has occurred is shown on the 7-segment LED. Refer to "Switch setting and display of the servo amplifier" in the User's Manual (Introduction).
  • Page 120: Returning From An Alarm [G] [Wg]

    Returning from an alarm [G] [WG] 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-J5 User's Manual (Troubleshooting) The following table shows how to deactivate the alarm.
  • Page 121 Related objects By using the objects, the alarm occurrence status and alarm history can be checked. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2A00h RECORD Alarm history newest The number of sub objects (7) is returned. RECORD Alarm No.
  • Page 122: Alarm History [A]

    Alarm history [A] 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 123: Timing Chart At Alarm Occurrence

    Timing chart at alarm occurrence • MR-J5-_G_/MR-J5W_-_G_ In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. When the servo motor is at a stop due to an alarm or other factors, commands from the controller are not accepted.
  • Page 124 ■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 125: Forced Stop Deceleration Function

    3.15 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 126: Setting Method [A]

    Setting method [A] Set [Pr. PA04.3 Forced stop deceleration function selection] to enable/disable the forced stop deceleration function. Setting [Pr. PA04.3 Forced stop deceleration function selection] to "2" (Forced stop deceleration function enabled) operates the forced stop deceleration function when EM2 (Forced stop 2) is turned off. In addition, set the level of ZSP (Zero speed detection) and the amount of time to reach 0 [r/min] or [mm/s] from the rated speed by using [Pr.
  • Page 127: Timing Chart [A]

    Timing chart [A] When EM2 (Forced stop 2) is turned off, the servo motor decelerates in accordance with the value of [Pr. PC51 Deceleration time constant at forced stop]. Once the servo motor speed becomes below [Pr. PC17 Zero speed] after completion of the deceleration command, the base circuit will be shut off and the dynamic brake will activate.
  • Page 128: Electromagnetic Brake Interlock Function

    3.16 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 129: Setting Method [A]

    Setting method [A] For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, refer to "Characteristics of electromagnetic brake" in the following manual. Rotary Servo Motor User's Manual (HK series) For a selection example of a surge absorber for the electromagnetic brake, refer to "Characteristics of electromagnetic brake"...
  • Page 130: 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 [G] [WG] 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 131 ■Turning the servo-on command on/off [A] 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. Therefore, when using this function with the vertical axis, set Tb to about 1.5 times of the minimum delay time where the moving part will not drop down.
  • Page 132 ■Turning the quick stop command (from controller) or EM2 (Forced stop 2) on/off [G] [WG] In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. Keep the servo-on command (from controller) and ready-on command (from controller) on while the quick stop command (from controller) or EM2 (Forced stop 2) is off.
  • Page 133 ■Turning EM2 (Forced stop 2) off/on [A] In the torque mode, the forced stop deceleration function cannot be used. Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. When SON (Servo-on) is turned off before EM2 (Forced stop 2), the operation state of the servo amplifier is the same as the following. Page 129 Turning the servo-on command on/off [A] MBR is turned off after the servo motor stops through forced stop deceleration, then the base circuit is turned off after the base circuit shut-off delay time.
  • Page 134 ■Alarm occurrence [G] [WG] 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 135 ■When both the main circuit power supply and the control circuit power supply are turned off When the base circuit is turned off, 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...
  • Page 136 ■Ready-off command from controller [G] [WG] 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...
  • Page 137 ■Alarm occurrence When an alarm occurs, the servo motor stops using the same method as with the dynamic brake. Page 122 Stopping with dynamic brake ■When both the main circuit power supply and the control circuit power supply are turned off The same timing chart shown in "When both the main circuit power supply and the control circuit power supply are turned off"...
  • Page 138: Vertical Axis Freefall Prevention Function

    3.17 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 139: Timing Chart [G] [Wg]

    Timing chart [G] [WG] (Forced stop 2) (Enabled) Travel distance Position [Pr. PC31] Set the base circuit shut-off delay time. ([Pr. PC02]) Base circuit (Energy supply to the servo motor) (Electromagnetic (Enabled) brake interlock) Actual operation of Disabled electromagnetic brake Enabled Timing chart [A] (Forced stop 2)
  • Page 140: Acceleration/Deceleration Function

    3.18 Acceleration/deceleration function This function enables smooth acceleration/deceleration. The following methods are available for the acceleration/deceleration function. • [G] [WG] Item Explanation Reference Acceleration/deceleration This is a method for performing acceleration/deceleration in accordance with the specified Page 138 Acceleration/ time constant method acceleration/deceleration time constants [ms].
  • Page 141 Setting method [G] [WG] The setting method varies for each control mode. Refer to the following table. In addition, the deceleration time constant of the forced stop deceleration function can be set with [Pr. PC24 Deceleration time constant at forced stop]. Page 123 Forced stop deceleration function Control mode Symbol...
  • Page 142: S-Pattern Acceleration/Deceleration Time Constant [G] [Wg]

    S-pattern acceleration/deceleration time constant [G] [WG] This function is available on servo amplifiers with firmware version A5 or later. Setting S-pattern acceleration/deceleration time constant enables smooth start/stop of the servo motor. This function operates when [Pr. PT51 S-pattern acceleration/deceleration time constants] is set. Setting speed Servo motor speed 0 [r/min]...
  • Page 143: S-Pattern Acceleration/Deceleration Time Constant [A]

    S-pattern acceleration/deceleration time constant [A] Setting S-pattern acceleration/deceleration time constant enables smooth start/stop of the servo motor. This function is enabled when [Pr. PC03 S-pattern acceleration/deceleration time constants] is set. Servo motor speed Speed command 0 r/min Time (0 mm/s) Speed Speed acceleration...
  • Page 144: Acceleration/Deceleration [G] [Wg]

    Acceleration/deceleration [G] [WG] Acceleration/deceleration are available on servo amplifiers with firmware version A5 or later. Acceleration/deceleration is performed in accordance with the specified acceleration/deceleration [command unit/s ]. Unlike the acceleration/deceleration time constants, acceleration/deceleration can be performed independent of the rated speed of the servo motor.
  • Page 145 Setting method Select an acceleration/deceleration unit in [Pr. PT01.1 Speed/acceleration/deceleration unit selection]. Servo Symbol Name Outline parameter PT01.1 **CTY Speed/acceleration/deceleration Select an acceleration/deceleration unit. unit selection 0: ms 1: Command unit/s Relevant acceleration/deceleration data Page 99 Relevant speed data and acceleration/deceleration data 3 BASIC FUNCTION 3.18 Acceleration/deceleration function...
  • Page 146: Quick Stop [G] [Wg]

    3.19 Quick stop [G] [WG] 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 123 Forced stop deceleration function When the Quick stop command in [Controlword (Obj.
  • Page 147: 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 148: Halt [G] [Wg]

    3.20 Halt [G] [WG] 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 [Profile deceleration (Obj. 6084h)] or [Homing acceleration (Obj. 609Ah)], and then the state remains as "Operation Enable"...
  • Page 149: Command Pulse Train Monitoring Function [A]

    3.21 Command pulse train monitoring function [A] Available on servo amplifiers with firmware version A5 or later. It is recommended to use this function for safety aspect. Use this function so that a command pulse train will not be input incorrectly due to such a factor as noise, which results in unexpected operation.
  • Page 150: 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 261 Software position limit [G] [WG] Page 262 Torque limit [G] [WG] Torque limit...
  • Page 151 Function to shorten operating time Applicable function Outline Reference Parameter automatic setting Transmits servo parameter data from the controller with SLMP Refer to "Parameter automatic setting" in the communication via CC-Link IE TSN. User's Manual (Communication Function). Page 260 Software reset Software reset The same processing performed at power cycle of the servo amplifier is performed without the need for actual cycling.
  • Page 152: Tough Drive Function

    Tough drive function Tough drive function is a function that allows the operation to continue without stopping the device, even when an alarm would occur normally. This function also features the vibration tough drive and the instantaneous power failure tough drive. Vibration tough drive Vibration tough drive function is a function to: 1) prevent vibration, as the mechanical resonance frequency changes due to aging of the machine;...
  • Page 153 Timing chart ■When the instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (instantaneous power failure tough drive - Detection time)] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (instantaneous power failure tough drive - Detection time)].
  • Page 154 ■When the instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (instantaneous power failure tough drive - Detection time)] The operation status differs depending on how much the bus voltage decreases. •...
  • Page 155 • [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 of the control circuit power supply. Instantaneous power failure time of control circuit power supply (Energization) Control circuit (Power failure)
  • Page 156: Compliance With Semi-F47 Standard

    Compliance with SEMI-F47 standard This function complies with "SEMI-F47 semiconductor process equipment voltage sag immunity test". With this function, even when an instantaneous power failure occurs during operation, the occurrence of [AL. 010 Undervoltage] can be avoided by using the electrical energy charged in the capacitor. •...
  • Page 157: Calculation Method Of Tolerance Against Instantaneous Power Failure

    Calculation method of tolerance against instantaneous power failure The following table shows the tolerance against instantaneous power failure when the instantaneous power failure voltage is the rated voltage × 50 %, and the instantaneous power failure time is 200 ms. Instantaneous maximum output means the power which the servo amplifier can output using maximum torque at the rated speed.
  • Page 158: Scale Measurement Function [G] [Wg]

    [Pr. PA22.3 Scale measurement function selection] is set to "0" (disabled) or "2" (use with incremental system). • In the case of using the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder, [AL. 01A Servo motor combination error] occurs if the servo motor that was connected to the absolute position detection system at startup was changed to another servo motor.
  • Page 159: Function Block Diagram

    Function block diagram The following shows a block diagram of the scale measurement function. In the scale measurement function, the control is performed in the units of the servo motor encoder. Controller Position command Servo motor [Target position (Obj. 607Ah)] Servo motor-side feedback pulse (in servo motor-side resolution unit) Motor-side droop pulse...
  • Page 160: System Configuration

    System configuration For linear encoders ■Servo amplifier without CN2L Controller Servo amplifier Position command control signal Linear encoder compatible with two-wire type serial interface Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table ■Servo amplifier with CN2L Controller Servo amplifier Position command...
  • Page 161 For rotary encoders ■Servo amplifier without CN2L Controller Servo amplifier Position command control signal Servo motor encoder signal Driving part Servo motor Load-side encoder signal Two-wire type rotary encoder *1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. ■Servo amplifier with CN2L Controller Servo amplifier...
  • Page 162: Scale Measurement Encoders

    Scale measurement encoders Precautions Contact the manufacturer of the scale measurement encoder being used for information on specifications, performance and guarantees. Linear encoders Refer to the following manual for linear encoders that can be used as a scale measurement encoder. MR-J5 Partner's Encoder User's Manual To use [Pr.
  • Page 163 Encoder cable configuration diagram when using a linear encoder Cables to be used vary depending on each scale measurement encoder. Refer to the following manual for the linear encoder cables. MR-J5 Partner's Encoder User's Manual ■Servo amplifier without CN2L MR-J4FCCBL03M branch cable Servo amplifier MOTOR Rotary servo motor encoder...
  • Page 164 Encoder cable configuration diagram when using a rotary encoder • If using a rotary encoder as a scale measurement encoder, use an HK-KT servo motor for as the encoder. • Use a two-wire type encoder cable. For cables for rotary encoders, refer to "Motor cable/connector sets" and "Encoder cable" in the following manual. Rotary Servo Motor User's Manual (HK series) ■Servo amplifier without CN2L MR-J4FCCBL03M branch cable...
  • Page 165: Setting Method

    Setting method Precautions After mounting the scale measurement encoder and setting the servo parameters, operate the device (scale measurement encoder) to check that the data of the scale measurement encoder has been updated properly. If not properly updated, check the mounting, wiring, and servo parameter settings of the scale measurement encoder. Change the polarity of the scale measurement encoder as necessary.
  • Page 166 Selecting a polarity of the scale measurement encoder Select the polarity of the scale measurement encoder in [Pr. PC27.0 Encoder pulse count polarity selection] and set [Pr. PC27.2 ABZ phase input interface encoder ABZ phase connection assessment function selection] shown below as required. Precautions [Pr.
  • Page 167 Procedure for replacing the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder To replace the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder being used as a scale measurement encoder, use the following procedure.
  • Page 168: Related Objects

    Related objects Scale measurement function objects Check that bit 1 of [Encoder status2 (Obj. 2D35h: 02h)] is on before reading the object. If the object is read while bit 1 is off, the value of each object will be 0. For details on the objects, refer to the User's Manual (Object Dictionary).
  • Page 169: Touch Probe

    Touch probe Outline [G] [WG] This function is available on servo amplifiers with firmware version A5 or later. The touch probe function latches the current position by inputting a signal from a sensor or the like. Position feedback at the rising edge and falling edge of an input device can be stored into an object according to specified conditions.
  • Page 170: Setting Method [G] [Wg]

    Setting method [G] [WG] The touch prove function memorizes position feedback stores it in each object according to the conditions specified with [Touch probe function (Obj. 60B8h)] or [Touch probe function 2 (Obj. 2ED8h)]. Refer to the following table for the settings of input/output devices. Page 112 Assigning I/O devices Page 168 Input device settings Refer to the following for the timing chart.
  • Page 171 The following shows a setting example of the MR-J5W3-_G_. Assign input devices (TPR1, TPR2, TPR3) with [Pr. PD05.0-1 Input device selection 3], and select an axis for using an input signal with [Pr. PD05.4 Input axis selection 3]. When storing latched positions of A-axis, B-axis, and C-axis to each corresponding touch probe 1 Axis to be latched Object for storage Touch probe 1...
  • Page 172 Servo parameter The filtering set by [Pr. PD11.0 Input signal filter selection] is disabled for a pin to which TPR1, TPR2, or TPR3 is assigned as an input device. ■MR-J5-_G_-RJ_ Servo Symbol Name Outline parameter PD05.0-1 *DI3 Input device selection 3 Any input device can be assigned to the CN3-19 pin.
  • Page 173 Object dictionary For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 60B8h  Touch probe function Page 171 Details on [Touch probe function (Obj. 60B8h)]  Page 173 Details on [Touch probe status (Obj. 60B9h)] 60B9h Touch probe status 60BAh...
  • Page 174 ■Details on [Touch probe function 2 (Obj. 2DE8h)] Description 0: Touch probe 3 disabled 1: Touch probe 3 enabled 0: Single trigger mode 1: Continuous trigger mode 0: Triggered by inputting touch probe 3 1: Triggered at the zero point of the encoder (reserved) The value at reading is undefined.
  • Page 175 ■Details on [Touch probe status (Obj. 60B9h)] Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: The rising edge position of touch probe 1 has not been stored 1: The rising edge position of touch probe 1 has been stored When the position feedback is stored in [Touch probe 1 positive edge (Obj.
  • Page 176 ■Details on [Touch probe status 2 (Obj. 2DE9h)] Description 0: Touch probe 3 disabled 1: Touch probe 3 enabled 0: The position at the rising edge of touch probe 3 has not been stored 1: The position at the rising edge of touch probe 3 has been stored When the position feedback is stored in [Touch probe 3 positive edge (Obj.
  • Page 177 Timing chart 60B8h Bit 0 Touch probe function Enable Touch Probe 1 60B8h Bit 1 Trigger first event 60B8h Bit 4 Enable Sampling at positive edge 60B8h Bit 5 Enable Sampling at negative edge 60B9h Bit 0 Touvh probe status Touch Probe 1 is enabled 60B9h Bit 1 Touch Probe 1 positive edge stored...
  • Page 178 The following shows a timing chart of Bit 6 of [Touch probe status (Obj. 60B9h)]. Bit 7 of [Touch probe status (Obj. 60B9h)] changes when latching completes at the falling edge. 60B8h Bit 0 Touch probe function Enable Touch Probe 1 60B8h Bit 1 Trigger first event 60B8h Bit 4...
  • Page 179: 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 target Diagnosis item...
  • Page 180: Friction Vibration Estimation Function

    Friction vibration estimation function In the friction vibration estimation function, the friction estimation function estimates the friction of the drive system in the equipment, and the vibration estimation function estimates the minute vibration level and vibration frequency based on the data in the servo amplifier.
  • Page 181 Setting method [G] [WG] ■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 182 Setting method [A] ■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. PF51.6] to "1" (automatic setting) to automatically calculate [Pr. PF31]. Drive the servo motor.
  • Page 183 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 184 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 185 Related objects [G] [WG] For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C20h Machine diagnostic status The machine diagnostic status is returned. *1*2 [Bit 0 to 3: Friction estimation status at forward rotation] 0: Friction is being estimated.
  • Page 186: Friction Failure Prediction Function

    Friction failure prediction function The friction failure prediction function predicts device failure based on the dynamic friction (at rated speed) estimated by the friction vibration estimation function. • In the torque mode, the friction failure prediction function cannot be used. Precautions [G] [WG] •...
  • Page 187 Setting method [G] [WG] The friction failure prediction function predicts a failure of the equipment from the increase and decrease in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7.2 Friction failure prediction warning] will occur.
  • Page 188 *1 The data of the estimated static friction and dynamic friction can be saved on the machine diagnosis screen of MR Configurator2. *2 Setting the value estimated by the automatic threshold setting in [Pr. PF19] and [Pr. PF20] reduces the possibility of an erroneous detection for failure prediction although the function operates properly with the initial value of [Pr.
  • Page 189 For the friction failure prediction function, the threshold that triggers [AL. 0F7.2 Friction failure prediction warning] can be set using the following two methods. ■Automatic threshold setting This is a method to automatically calculate the threshold for triggering [AL. 0F7.2 Friction failure prediction warning] using the dynamic friction (at rated speed) estimated by the friction estimation function.
  • Page 190 ■Threshold reset method To automatically reset thresholds after the upper and lower limit thresholds are set automatically, set [Pr. PF34.0 Friction failure prediction warning selection] to "3" (threshold reset), then cycle the power. After cycling the power, the threshold value is reset, and [Pr.
  • Page 191 Setting method [A] The friction failure prediction function predicts a failure of the equipment from the increase and decrease in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7.2 Friction failure prediction warning] will occur.
  • Page 192 *1 The data of the estimated static friction and dynamic friction can be saved on the machine diagnosis screen of MR Configurator2. *2 Setting the value estimated by the automatic threshold setting in [Pr. PF19] and [Pr. PF20] reduces the possibility of an erroneous detection for failure prediction although the function operates properly with the initial value of [Pr.
  • Page 193 For the friction failure prediction function, the threshold that triggers [AL. 0F7.2 Friction failure prediction warning] can be set using the following two methods. ■Automatic threshold setting This is a method to automatically calculate the threshold for triggering [AL. 0F7.2 Friction failure prediction warning] using the dynamic friction (at rated speed) estimated by the friction estimation function.
  • Page 194 ■Threshold reset method To automatically reset thresholds after the upper and lower limit thresholds are set automatically, set [Pr. PF51.0 Friction failure prediction warning selection] to "3" (threshold reset), then cycle the power. After cycling the power, the threshold value is reset, and [Pr.
  • Page 195 Friction failure prediction [G] [WG] When upper and lower limit thresholds are inputted to the servo amplifier, the servo amplifier starts friction failure prediction. If the dynamic friction (at rated speed) estimated by the friction estimation function exceeds the upper or lower limit threshold during the friction failure prediction, [AL.
  • Page 196 Related objects [G] [WG] For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status]...
  • Page 197: Vibration Failure Prediction Function

    Vibration failure prediction function The vibration failure prediction function predicts device failure based on the vibration level that has been estimated with the friction vibration estimation function during servo motor operation. Precautions • When the vibration failure prediction function is enabled, a vibration failure warning may occur if the gains of the servo amplifier are changed.
  • Page 198 For the vibration failure prediction function, the threshold that triggers [AL. 0F7.1 Friction failure prediction warning] can be set using the following two methods. ■Automatic threshold setting From the vibration level estimated by the vibration estimation function, a threshold that triggers [AL. 0F7.1 Vibration failure prediction warning] is automatically calculated in the servo amplifier.
  • Page 199 Setting method [A] The vibration prediction function predicts a failure of the equipment with the increase of the vibration level, which is estimated by the vibration estimation function. If a failure of the equipment is predicted from the vibration, [AL. 0F7.1 Vibration failure prediction warning] occurs.
  • Page 200 For the vibration failure prediction function, the threshold that triggers [AL. 0F7.1 Friction failure prediction warning] can be set using the following two methods. ■Automatic threshold setting From the vibration level estimated by the vibration estimation function, a threshold that triggers [AL. 0F7.1 Vibration failure prediction warning] is automatically calculated in the servo amplifier.
  • Page 201 ■Vibration failure prediction warning setting Set [Pr. PF51.1 Vibration failure prediction warning selection] to "1" (automatic threshold setting) or "2" (manual threshold setting) to enable vibration failure prediction warning. Servo Symbol Name Outline parameter PF51.1 *MFP Vibration failure prediction Set when the vibration failure prediction warning is enabled. warning selection 0: Disabled (initial value) 1: Enabled (automatic threshold setting)
  • Page 202 Vibration failure prediction [A] When a threshold is inputted to the servo amplifier, the servo amplifier starts vibration failure prediction. During vibration failure prediction, if the vibration level estimated by the vibration estimation function while the servo motor is in operation exceeds the threshold, [AL.
  • Page 203: Total Travel Distance Failure Prediction Function

    Total travel distance failure prediction function Outline [G] [WG] The total travel distance failure prediction function can check the total travel distance of devices and that of the servo motor after the shipment. The servo motor total travel distance indicates the cumulative number of rotations or total travel distance of the servo motor. The servo motor total travel distance is intended to be used as a guide for the timing of replacement and maintenance of the servo motor and mechanical parts in the equipment.
  • Page 204 Total travel distance reading method [A] The servo motor total travel distance can be read with the engineering tool (MR Configurator2) via USB connection. The value set in [Pr. PF58 Servo motor total travel distance offset] is added to the read servo motor total travel distance. ■When reading the total travel distance with an engineering tool (MR Configurator2) Select the servo motor total travel distance on the machine diagnosis screen and click "Read".
  • Page 205 Setting method of total travel distance failure prediction function [A] Using the servo motor total travel distance, the total travel distance failure prediction function can be performed in the following procedure. ■Failure prediction function setting with servo motor total travel distance To enable servo motor total travel distance failure prediction warning, set [Pr.
  • Page 206 Execution of total travel distance failure prediction function [G] [WG] Using the servo motor total travel distance, the total travel distance failure prediction function operates as follows. ■Total travel distance failure prediction with servo motor total travel distance Threshold = [Pr. PF41] Servo motor total travel distance (Warning)
  • Page 207 Execution of total travel distance failure prediction function [A] Using the servo motor total travel distance, the total travel distance failure prediction function operates as follows. ■Total travel distance failure prediction with servo motor total travel distance Threshold = [Pr. PF53] Servo motor total travel distance (Warning)
  • Page 208 When replacing equipment [G] [WG] When replacing the equipment, set the servo motor total travel distance offset to obtain the accurate total travel distance for the device and have the servo motor total travel distance continue from the previous distance value. Perform the actions shown in the following table when replacing the equipment.
  • Page 209 Related objects [G] [WG] For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status]...
  • Page 210: Gear Failure Diagnosis Function

    Gear failure diagnosis function The gear failure diagnosis function uses the servo motor driving status to predict a gear malfunction by estimating the backlash amount of the gear connected to the servo motor. The gear failure diagnosis function includes the backlash estimation function and the gear failure prediction function.
  • Page 211 Setting method Use the gear failure diagnosis function with the following procedure: Start Startup the system. Set [Pr. PF66.0-3 Gear for backlash estimation - Numerator] and [Pr. PF66.4-7 Gear for backlash estimation - Denominator] to the gear ratio of the gears connected to the servo motor. Set [Pr.
  • Page 212 ■Backlash estimation servo parameter input • Setting of gear ratio for backlash estimation Input the numerator and denominator of the gear ratio on the gear connected to the servo motor. Inputting the numerator and denominator of the gear ratio limits the travel distance during the backlash estimation to the minimum. When either the numerator or the denominator of the gear ratio is set to "0", the travel distance during the backlash estimation is two rotations each in the forward and reverse rotation side from the starting position of the backlash estimation.
  • Page 213 Backlash estimation function [G] [WG] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
  • Page 214 Backlash estimation function [A] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
  • Page 215 Cancellation of backlash estimation function Click the stop button during backlash estimation to cancel the backlash estimation. When backlash estimation is canceled, "C000" is displayed in the error code status. When resuming backlash estimation, stop the servo motor once. In addition, return the movable part to the estimated starting position.
  • Page 216 Gear failure prediction function The gear failure prediction function predicts the gear failure by comparing the backlash amount estimated by the backlash estimation function with the backlash value set in the servo parameter. After inputting the threshold to the servo amplifier with the gear diagnosis threshold setting method, performing backlash estimation executes the gear failure prediction.
  • Page 217: Belt Diagnosis Function

    Belt diagnosis function Outline [G] [WG] The belt diagnosis function estimates the tension deterioration of the belt connected to the servo motor by using the friction value of the servo amplifier internal data. A belt failure can be predicted based on the tension deterioration of the belt. Also, the timing of belt re-tensioning can be determined.
  • Page 218 Outline [A] The belt diagnosis function estimates the tension deterioration of the belt connected to the servo motor by using the friction value of the servo amplifier internal data. A belt failure can be predicted based on the tension deterioration of the belt. Also, the timing of belt re-tensioning can be determined.
  • Page 219 • The friction failure prediction function and the static friction failure estimation function cannot be used at the same time. [AL. 037 Parameter error] occurs when the dynamic friction failure prediction function and static friction failure prediction function are enabled at the same time. Precautions •...
  • Page 220 Static friction failure prediction function [G] [WG] ■Friction failure prediction function method of use Follow these procedures when using the static friction failure prediction function. For the static friction failure prediction function, threshold that outputs a warning can be calculated automatically inside the servo amplifier using the automatic threshold setting or set with servo parameters using the manual threshold setting.
  • Page 221 *1 Estimated static friction and dynamic friction can be saved by opening the machine diagnostic screen of MR Configurator2. *2 If the equipment has been operated for less than continuous three hours, or the friction estimation has not finished for the rotation direction set in [Pr.
  • Page 222 ■Threshold setting method When [Pr. PF34.5 Static friction failure prediction warning selection] is set to "1" (automatic threshold setting), [Pr. PF69 Static friction failure prediction - Average characteristics] and [Pr. PF70 Static friction failure prediction - Standard deviation] for determining a threshold are automatically rewritten according to the dynamic friction (at rated speed) estimated in the servo amplifier.
  • Page 223 ■Friction failure prediction function When the upper and lower thresholds are inputted to the servo amplifier with the threshold setting method, the servo amplifier starts the static friction failure prediction. For the threshold setting method, refer to the following. Page 220 Threshold setting method During the static friction failure prediction, [AL.
  • Page 224 ■Related objects The following is a description of objects related to the static friction failure prediction function. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
  • Page 225 Static friction failure prediction function [A] ■Friction failure prediction function method of use Follow these procedures when using the static friction failure prediction function. For the static friction failure prediction function, threshold that outputs a warning can be calculated automatically inside the servo amplifier using the automatic threshold setting or set with servo parameters using the manual threshold setting.
  • Page 226 *1 Estimated static friction and dynamic friction can be saved by opening the machine diagnostic screen of MR Configurator2. *2 If the equipment has been operated for less than continuous three hours, or the friction estimation has not finished for the rotation direction set in [Pr.
  • Page 227 ■Threshold setting method When [Pr. PF51.5 Static friction failure prediction warning selection] is set to "1" (automatic threshold setting), [Pr. PF69 Static friction failure prediction - Average characteristics] and [Pr. PF70 Static friction failure prediction - Standard deviation] for determining a threshold are automatically rewritten according to the dynamic friction (at rated speed) estimated in the servo amplifier.
  • Page 228 ■Friction failure prediction function When the upper and lower thresholds are inputted to the servo amplifier with the threshold setting method, the servo amplifier starts the static friction failure prediction. For the threshold setting method, refer to the following. Page 225 Threshold setting method During the static friction failure prediction, [AL.
  • Page 229 Belt tension deterioration prediction function [G] [WG] ■How to use the belt tension deterioration prediction function Follow these procedures when using the static friction prediction function. Start Startup the system. Operate the equipment with the belt loosened and complete friction estimation.
  • Page 230 ■Setting "Static friction when extended" After attaching the belt to the equipment, drive the servo motor, and estimate the static friction with the friction vibration estimation function. In accordance with the completed static friction estimation, set [Pr. PF75 Static friction when extended] as follows.
  • Page 231 ■Threshold setting for belt tension Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. When the belt tension estimated value inside the servo amplifier falls below the belt tension threshold, [AL. 0F7 Machine diagnostic warning] occurs. [Pr. PF72 Belt tension on installation] [Pr.
  • Page 232 ■Related objects The following is a description of objects related to the belt tension deterioration prediction function. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
  • Page 233 Belt tension deterioration prediction function [A] ■How to use the belt tension deterioration prediction function Follow these procedures when using the static friction prediction function. Start Startup the system. Operate the equipment with the belt loosened and complete friction estimation. Set a belt tension value in [Pr.
  • Page 234 ■Setting "Static friction when extended" After attaching the belt to the equipment, drive the servo motor, and estimate the static friction with the friction vibration estimation function. For friction vibration estimation function, refer to the following. Page 178 Friction vibration estimation function In accordance with the completed static friction estimation, set [Pr.
  • Page 235 ■Threshold setting for belt tension Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. When the belt tension estimated value inside the servo amplifier falls below the belt tension threshold, [AL. 0F7 Machine diagnostic warning] occurs. [Pr. PF72 Belt tension on installation] [Pr.
  • Page 236: 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 237 Precautions • When using the graph function with an engineering tool, the drive recorder function cannot be used. To use the drive recorder function, wait until the time set in [Pr. PF21 Drive recorder switching time setting] passes, cycle the power of the servo amplifier, or perform the software reset after using the graph function.
  • Page 238: 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 239 Method of reading recorded data Drive recorder data can be read with an engineering tool (MR Configurator2) via a network or USB connection. A connection example is shown below. • Transferring files with direct connection or via a hub (Ethernet/MR Configurator2) Servo amplifier Personal computer Ethernet hub...
  • Page 240 ■Reading recorded data via a network When reading the recorded data from the drive recorder via a network, use the engineering tool or the FTP server function. The read data can be checked with GX LogViewer. The data is saved in a file as shown below. Path Remark /drvrec/dr*_nnnn.json...
  • Page 241: How To Use The Function [A]

    How to use the function [A] The automatic setting mode is enabled for the drive recorder function in the factory settings. If the initial setting does not meet your needs, set [Pr. PA23 Drive recorder desired alarm trigger setting] and collect data suitable for analyzing the occurrence factors of alarms.
  • Page 242 ■Reading recorded data via a network When reading the recorded data from the drive recorder via a network, use the FTP server function. The read data can be checked with GX LogViewer. The data is saved in a file as shown below. File path Remark /drvrec/dr1_nnnn.json...
  • Page 243: 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 244 Servo Symbol Name Outline parameter PF86 DRTL2 Drive recorder - Trigger level Set the trigger level of [Pr. PF84.2-3 Drive recorder - Trigger channel selection 2] in setting 2 decimal. Initial value: 0 PF87.0-2 DRAC1 Drive recorder - Analog channel 1 Set the data to be assigned to analog channel 1.
  • Page 245 *1 Refer to the following for setting values. Page 243 Trigger channel selection *2 Refer to the following for setting values. Page 244 Analog channel *3 Refer to the following for setting values. Page 245 Digital channel ■Trigger channel selection Setting value Meaning Analog channel 1...
  • Page 246 ■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 247 *1 "mm/s" is used instead of "r/min" for linear servo motors. *2 Available on servo amplifiers with firmware version A5 or later. *3 Available on servo amplifiers with firmware version B0 or later. ■Digital channel Setting value Symbol Name Classification 0000 CSON Servo ON command...
  • Page 248 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position completion 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2...
  • Page 249 Servo parameter [A] Servo Symbol Name Outline parameter PF80.0 DRMC Drive recorder - Operation mode Select the operation mode of drive recorder. selection 0: Automatic setting mode (initial value) 1: Manual setting mode PF80.2-3 DRMC Drive recorder - Sampling cycle Set the sampling cycle.
  • Page 250 Servo Symbol Name Outline parameter PF89.4-6 DRAC3 Drive recorder - Analog channel 6 Set the data to be assigned to analog channel 6. selection Initial value: 009h (Bus voltage) PF90.0-2 DRAC4 Drive recorder - Analog channel 7 Set the data to be assigned to analog channel 7. selection Initial value: 00Ch (Effective load ratio) PF91.0-3...
  • Page 251 ■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 252 ■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 253 *1 "mm/s" is used instead of "r/min" for linear servo motors. *2 Available on servo amplifiers with firmware version A5 or later. *3 Available on servo amplifiers with firmware version B0 or later. ■Digital channel Setting value Symbol Name Classification 0001 Forward rotation stroke end 0002...
  • Page 254 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2 Malfunction 2...
  • Page 255 Object dictionary [G] [WG] For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2C02h Drive recorder status Returns the operating status of the drive recorder. 2A70h ARRAY Drive recorder history newest Returns the total number of Sub Indexes. Drive recorder history index Returns the saved index of the drive recorder.
  • Page 256: Standard Acquisition Waveform List [G] [Wg]

    Standard acquisition waveform list [G] [WG] 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 257 Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 042 Servo Torque Motor-side/ Motor-side/ Command Droop pulses Load-side  0.500 ms 512 ms motor load-side load-side pulse (100 pulses) droop...
  • Page 258: Standard Acquisition Waveform List [A]

    Standard acquisition waveform list [A] 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 259 Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 042 Servo Torque Motor-side/ Motor-side/ Command Droop pulses Load-side  0.500 ms 512 ms motor load-side load-side pulse (100 pulses) droop...
  • Page 260: Waveform Recording Inapplicable Alarm List

    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-J5 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. The drive recorder does not operate in this case.
  • Page 261: List Of Auxiliary Recording Data

    List of auxiliary recording data A list of auxiliary record data saved by the drive recorder is shown. Instantaneous monitor data The instantaneous monitor data is saved in the vicinity of the trigger condition establishment. System configuration display data The system configuration display data saved by the drive recorder is as follows. Incompatible items are indicated as [----]. Name Outline Servo amplifier identification information...
  • Page 262: Software Reset

    Software reset Software reset is a function to reset the internal status of the servo amplifier and obtain the same effect as cycling the power. By performing the software reset, the setting of the servo parameters can be reflected without cycling the power. •...
  • Page 263: Software Position Limit [G] [Wg]

    Software position limit [G] [WG] 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 264: Torque Limit [G] [Wg]

    Torque limit [G] [WG] The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. Item Outline Internal torque limit The maximum torque is limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].
  • Page 265 Relation between servo parameters and objects [Pr. PA11] and [Pr. PA12] are used for [Positive torque limit value (Obj. 60E0h)] and [Negative torque limit value (Obj. 60E1h)]. For [Pr. PA14 Travel direction selection] and [Pr. PC29.3 Torque POL reflection selection], the relationship between objects and servo parameters that limit the torque changes as follows.
  • Page 266: Checking "Limiting Torque" Status

    Checking "Limiting torque" status 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 4.9 Torque limit [G] [WG]...
  • Page 267: Torque Limit [A]

    4.10 Torque limit [A] The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. The torque limit function can be used by switching the following limit vales. Item Outline Internal torque limit The maximum torque is limited by the values of [Pr.
  • Page 268: Setting Method

    Setting method • The rated torque unit is used as a default unit for the torque limit which differs from the setting for MR-J4- _A_ servo amplifiers. To change the unit to the maximum torque unit, change the setting in [Pr. PC50.0 Torque limit unit change].
  • Page 269: Checking "Limiting Torque" Status

    Torque limit selection The torque limit can be selected using TL (External torque limit selection). In addition, by turning on TL1 (Internal torque limit selection) through servo parameters, [Pr. PC35 Internal torque limit 2] can be selected. However, if the value for [Pr. PA11] or [Pr. PA12] is less than the limit value selected using TL/TL1, the value for [Pr. PA11] or [Pr.
  • Page 270: Speed Limit [G] [Wg]

    4.11 Speed limit [G] [WG] During the torque mode, this function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in the torque mode. • When [Velocity limit value (Obj. 2D20h)] is mapped to cyclic communication, values written from engineering tools are overwritten from the controller.
  • Page 271: Speed Limit [A]

    4.12 Speed limit [A] During the torque mode, this function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in the torque mode. Precautions • When the servo motor speed reaches the speed limit value, torque control may become unstable. Setting method Speed limit value and servo motor speed The speed is limited to the values set with [Pr.
  • Page 272 Speed limit value selection The speed limit can be selected with SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3). Input device Speed limit VLA (Analog speed limit) [Pr. PC05 Internal speed 1] [Pr. PC06 Internal speed 2] [Pr.
  • Page 273: Checking "Limiting Speed" Status

    Checking "Limiting speed" status VLC turns on when the servo motor speed reaches a speed limited with internal speed 1 to 7 or the analog speed limit. 4 APPLICABLE FUNCTIONS 4.12 Speed limit [A]...
  • Page 274: A/B/Z-Phase Pulse Output Function

    4.13 A/B/Z-phase pulse output function This function outputs position information from the servo motor or the load-side encoder in the form of A/B/Z-phase pulses. Restrictions [G] [WG] • The encoder Z-phase pulse is not output when the MR-J5W_-_G_ servo amplifier is used. •...
  • Page 275: Setting Method [G] [Wg]

    Setting method [G] [WG] The encoder output pulse function can be used by setting the following servo parameters. For output specifications of the Z- phase pulse, refer to the following. Page 279 Z-phase pulse output Servo Symbol Name Outline parameter PA15 *ENR Encoder output pulses...
  • Page 276 Encoder output pulse setting Set [Pr. PC03.1 Encoder output pulse setting selection]. Set the number of output pulses according to the set value. ■When [Pr. PC03.2] = "0" (servo motor-side encoder) Setting value of [Pr. PC03.1] For servo motors and direct drive motors For linear servo motors "0"...
  • Page 277 ■When [Pr. PC03.2] = "1" (load-side encoder) Setting value of [Pr. PC03.1] When in the fully closed loop control mode When the scale measurement function is enabled "0" (output pulse setting) [AL. 037] occurs. "1" (dividing ratio setting) Set the dividing ratio to the resolution per servo motor Set the dividing ratio to the travel distance of the scale revolution with [Pr.
  • Page 278: Setting Method [A]

    Setting method [A] The encoder output pulse function can be used by setting the following servo parameters. For output specifications of the Z- phase pulse, refer to the following. Page 279 Z-phase pulse output Servo Symbol Name Outline parameter PA15 *ENR Encoder output pulses Set the encoder output from the servo amplifier by using the number of output pulses...
  • Page 279 Encoder output pulse setting Set [Pr. PC19.1 Encoder output pulse setting selection]. Set the number of output pulses according to the set value. ■When [Pr. PC19.2] = "0" (servo motor-side encoder) Setting value of [Pr. For servo motors and direct drive motors For linear servo motors PC19.1] "0"...
  • Page 280 ■When [Pr. PC19.2] = "1" (load-side encoder) Setting value of [Pr. When in the fully closed loop control mode PC19.1] "0" (output pulse setting) [AL. 037] occurs. "1" (dividing ratio setting) Set the dividing ratio to the resolution per servo motor revolution with [Pr. PA15 Encoder output pulses]. Resolution per revolution [pulse/rev] Output pulse =...
  • Page 281: Z-Phase Pulse Output

    Z-phase pulse output Z-phase pulse output specifications The Z-phase pulse is outputted by each encoder as follows. Encoder type Z-phase pulse output Linear encoders Incremental Outputs one pulse every time the Z-phase of the linear encoder is passed. Absolute position Outputs one pulse for every virtual rotation.
  • Page 282: Infinite Feed Function [G] [Wg]

    4.14 Infinite feed function [G] [WG] 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. 4.15 Servo amplifier life diagnosis function The servo amplifier life diagnosis function is a function to diagnose the service life of the servo amplifier itself.
  • Page 283: 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 284: Encoder Communication Diagnosis Function

    4.16 Encoder communication diagnosis function This servo amplifier has a function to diagnose the failure of the differential driver or receiver used for the encoder communication circuit. By inputting the diagnostic signal to the encoder communication circuit, an error on the differential driver or receiver is detected.
  • Page 285: Usage [A]

    Usage [A] To enable the diagnosis mode, set "1" (enabled) in [Pr. PC60.4 Encoder communication circuit diagnosis mode selection] and cycle the power. Remove the encoder cable at power off. During the diagnosis mode, [AL. 118.1 Encoder communication circuit diagnosis in progress] occurs. Perform the diagnosis in accordance with the items displayed on the encoder communication circuit diagnosis screen of MR Configurator2.
  • Page 286: Disconnection/Incorrect Wiring Detection Function

    4.17 Disconnection/incorrect wiring detection function An alarm may occur if the main circuit power supply (L1/L2/L3) is an open phase, and the servo motor load becomes too large. Also, when an open phase has occurred in the servo motor power supply (U/V/W) or the power module has malfunctioned, an overcurrent alarm or overload alarm occurs.
  • Page 287 Setting method [G] [WG] ■1-axis servo amplifiers with a capacity of 2.0 kW or less If "0" (automatic) is set in [Pr. PC20.4 Input open-phase detection selection], the input open-phase detection function will be disabled. The input open-phase detection function is enabled by setting [Pr. PC20.4] to "1" (warning enabled) or "2" (alarm enabled). If "1"...
  • Page 288: Output Open Phase 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 [G] [WG] • The output open phase detection function will be disabled if an alarm or warning other than [AL. 139 Open-phase error] has occurred.
  • Page 289 Setting method [G] [WG] When [Pr. PC19.4 Output open-phase detection selection] is set to "1" (enabled), the output open-phase detection function will be enabled. Servo Symbol Name Outline parameter PC19.4 *COP6 Output open-phase detection Enable or disable the detection of output open-phase detection function. selection 0: Disabled (initial value) 1: Enabled...
  • Page 290: Servo Motor Incorrect Wiring Detection Function [Wg]

    • The incorrect wiring may not be detected when different servo motors with similar capacities are wired incorrectly. • Do not use this function when using a servo motor not manufactured by Mitsubishi Electric. Otherwise, a large current may flow because of this function.
  • Page 291 Setting method Enable/disable the servo motor incorrect wiring detection function in [Pr. PC16.4 Servo motor incorrect wiring detection function selection], and set when to execute the function in [Pr. PC16.5 Servo motor incorrect wiring detection function execution method selection]. Execute the servo motor incorrect wiring detection function when changing the wiring of the servo amplifier.
  • Page 292: Overload Protection (Electronic Thermal) Function

    4.18 Overload protection (electronic thermal) function An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 050 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve. [AL. 051 Overload 2] occurs if the maximum current is applied continuously for several seconds due to a machine collision, etc.
  • Page 293: Command Offset [G] [Wg]

    4.19 Command offset [G] [WG] Available on servo amplifiers with firmware version A5 or later. The command offset function compensates position/speed/torque commands by adding a desired offset amount to the commands. Position offset, velocity offset, and torque offset can be set. Functions Outline Position offset...
  • Page 294 Applicable control modes The following shows enabled/disabled command offsets for each control mode. For control modes of which command offsets are disabled, the setting values of the disabled command offsets are invalid. In the test operation mode, "command offset" is disabled. Control mode Command offset Position offset...
  • Page 295: Chapter 5 Monitoring

    MONITORING Summary [G] [WG] The status of servo motor speed, torque, bus voltage, and other areas of the servo amplifier can be checked with the engineering tools and analog monitor. This chapter shows an example when using MR Configurator2 as the engineering tool. Items that can be monitored with "Display All"...
  • Page 296 Monitor signal (analog) and analog monitor [G] [WG] On MR Configurator2, the status of the monitor signal (analog) can be obtained by using the "Display all" function and the graph function. Refer to the list in this section for the signals which can be obtained with the "Display all" function and the graph function.
  • Page 297 Name Description Availability Display all Graph Analog function monitor    Load-side encoder When an incremental or absolute position type linear encoder is used as information 2 the load-side encoder, "0" is displayed. When a rotary encoder is used as the load-side encoder, the multi-revolution counter value of the encoder is displayed.
  • Page 298 Name Description Availability Display all Graph Analog function monitor    Encoder error counter This indicates the cumulative number of errors during communication with the encoder. Load-side encoder error This indicates the cumulative number of errors during communication with ...
  • Page 299 Monitor signal (analog) and analog monitor [A] On MR Configurator2, the status of the monitor signal (analog) can be obtained by using the "Display all" function and the graph function. Refer to the list in this section for the signals which can be obtained with the "Display all" function and the graph function.
  • Page 300 Name Description Availability Display all Graph Analog function monitor    Load-side encoder The position within one-revolution of the load-side encoder is displayed. information 1 When an incremental type linear encoder is used for the load-side encoder, the Z-phase counter of the load-side encoder is displayed in units of encoder pulses.
  • Page 301 Name Description Availability Display all Graph Analog function monitor    Encoder error counter This indicates the cumulative number of errors during communication with the encoder. Load-side encoder error This indicates the cumulative number of errors during communication with ...
  • Page 302 Monitor signal (digital) [G] [WG] The status of the monitor signal (digital) can be obtained by using the I/O monitor and graph functions of MR Configurator2. As for DI/DO in the table, DI indicates the monitor signal (digital) inputted to a servo amplifier; DO indicates the monitor signal (digital) outputted from a servo amplifier.
  • Page 303 Symbol Device name Description DI/DO SLS2C SLS2 command Operation command of the safety sub-function SLS2. The SLS2 function is activated when OFF is input from the controller. [Pr. PSA08 SLS deceleration monitor time 2] and [Pr. PSA12 SLS speed 2] are used as functional safety parameters.
  • Page 304 Symbol Device name Description DI/DO SBCS SBC output Operation status of the safety sub-function STO. SBC output is turned off while the STO function is operating. Page 324 Output device SDIPS SDIP output Operation status of the safety sub-function SDIP. SDIP output is turned off while the SDIP function is operating.
  • Page 305 Monitor signal (digital) [A] The status of the monitor signal (digital) can be obtained by using the I/O monitor and graph functions of MR Configurator2. As for DI/DO in the table, DI indicates the monitor signal (digital) inputted to a servo amplifier; DO indicates the monitor signal (digital) outputted from a servo amplifier.
  • Page 306 • OFF: The external input signal and the input from the controller are off. Symbol Device name Description DI/DO ABSB0 ABS transmission data bit 0 Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) ABSB1 ABS transmission data bit 1 ABSM ABS transfer mode ABSR...
  • Page 307: Signal Block Diagram

    Symbol Device name Description DI/DO External torque limit selection Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) Internal torque limit selection Limiting torque Limiting speed Warning Zero speed detection *1 Available on servo amplifiers with firmware version A5 or later. Signal block diagram The following signal block diagram indicates the points at where the monitor signals (analog) and analog monitors are detected.
  • Page 308 Fully closed loop control [G] [WG] This control can be used on servo amplifiers with firmware version A5 or later. Speed command Speed command Droop pulses Current command Bus voltage output 1 output 2 Servo Current Differentiation motor detector Speed command Load-side Position...
  • Page 309 Semi closed loop control [A] Command pulse Speed command Current Droop pulses Bus voltage frequency output 2 command Current Speed detector Command Position command Speed Current Servo motor pulse control control control Internal temperature Current feedback of encoder Encoder Differen- tiation Position feedback Servo motor...
  • Page 310: 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 311: I/O Monitor Display

    Set the sampling time, trigger, and other areas as required, then start measurement. The waveform is displayed on completion of measurement. The obtained data can be checked by clicking "Zoom", "Cursor", and other buttons. I/O monitor display The I/O signals of the servo amplifier, on/off status of the I/O device, and voltage of the analog monitor can be displayed. The input/output status of the signals and wiring can be checked at device startup and throughout the project creation progress.
  • Page 312: System Configuration Display

    System configuration display System information including the serial number and model of the servo amplifier, servo motor, and other equipment are displayed. The items displayed in the configuration window vary depending on the servo amplifier. When MR Configurator2 is connected to the servo amplifier, the values are displayed. Displayed items [G] [WG] The following items can be checked in the system configuration window.
  • Page 313: Analog Monitor [G] [Wg]

    Analog monitor [G] [WG] The voltage of the analog monitor output may be irregular at power-on. The status of the servo amplifier, such as the servo motor speed, torque, and bus voltage, can be outputted with the voltage to two channels at the same time. Setting method Which signal to be output by analog monitor 1 or analog monitor 2 can be selected, and the offset voltage of each analog monitor can be set using the extension setting parameters in MR Configurator2.
  • Page 314: Setting Details

    Setting details When using a linear servo motor, the terms below have the following meanings. CCW direction → Positive direction CW direction → Negative direction Torque → Thrust In the factory setting, the servo motor speed is outputted to MO1 (analog monitor 1), and the torque is outputted to MO2 (analog monitor 2).
  • Page 315 Setting Output item Description value Command speed output 1 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *1*2*3 Servo motor-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 1000 [pulse] 1000 [pulse] -10 [V] CW direction *1*2*3 Servo motor-side droop pulses (±10 V/1000 pulses) CCW direction...
  • Page 316 Setting Output item Description value Command speed output 2 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/1000 pulses) CCW direction...
  • Page 317 Setting Output item Description value Servo motor-side/load-side position deviation (±10 V/ CCW direction *2*3*4*5 100000 pulses) 10 [V] 100000 [pulse] 100000 [pulse] -10 [V] CW direction Motor/load side speed deviation CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Internal temperature of encoder (±10 V/±128 °C) 10 [V]...
  • Page 318: Analog Monitor [A]

    Analog monitor [A] The voltage of the analog monitor output may be irregular at power-on. The status of the servo amplifier, such as the servo motor speed, torque, and bus voltage, can be outputted with the voltage to two channels at the same time. Setting method Which signal to be output by analog monitor 1 or analog monitor 2 can be selected, and the offset voltage of each analog monitor can be set using the extension setting parameters in MR Configurator2.
  • Page 319: Setting Details

    Setting details When using a linear servo motor, the terms below have the following meanings. CCW direction → Positive direction CW direction → Negative direction Torque → Thrust In the factory setting, the servo motor speed is outputted to MO1 (analog monitor 1), and the torque is outputted to MO2 (analog monitor 2).
  • Page 320 Setting Output item Description value Command pulse frequency (±10 V/±4 Mpulses/s) CCW direction 10 [V] 4 [Mpulse/s] 4 [Mpulse/s] -10 [V] CW direction *1*2*3 Servo motor-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *1*2*3 Servo motor-side droop pulses (±10 V/1000 pulses)
  • Page 321 Setting Output item Description value Command speed output 2 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/1000 pulses) CCW direction...
  • Page 322 Setting Output item Description value Servo motor-side/load-side position deviation (±10 V/ CCW direction *2*3*4*5 100000 pulses) 10 [V] 100000 [pulse] 100000 [pulse] -10 [V] CW direction Motor/load side speed deviation CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Internal temperature of encoder (±10 V/±128 °C) 10 [V]...
  • Page 323: Chapter 6 Functional Safety

    FUNCTIONAL SAFETY Functions and configuration Outline For the compatible servo amplifiers, refer to "Functional safety" in the User's Manual (Introduction). Features of functions ■When using the safety sub-functions via a network For the MR-J5-G-RJ, the safety sub-function functions can be used via a network. This helps to minimize wiring. For the available safety sub-functions and safety levels, refer to "Functional safety"...
  • Page 324: Risk Assessments

    Risk assessments To satisfy social demands for the provision of highly safe machine and equipment in which risk has been reduced to an acceptable level, perform risk assessments to identify potential hazards in this machine and equipment and objectively evaluate risk through rational steps. Users must determine all risk assessments and residual risks for the machine and equipment as a whole.
  • Page 325: Signal

    Signal Explanation of signals Input device Assign a device to the input signal of the CN8-4/CN8-5 pin with [Pr. PSD02 Input device selection DI1]. Refer to the following for details. Page 331 Input device For safety sub-function control by network, input via a network is possible. Refer to the following for details. Page 337 Safety sub-function control by network Device Symbol...
  • Page 326 Output device The status monitor (SM) of the safety sub-functions is output as the output signal of the CN8-6/CN8-7 pin. The output device can be assigned to the output signal of the CN8-6/CN8-7 pin with [Pr. PSD08 Output device selection DO1]. Refer to the following for details.
  • Page 327: Power-On Sequence

    Power-on sequence In a system using servo motors with functional safety, for the initial diagnosis of the encoder, ensure about 0.5 s to 2 s in addition to the startup time of the servo amplifier. For the startup time of the servo amplifier, refer to "Power-on procedure" in the following manual.
  • Page 328: Setting Method

    Setting method Turning on servo amplifier for the first time When using the safety sub-functions, follow the steps below for startup. If the steps described in "Turning on servo amplifier for the first time" in the User's Manual (Introduction) have been already performed, attach the short-circuit connector to the CN8 connector of the servo amplifier, and then follow the steps in this section.
  • Page 329: Functional Safety Parameters That Must Be Set

    Changing the password Set a password so that the functional safety parameters cannot be changed easily. Once a password is set, the functional safety parameters cannot be changed without password authentication. No password authentication is required to read the functional safety parameters. To change the password, follow the steps below. From the menu of MR Configurator2, select "Change Password".
  • Page 330: Test Operation

    [Pr. PSA23 Servo motor rated speed] To execute speed monitoring, set the rated speed of the connected servo motor. If the rated speed of the connected servo motor differs from the setting of this functional safety parameter, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
  • Page 331: Safety Sub-Function

    Safety sub-function Achievable safety level The achievable safety level and available safety sub-functions depend on the device to be connected. Moreover, it is necessary to set the parameters according to the device to be connected. The servo motors and parameter settings required to achieve each functional safety level are given below.
  • Page 332 • For safety sub-function control using emergency stop push button switch, safety switch, enable switch Safety sub-function Servo Operation mode Semi/Full Encoder Parameter motor setting with SS2/ Stan Semi Fully Mitsubishi A/B/Z- Position/ functional function function function dard closed closed Electric phase Speed...
  • Page 333: I/O Function

    I/O function Input device ■Outline Input devices cannot be used for safety sub-function control by network. Input devices for functional safety have the following characteristics. • Input device selection A device can be freely assigned to the input signal of the CN8-4/CN8-5 pin by parameter. •...
  • Page 334 ■Duplication of the input wiring • Duplication of the input wiring Switch the CN8-4/CN8-5 pin within the permissible time for mismatches. This function continuously monitors whether signals of duplicated input are matched. When a mismatch is detected, the corresponding input device is treated as off. The following shows the operation sequence when SLS1C (SLS1 command) is assigned to the input signal of the CN8-4/CN8-5 pin.
  • Page 335 ■Noise elimination filter • Outline The noise elimination filter is a function to set a filtering time to reduce the noise of input signals. Set the filtering time of the noise elimination filter with [Pr. PSD12 Input device - Noise elimination filter time DI1]. The longer the noise elimination filter time, the better the resistance to chattering and noise, but the slower the response to the input signals.
  • Page 336 Output device ■Outline The output device of the status monitor function (SM) has the following characteristics. • Output device selection A device can be freely assigned to the output signal of the CN8-6/CN8-7 pin by parameter. • Duplication of output The same signal is duplicated for output with duplicated wiring.
  • Page 337 ■Diagnosis with test pulses • Test pulse diagnosis function When the output signal of the CN8-6/CN8-7 pin is on, off-pulses are output periodically to diagnose wiring abnormalities. The following shows the operation sequence when STOS (STO output) is assigned to the output signal of the CN8-6/CN8-7 pin.
  • Page 338 ■Status of I/O signals at startup and error detection • At startup After power-on, each output device constantly outputs the OFF signal until completion of the diagnosis. After the diagnosis is completed, the devices assigned with [Pr. PSD08 Output device selection DO1] are output. The diagnosis completion timing differs depending on whether safety sub-function control is by an input device or by a network.
  • Page 339 Safety sub-function control by network ■Outline Input devices cannot be used for safety sub-function control by network. Assigning safety-specific I/O signals to the safety device of the master station can perform the control. Safety sub-function control by network has the following characteristics. •...
  • Page 340 *1 When using a Mitsubishi Electric safety programmable controller, use the safety output device "SA¥Y". For details on the safety device, refer to the following manual. MELSEC iQ-R CPU Module User's Manual (Application) 6 FUNCTIONAL SAFETY 6.4 Safety sub-function...
  • Page 341 • Feedback of various function outputs via a network STOS (STO output), SOSS (SOS output), SSMS (SSM output), etc., can be transmitted through the network. Servo amplifier to Master station Function output Description STOS (STO output) 0: Indicates that the STO status has been canceled. 1: Indicates that the STO function is activated and the energy supply has been shut off.
  • Page 342 *1 When using a Mitsubishi Electric safety programmable controller, use the safety input device "SA¥X". For details on the safety device, refer to the following manual. MELSEC iQ-R CPU Module User's Manual (Application) ■Setting GX Works3 To use the safety sub-function in the safety communications, set the station-specific mode using the following procedure.
  • Page 343 Servo motor with functional safety By using a servo motor with functional safety, various speed monitoring functions and position monitoring functions can be realized without using external encoders to duplicate encoders. When using a servo motor with functional safety, set [Pr. PSA02.1 Position/Speed monitor setting] to "1". When not using a servo motor with functional safety, set this parameter to a value other than "1".
  • Page 344: Sto Function

    STO function Outline This function electrically shuts off the servo motor driving energy with input signals from external devices (shut-off by the secondary-side output). This is equivalent to the stop category 0 of IEC/EN 60204-1. The function is also used for an emergency stop when an internal diagnosis error is detected.
  • Page 345 ■Alarm occurrence The STO function is activated also when an alarm occurs. While STO is activated, the energy supply to the servo motor is shut off and the dynamic brake is activated. For the alarms that activate STO, refer to "List of alarm No./warning No." in the User's Manual (Troubleshooting).
  • Page 346 ■Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 327 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 331 Input device When using output devices, refer to the following.
  • Page 347: Ss1 Function

    SS1 function Outline This function starts deceleration with input signals from external devices. After the specified time to confirm the motor stop, the STO function is executed (SS1). This is equivalent to the stop category 1 of IEC/EN 60204-1. Since the SS1 function is also used for emergency stop when an internal diagnostic error is detected, refer to the following to set the functional safety parameters.
  • Page 348 ■Alarm occurrence The SS1 function is activated also when an alarm occurs. After an alarm occurs, the servo motor decelerates by either the dynamic brake, electronic dynamic brake, or forced stop. At the same time, the time from when the SS1 function is activated is measured, and the STO function is activated when the time set in [Pr.
  • Page 349 Deceleration monitoring function When the SS1 command is input, this function starts deceleration and monitors whether the servo motor decelerates according to the deceleration time constant. If the deceleration set by the functional safety parameter cannot be performed, the STO function is executed. The STO function is activated even when the time specified by [Pr. PSA03 SS1/SS2 deceleration monitor time] has elapsed since the SS1 function was activated.
  • Page 350 ■Deceleration speed excess monitoring This function monitors whether the servo motor does not exceed the observation speed specified by [Pr. PSA24 SS1/SS2 deceleration monitor time constant] when the motor decelerates from the speed where [Pr. PSA25 SS1/SS2 deceleration monitor speed offset] is added to the speed at the timing the SS1 command is turned off. If the observation speed is exceeded, the STO function is activated after the time set in [Pr.
  • Page 351 Stop methods ■Classification of stop methods The stop method of the servo motor is determined by the parameter settings or the factor that activated the SS1 function. The following table lists the stop methods for the servo motor when the SS1 function is activated. Servo amplifier parameter Servo motor Control mode...
  • Page 352 ■Stop by forced stop deceleration (SD) For the operation of the forced stop deceleration, refer to the following. Page 123 Forced stop deceleration function When the SS1 function is activated, the servo motor decelerates in accordance with the value set in [Pr. PC24 Deceleration time constant at forced stop].
  • Page 353 ■Electronic dynamic brake stop (EDB) When the SS1 function is activated, the electronic dynamic brake stop is executed. The dynamic brake is activated when the elapsed time from the start of the SS1 function reaches the time set in [Pr. PF12 Electronic dynamic brake operating time]. If the value set in [Pr.
  • Page 354: Ss2/Sos Function

    SS2/SOS function Outline When SS2C (SS2 command) turns off, the SS2/SOS function executes stop monitoring (SOS) of the servo motor after standby until a delay time set in advance is elapsed or until the servo motor stop is detected. Sequence outline The SS2/SOS function is activated by turning off SS2C (SS2 command).
  • Page 355 Deceleration stop monitoring ■Speed monitoring during deceleration During deceleration, when both the absolute value of the speed command and the absolute value of the speed feedback become equal to or less than the value set in [Pr. PSA04 Safety sub-function - Stop speed], deceleration is considered to have been completed, and stop monitoring (SOS) starts.
  • Page 356 ■Deceleration monitoring When [Pr. PSA02.2 Time/Deceleration monitor setting] is set to "1", speed monitoring can be performed. After the SS2 command is turned off and the time set in [Pr. PSA26 SS1/SS2 deceleration monitor delay time] has elapsed, speed monitoring starts. This function monitors whether the servo motor does not exceed the speed specified by [Pr. PSA24 SS1/SS2 deceleration monitor time constant] from the speed at the moment that the SS2 command is turned off.
  • Page 357 Stop monitoring The SOS function monitors both the command speed and feedback speed. ■Speed command monitoring During stop monitoring, this function monitors whether the absolute value of the command speed is within the value set in [Pr. PSA04 Safety sub-function - Stop speed]. If the time of the speed command remains exceeded for the duration set in [Pr. PSA15 Safety sub-function - Speed detection delay time], the STO function is activated.
  • Page 358 ■Position feedback monitoring at stop During stop monitoring, this function monitors whether the absolute value of the amount of position feedback change from when stop monitoring (SOS) starts is within the value set in [Pr. PSA05 SOS permissible travel distance]. If the travel distance remains deviated for the duration set in [Pr.
  • Page 359 Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 327 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 331 Input device When using output devices, refer to the following.
  • Page 360: Sls Function

    SLS function Outline This function monitors whether the speed is within the prescribed speed limit. If the speed exceeds the specified speed limit, the STO will shut off energy. Upon detection that the servo motor speed exceeds the SLS speed, the STO function is activated.
  • Page 361 Parameter switching Four sets of SLS speed and SLS deceleration monitor time can be set with the SLS function. The following table lists the SLS deceleration monitor time and SLS speed that are enabled by the SLS1 command, the SLS2 command, the SLS3 command, and the SLS4 command.
  • Page 362 Speed monitoring ■Speed monitoring command During speed monitoring, this function monitors whether the absolute value of the speed command is within the SLS speed. Upon detection that the speed command exceeds the SLS speed, the STO function is activated. However, there will be a delay equal to the time set in [Pr.
  • Page 363 Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 327 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 331 Input device When using output devices, refer to the following.
  • Page 364: Ssm Function

    SSM function Outline This function outputs signals when the servo motor speed is below the prescribed speed. Operation sequence ■SSMS (SSM output) In the SSM function, SSMS (SSM output) is on when both the speed command and speed feedback are equal to or less than the speed set in [Pr.
  • Page 365: Sbc Function

    SBC function • Use SBCS (SBC output) for electromagnetic brake operation. It is not necessary to use MBR (electromagnetic brake interlock). Outline This function outputs signals for controlling the external brake. Operation sequence The following shows the operation sequence while SS1 is being activated and when returning from the STO state. The electromagnetic brake is activated when SBCS (SBC output) is off.
  • Page 366: Sdi Function

    SDI function Outline This function monitors whether the servo motor travels in the specified direction. If the servo motor travels in a direction different from the specified direction, the STO function will be activated. Operation sequence The SDI function is activated by turning off SDIPC (SDIP command) or SDINC (SDIN command). When SDIPC (SDIP command) is turned off, the function monitors the address increasing direction.
  • Page 367 The operation sequence by SDINC (SDIN command) is shown below. The function monitors the address decreasing direction. SDI negative direction monitor delay time Direction monitoring Command Stop speed 0 r/min Servo motor speed (mm/s) Stop speed An alarm will occur if the stop Feedback speed in the address decreasing ON (disabled)
  • Page 368 ■Speed feedback exceeded During direction monitoring, the function monitors whether the speed is within the stop speed of the monitoring direction specified by the speed feedback. If the time of the speed feedback remains exceeded for the duration set in [Pr. PSA15 Safety sub-function - Speed detection delay time], the STO function is activated.
  • Page 369: Sli Function

    SLI function Outline This function monitors whether the travel distance of the servo motor is within the specified range. If the travel distance of the servo motor exceeds the specified permissible travel distance, the STO function is activated. Operation sequence The SLI function is activated by turning off SLIC (SLI command).
  • Page 370 Combination with stop monitoring In the SLI function, if stop monitoring after operation completion is required, perform SOS monitoring using the SS2 command. The following is an example of the operation sequence of stop monitoring after the operation is completed. Stop monitoring (SOS) Position monitoring SLI permissible travel distance...
  • Page 371: Slt Function

    SLT function Outline This function monitors whether the torque is within the specified value. Upon detection that the torque exceeds the SLT torque, the STO function is activated. Operation sequence The SLT function is activated by turning off SLTC (SLT command). The function starts torque monitoring right after SLTC (SLT command) is turned off.
  • Page 372 Parameter switching Four sets of SLT torque upper limit value and SLT torque lower limit value can be set with the SLT function. Four commands (SLT1 command, SLT2 command, SLT3 command, and SLT4 command) corresponding to the respective thresholds can be used.
  • Page 373 Torque monitoring ■Torque command monitoring During torque monitoring, the function monitors whether the torque command does not exceed the SLT torque upper limit value and does not fall below the SLT torque lower limit value. Upon detection that the torque command exceeds or falls below the SLT torque, the STO function is activated.
  • Page 374 Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 327 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 331 Input device When using output devices, refer to the following.
  • Page 375: Status Monitor (Sm) Function

    Status monitor (SM) function This function outputs each status of SSM, SBC, SDI, SLI, SLT, STO, SOS, SS1, SS2, and SLS in signals. This is a function designed specifically for the safety sub-functions and differs from the function defined in IEC/EN 61800-5-2. For details on the devices, refer to the following.
  • Page 376: Simultaneous Operation Of Sto And Ss1 Functions

    Simultaneous operation of STO and SS1 functions If SS1C (SS1 command) is turned off while the STO function is being executed, deceleration operation and time counting by the SS1 function are not performed and the STO state continues. As shown in the following sequence, if the SS1C (SS1 command) is turned off during the STO state by STOC (STO command), time counting of the SS1 function is not executed.
  • Page 377: At Alarm Occurrence

    At alarm occurrence This function displays an alarm and warning when an error occurs during operation. When an alarm and warning occur, refer to the following manual and take the appropriate action. MR-J5 User's Manual (Troubleshooting) Outline ■Stop methods The following stop methods are available when functional safety is used. Stop methods Explanation Stops with dynamic brake (for a servo amplifier without the dynamic brake, the servo motor coasts).
  • Page 378 Alarm reset method for safety sub-function ■Safety sub-function control by input device When the cause of an alarm occurrence is removed and alarm reset is executed with all the enabled input devices on, the STO is released and the operation returns to normal. STO is released even if the pin (unused pin) to which an input device is not assigned in [Pr.
  • Page 379: Troubleshooting

    Troubleshooting Parameter combinations that trigger [AL. 537.2 Parameter combination error A (safety sub-function)] If the parameters shown in this section are set incorrectly, [AL. 537.2] occurs. Parameters related to [Pr. PSA01 Safety sub-function mode selection] and [Pr. PSA02 Functional safety setting] [Pr.
  • Page 380 Parameters related to [Pr. PSA02.1 Position/Speed monitor setting] and operation mode [Pr. PSA02.1 Position/Speed monitor setting] "Do not monitor the "Monitor the position/ "Monitor the speed without position/speed." speed using a servo motor using a servo motor with with functional safety." functional safety."...
  • Page 381: Chapter 7 Network Function

    NETWORK FUNCTION The function explained in this chapter is available for the following servo amplifiers. • MR-J5-_A(-RJ) • MR-J5-_G(-RJ) • MR-J5W_-_G This is a function that uses an Ethernet communication to access servo amplifiers remotely. The network function of the servo amplifier is as follows.
  • Page 382: Setting An Account

    Setting an account Set an account with MR Configurator2. Set the user information No. 1 account with [Pr. NPB04 User name No.1], [Pr. NPB05 Authorization level No.1], and [Pr. NPB06 Password No.1]. User name Set a user name according to the following rule. Item Usable character Number of characters...
  • Page 383: Ftp Server Function

    FTP server function FTP (File Transfer Protocol) is a protocol to transfer files between network-connected devices. The FTP server function is supported. Devices with the FTP client function can access files in the servo amplifier via FTP communication. The following shows the port numbers used for the FTP server.
  • Page 384: Directory Structure

    Directory structure The following shows the directories that can be accessed from the FTP client. Directory Function Details   Page 383 Firmware update /fw/ Firmware update   /drvrec/ Drive recorder Page 234 Drive recorder fw directory To allow an account to access the fw directory, set Bit 0 of the relevant authorization level to "1". The fw directory allows firmware updates of the servo amplifier.
  • Page 385: Firmware Update

    Firmware update The MR-J5 series servo amplifier has a function to update the firmware. This function can update the servo amplifier firmware to the desired version. To update the firmware, a special firmware update tool is required. For information on the firmware update tool and firmware update file, contact your local sales office.
  • Page 386: Revisions

    Section 3.6 and Chapters 6 and 7 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 387: 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 388: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030300ENG-C...
  • Page 390 SH(NA)-030300ENG-C(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.