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Mitsubishi Electric MELSERVO-J5 Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5-A
User's Manual
(Parameters)
-MR-J5-_A_

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  Summary of Contents for Mitsubishi Electric MELSERVO-J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-A User's Manual (Parameters) -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: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 [Pr. PB14_Notch shape selection 1 (NHQ1)]........... . 35 [Pr.
  • Page 8 [Pr. PB77_Vibration suppression control 2 - Vibration frequency damping after gain switching 2 (VRF23C)] . . 58 [Pr. PB78_Vibration suppression control 2 - Resonance frequency damping after gain switching 2 (VRF24C)] 58 [Pr. PB79_Gain switching 2 - Model control gain (PG1C)] ......... 58 [Pr.
  • Page 9 [Pr. PC90_Command frequency error threshold (PLFT)] ......... . 84 I/O setting servo parameters group ([Pr.
  • Page 10 [Pr. PE47_Unbalanced torque offset (TOF)] ........... 107 [Pr.
  • Page 11 [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)]........133 [Pr.
  • Page 12 [Pr. NPB07_User name No.2] ............. . 168 [Pr.
  • Page 13: Chapter 1 Servo Parameter Details

    Settable servo parameters and values depend on the controller model, servo amplifier firmware version, and MR Configurator2 software version. For details, refer to the controller user's manual. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2 or by other means.
  • Page 14: Basic Setting Servo Parameters Group ([Pr. Pa

    Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Ver. 10003000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA01.0_Control mode selection] Initial value Setting range Ver. Refer to the text Select a control mode.
  • Page 15: [Pr. Pa02_Regenerative Option (**Reg)]

    [Pr. PA02_Regenerative option (**REG)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA02.0-1_Regenerative option selection] Initial value Setting range Ver. Refer to the text Select a regenerative option. Incorrect setting may cause the regenerative option to burn. Other regenerative options cannot be used together with the FR-XC.
  • Page 16: [Pr. Pa03_Absolute Position Detection System (*Abs)]

    [Pr. PA03_Absolute position detection system (*ABS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA03.0_Absolute position detection system selection] Initial value Setting range Ver. Refer to the text Set this servo parameter when using the absolute position detection system in the position control mode. If the absolute position detection system is switched to the incremental system, the home position is erased.
  • Page 17: [Pr. Pa05_Number Of Command Input Pulses Per Revolution (*Fbp)]

    [Pr. PA05_Number of command input pulses per revolution (*FBP)] Initial value Setting range Ver. 10000 [pulse] 1000 to 1000000 The servo motor rotates once as per command input pulse that has been set. The setting value of this servo parameter is enabled when [Pr. PA21.3 Electronic gear compatibility selection] is set to "1" (number of command input pulses per revolution).
  • Page 18: [Pr. Pa08_Auto Tuning Mode (Atu)]

    [Pr. PA08_Auto tuning mode (ATU)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA08.0_Gain adjustment mode selection] Initial value Setting range Ver. Refer to the text Select the gain adjustment mode. 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2...
  • Page 19 [Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting] Initial value Setting range Ver. Refer to the text Set the load to motor inertia ratio at quick tuning. If the load connected to the servo motor is larger than the load to motor inertia ratio set in the servo parameter, an overshoot may occur in positioning operation after quick tuning.
  • Page 20: [Pr. Pa09_Auto Tuning Response (Rsp)]

    [Pr. PA09_Auto tuning response (RSP)] Initial value Setting range Ver. Refer to the text Set the auto tuning response. Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] Low response 10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9...
  • Page 21: [Pr. Pa10_In-Position Range (Inp)]

    [Pr. PA10_In-position range (INP)] Initial value Setting range Ver. 400 [Refer to the text below for the unit.] 0 to 16777215 Set the in-position range in the command pulse unit. With the setting of [Pr. PC24.0 In-position range unit selection], the unit can be changed to the servo motor encoder pulse unit.
  • Page 22: [Pr. Pa13_Command Pulse Input Form (*Plss)]

    [Pr. PA13_Command pulse input form (*PLSS)] Initial value Setting range Ver. 00000100h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA13.0_Command input pulse train form selection] Initial value Setting range Ver. Refer to the text 0: Forward/reverse rotation pulse train 1: Signed pulse train 2: A-phase/B-phase pulse train (the servo amplifier multiplies the input pulse by 4, and captures the multiplied input pulses.)
  • Page 23 [Pr. PA13.1_Pulse train logic selection] Initial value Setting range Ver. Refer to the text 0: Positive logic 1: Negative logic Match the logic of the command pulse train received from the connected controller. Refer to the following for setting values. Page 20 [Pr.
  • Page 24: [Pr. Pa14_Travel Direction Selection (*Pol)]

    [Pr. PA14_Travel direction selection (*POL)] Initial value Setting range Ver. 0 to 1 Select the servo motor rotation direction or linear servo motor travel direction for the command input pulse. • For position control mode With the setting value of [Pr. PA14 Travel direction selection], the rotation and travel direction can be changed without reversing the forward/reverse rotation pulse inputs for the input pulse train.
  • Page 25: [Pr. Pa15_Encoder Output Pulses (*Enr)]

    [Pr. PA15_Encoder output pulses (*ENR)] Initial value Setting range Ver. 4000 [pulse/rev] 1 to 67108864 Set the encoder output pulses outputted from the servo amplifier, by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) Selecting "1"...
  • Page 26: [Pr. Pa17_Servo Motor Series Setting (**Msr)]

    [Pr. PA17_Servo motor series setting (**MSR)] Initial value Setting range Ver. 00000000h Refer to the text To select the linear servo motor to be used, set this servo parameter and [Pr. PA18.0-3 Servo motor type setting]. Set this at the same time with [Pr. PA18.0-3]. Refer to the following table for setting values. Linear servo motor series Linear servo motor (primary side) Servo parameter...
  • Page 27: [Pr. Pa18_Servo Motor Type Setting (**Mty)]

    Linear servo motor series Linear servo motor (primary side) Servo parameter Setting value of [Pr. PA17] Setting value of [Pr. PA18.0-3] LM-AJ LM-AJP1B-07K-JSS0 000000DAh 1201h LM-AJP1D-14K-JSS0 1401h LM-AJP2B-12S-JSS0 2201h LM-AJP2D-23T-JSS0 2401h LM-AJP3B-17N-JSS0 3201h LM-AJP3D-35R-JSS0 3401h LM-AJP4B-22M-JSS0 4201h LM-AJP4D-45N-JSS0 4401h [Pr. PA18_Servo motor type setting (**MTY)] Initial value Setting range Ver.
  • Page 28: [Pr. Pa19_Servo Parameter Writing Prohibited (*Blk)]

    [Pr. PA19_Servo parameter writing prohibited (*BLK)] Initial value Setting range Ver. 000000ABh Refer to the text Select a reference range and writing range for the servo parameter. Refer to the following table for setting values. [Pr. PA19] Setting value PT, PV operation ...
  • Page 29: [Pr. Pa20_Tough Drive Setting (*Tds)]

    [Pr. PA20_Tough drive setting (*TDS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA20.1_Vibration tough drive selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Machine resonance suppression filter change mode enabled 2: Machine resonance suppression filter automatic setting mode Selecting other than "0"...
  • Page 30: [Pr. Pa21_Function Selection A-3 (*Aop3)]

    [Pr. PA21_Function selection A-3 (*AOP3)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA21.0_One-touch tuning - Function selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When the servo parameter is set to "0", the one-touch tuning cannot be performed.
  • Page 31: [Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (Drat)]

    [Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. This servo parameter is enabled in the following conditions: • [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (automatic setting mode) •...
  • Page 32: [Pr. Pa26_Function Selection A-5 (*Aop5)]

    [Pr. PA26_Function selection A-5 (*AOP5)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PA26.0_Torque limit function selection at instantaneous power failure] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled By setting "1", if an instantaneous power failure occurs during operation, limiting the torque at acceleration saves the electric...
  • Page 33: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB01.0_Filter tuning mode selection] Initial value Setting range Ver.
  • Page 34: [Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control Ii) (Vrft)]

    [Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection] Initial value Setting range Ver.
  • Page 35: [Pr. Pb04_Feed Forward Gain (Ffc)]

    [Pr. PB04_Feed forward gain (FFC)] Initial value Setting range Ver. 0 [%] 0 to 100 Set the feed forward gain. When "100" is set, the droop pulses are almost 0 in operation at the constant speed. If the super trace control is enabled, the droop pulses are almost 0 in operation at uniform acceleration/deceleration, as well as at the constant speed.
  • Page 36: [Pr. Pb08_Position Control Gain

    [Pr. PB08_Position control gain (PG2)] Initial value Setting range Ver. 37.0 [rad/s] 1.0 to 2000.0 Set the gain of the position loop. Set this servo parameter when increasing the position responsiveness to level load disturbance. Increasing the setting value improves responsiveness to the load disturbance, but increasing the value too much raises the likelihood of vibration and noise.
  • Page 37: [Pr. Pb13_Machine Resonance Suppression Filter 1 (Nh1)]

    [Pr. PB13_Machine resonance suppression filter 1 (NH1)] Initial value Setting range Ver. 4500 [Hz] 10 to 9000 Set the notch frequency of the machine resonance suppression filter 1. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
  • Page 38: [Pr. Pb16_Notch Shape Selection 2 (Nhq2)]

    [Pr. PB16_Notch shape selection 2 (NHQ2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set forms of the machine resonance suppression filter 2. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
  • Page 39: [Pr. Pb17_Shaft Resonance Suppression Filter (Nhf)]

    [Pr. PB17_Shaft resonance suppression filter (NHF)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr. PB23.0 Shaft resonance suppression filter selection] is set to "0" (automatic setting), the value will be calculated automatically from the servo motor used and load to motor inertia ratio.
  • Page 40 Setting value Frequency [Hz] Disabled Disabled Disabled Disabled Disabled Disabled Disabled Disabled 4500 4000 3600 3272 3000 2769 2571 2400 2250 2117 2000 1894 1800 1714 1636 1565 1500 1440 1384 1333 1285 1241 1200 1161 1125 1090 1058 1028 1000 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
  • Page 41 Setting value Frequency [Hz] 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 42 Setting value Frequency [Hz] [Pr. PB17.2_Notch depth selection] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
  • Page 43: [Pr. Pb18_Low-Pass Filter Setting (Lpf)]

    [Pr. PB18_Low-pass filter setting (LPF)] Initial value Setting range Ver. 3141 [rad/s] 100 to 36000 Set the low-pass filter. Refer to the table below for the status of this servo parameter and the setting values of the related servo parameter. When [Pr.
  • Page 44: [Pr. Pb22_Vibration Suppression Control 1 - Resonance Frequency Damping (Vrf14)]

    [Pr. PB22_Vibration suppression control 1 - Resonance frequency damping (VRF14)] Initial value Setting range Ver. 0.00 0.00 to 0.30 Set the damping of the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection], this servo parameter will be set automatically.
  • Page 45: [Pr. Pb24_Slight Vibration Suppression Control (*Mvs)]

    [Pr. PB24_Slight vibration suppression control (*MVS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB24.0_Slight vibration suppression control selection] Initial value Setting range Ver. Refer to the text Select the slight vibration suppression control. 0: Disabled 1: Enabled The slight vibration suppression control is enabled when "3"...
  • Page 46: [Pr. Pb26_Gain Switching Function (*Cdp)]

    [Pr. PB26_Gain switching function (*CDP)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] and the gain switching 2 values set in [Pr.
  • Page 47: [Pr. Pb27_Gain Switching Condition (Cdl)]

    [Pr. PB27_Gain switching condition (CDL)] Initial value Setting range Ver. 10 [Refer to the text below for the unit.] 0 to 16777215 Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26]. The set value unit differs depending on the switching condition item.
  • Page 48: [Pr. Pb33_Vibration Suppression Control 1 - Vibration Frequency After Gain Switching (Vrf11B)]

    [Pr. PB33_Vibration suppression control 1 - Vibration frequency after gain switching (VRF11B)] Initial value Setting range Ver. 0.0 [Hz] 0.0 to 300.0 Set the vibration frequency of vibration suppression control 1 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB19 Vibration suppression control 1 - Vibration frequency] is applied.
  • Page 49: [Pr. Pb45_Command Notch Filter (Cnhf)]

    [Pr. PB45_Command notch filter (CNHF)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set the command notch filter. [Pr. PB45.0-1_Command notch filter setting frequency selection] Initial value Setting range Ver. Refer to the text Refer to the following table for the relation of setting values to frequencies.
  • Page 50 Setting value Frequency [Hz] 34.5 33.3 31.3 29.4 27.8 26.3 25.0 23.8 22.7 21.7 20.8 20.0 19.2 18.5 17.9 17.2 16.7 15.6 14.7 13.9 13.2 12.5 11.9 11.4 10.9 10.4 4.31 4.17 3.91 3.68 3.47 3.29 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
  • Page 51 Setting value Frequency [Hz] 3.13 2.98 2.84 2.72 2.60 2.50 2.40 2.31 2.23 2.08 1.95 1.84 1.74 1.64 1.56 1.49 1.42 1.36 1.30 1.25 1.20 1.16 1.12 [Pr. PB45.2_Notch depth selection] Initial value Setting range Ver. Refer to the text Refer to the following table for details.
  • Page 52: [Pr. Pb46_Machine Resonance Suppression Filter 3 (Nh3)]

    [Pr. PB46_Machine resonance suppression filter 3 (NH3)] Initial value Setting range Ver. 4500 [Hz] 10 to 9000 Set the notch frequency of the machine resonance suppression filter 3. When [Pr. PB47.0 Machine resonance suppression filter 3 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.
  • Page 53: [Pr. Pb49_Notch Shape Selection 4 (Nhq4)]

    [Pr. PB49_Notch shape selection 4 (NHQ4)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set forms of the machine resonance suppression filter 4. [Pr. PB49.0_Machine resonance suppression filter 4 selection] Initial value Setting range Ver.
  • Page 54: [Pr. Pb51_Notch Shape Selection 5 (Nhq5)]

    [Pr. PB51_Notch shape selection 5 (NHQ5)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set forms of the machine resonance suppression filter 5. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
  • Page 55: [Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (Vrf22)]

    [Pr. PB53_Vibration suppression control 2 - Resonance frequency (VRF22)] Initial value Setting range Ver. 100.0 [Hz] 0.1 to 300.0 Set the resonance frequency of vibration suppression control 2 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection], this servo parameter will be set automatically.
  • Page 56: [Pr. Pb57_Vibration Suppression Control 2 - Resonance Frequency After Gain Switching (Vrf22B)]

    [Pr. PB57_Vibration suppression control 2 - Resonance frequency after gain switching (VRF22B)] Initial value Setting range Ver. 0.0 [Hz] 0.0 to 300.0 Set the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB53 Vibration suppression control 2 - Resonance frequency] is applied.
  • Page 57: [Pr. Pb65_Gain Switching 2 Condition (Cdl2)]

    [Pr. PB65_Gain switching 2 condition (CDL2)] Initial value Setting range Ver. 10 [Refer to the text below for the unit.] 0 to 16777215 Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain switching selection].
  • Page 58: [Pr. Pb71_Vibration Suppression Control 1 - Vibration Frequency After Gain Switching 2 (Vrf11C)]

    [Pr. PB71_Vibration suppression control 1 - Vibration frequency after gain switching 2 (VRF11C)] Initial value Setting range Ver. 0.0 [Hz] 0.0 to 300.0 Set the vibration frequency of vibration suppression control 1 for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.
  • Page 59: [Pr. Pb74_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching 2 (Vrf14C)]

    [Pr. PB74_Vibration suppression control 1 - Resonance frequency damping after gain switching 2 (VRF14C)] Initial value Setting range Ver. 0.00 0.00 to 0.30 Set the damping of the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
  • Page 60: [Pr. Pb77_Vibration Suppression Control 2 - Vibration Frequency Damping After Gain Switching 2 (Vrf23C)]

    [Pr. PB77_Vibration suppression control 2 - Vibration frequency damping after gain switching 2 (VRF23C)] Initial value Setting range Ver. 0.00 0.00 to 0.30 Set the damping of the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
  • Page 61: [Pr. Pb81_Command Filter (*Cfil)]

    [Pr. PB81_Command filter (*CFIL)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PB81.4_Position command smoothing filter] Initial value Setting range Ver. Refer to the text This function can be used only in position mode. This filter and [Pr.
  • Page 62: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC01_Speed acceleration time constant (STA)] Initial value Setting range Ver. 0 [ms] 0 to 50000 In the speed control mode or torque control mode, set the acceleration time required to reach the rated speed from 0 r/min for VC (Analog speed command) and [Pr.
  • Page 63: [Pr. Pc03_S-Pattern Acceleration/Deceleration Time Constants (Stc)]

    [Pr. PC03_S-pattern acceleration/deceleration time constants (STC)] Initial value Setting range Ver. 0 [ms] 0 to 5000 Set the time of the arc part for S-pattern acceleration/deceleration. By setting "0", linear acceleration/deceleration is performed. Speed command Servo motor speed 0 r/min Time (0 mm/s) STA: Acceleration time constant ([Pr.
  • Page 64: [Pr. Pc05_Internal Speed 1 (Sc1)]

    [Pr. PC05_Internal speed 1 (SC1)] Initial value Setting range Ver. 100.00 [r/min], [mm/s] 0.00 to 65535.00 Set a value within the range between 0 and the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. •...
  • Page 65: [Pr. Pc11_Internal Speed 7 (Sc7)]

    [Pr. PC11_Internal speed 7 (SC7)] Initial value Setting range Ver. 800.00 [r/min], [mm/s] 0.00 to 65535.00 Set a value within the range between 0 and the maximum speed. When changing to the permissible speed, set the speed in [Pr. PA28.4]. •...
  • Page 66: [Pr. Pc14_Analog Monitor 1 Output (Mod1)]

    [Pr. PC14_Analog monitor 1 output (MOD1)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC14.0-1_Analog monitor 1 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be outputted to analog monitor 1. •...
  • Page 67: [Pr. Pc15_Analog Monitor 2 Output (Mod2)]

    [Pr. PC15_Analog monitor 2 output (MOD2)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC15.0-1_Analog monitor 2 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be outputted to analog monitor 2. Refer to the following for setting values.
  • Page 68: [Pr. Pc19_Encoder Output Pulses Selection (*Enrs)]

    [Pr. PC19_Encoder output pulses selection (*ENRS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC19.0_Encoder output pulse - Phase selection] Initial value Setting range Ver. Refer to the text 0: Increasing A-phase 90°...
  • Page 69 [Pr. PC19.1_Encoder output pulse setting selection] Initial value Setting range Ver. Refer to the text When an encoder other than an A/B/Z-phase differential output type encoder is connected, setting this servo parameter to "4" causes [AL. 037 Parameter error] to occur. 0: Output pulse setting 1: Dividing ratio setting 2: The same output pulse setting as the command pulse...
  • Page 70 • 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 71: [Pr. Pc22_Function Selection C-1 (**Cop1)]

    [Pr. PC22_Function selection C-1 (**COP1)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC22.3_Encoder cable communication method selection] Initial value Setting range Ver. Refer to the text 0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential output type encoder, set "0".
  • Page 72: [Pr. Pc23_Function Selection C-2 (*Cop2)]

    [Pr. PC23_Function selection C-2 (*COP2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC23.0_Servo lock selection on speed control stop] Initial value Setting range Ver. Refer to the text Select the servo-lock selection at speed control stop.
  • Page 73: [Pr. Pc24_Function Selection C-3 (*Cop3)]

    [Pr. PC24_Function selection C-3 (*COP3)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC24.0_In-position range unit selection] Initial value Setting range Ver. Refer to the text Select a unit of the in-position range. If [Pr.
  • Page 74: [Pr. Pc26_Function Selection C-5 (*Cop5)]

    [Pr. PC26_Function selection C-5 (*COP5)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC26.0_[AL. 099 Stroke limit warning] selection] Initial value Setting range Ver. Refer to the text Enable or disable [AL. 099 Stroke limit warning]. When "Disabled"...
  • Page 75: [Pr. Pc27_Function Selection C-6 (*Cop6)]

    [Pr. PC27_Function selection C-6 (*COP6)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC27.2_Undervoltage alarm selection] Initial value Setting range Ver. Refer to the text Select the alarm or warning that occurs when the bus voltage drops to the undervoltage alarm trigger level. 0: [AL.
  • Page 76: [Pr. Pc29_Function Selection C-8 (*Cop8)]

    [Pr. PC29_Function selection C-8 (*COP8)] Initial value Setting range Ver. 00000120h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC29.0_[AL. 0E2.2 Servo motor temperature warning 2] selection] Initial value Setting range Ver. Refer to the text Select whether to enable or disable [AL.
  • Page 77: [Pr. Pc31_Speed Deceleration Time Constant 2 (Stb2)]

    [Pr. PC31_Speed deceleration time constant 2 (STB2)] Initial value Setting range Ver. 0 [ms] 0 to 50000 In the speed control mode or torque control mode, set the deceleration time for the servo motor to stop from the rated speed for the analog speed command and internal speed command.
  • Page 78: [Pr. Pc36_Status Display Selection (*Dmd)]

    [Pr. PC36_Status display selection (*DMD)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC36.0-1_Main unit status display selection at power on] Initial value Setting range Ver. Refer to the text Select the status display shown at power-on.
  • Page 79 [Pr. PC36.2_Status display at power-on in corresponding control mode] Initial value Setting range Ver. Refer to the text 0: Depends on the control mode 1: Depends on the setting of [Pr. PC36.0-1 Main unit status display selection at power on]. Refer to the following table for the details of when "0"...
  • Page 80: [Pr. Pc37_Analog Command Input 1 Offset (Vco)]

    [Pr. PC37_Analog command input 1 offset (VCO)] Initial value Setting range Ver. 0 [mV] -9999 to 9999 Set the offset voltage for analog command input 1. If the analog command input 1 automatic offset is used, the automatically offset voltage will be set. VC/VLA is assigned to analog command input 1 (CN3-2 pin) when the initial value is set in [Pr.
  • Page 81: [Pr. Pc39_Analog Monitor 1 Offset (Mo1)]

    [Pr. PC39_Analog monitor 1 offset (MO1)] Initial value Setting range Ver. 0 [mV] -9999 to 9999 Set the offset voltage of analog monitor 1. [Pr. PC40_Analog monitor 2 offset (MO2)] Initial value Setting range Ver. 0 [mV] -9999 to 9999 Set the offset voltage of analog monitor 2.
  • Page 82: [Pr. Pc45_Function Selection C-A (**Copa)]

    [Pr. PC45_Function selection C-A (**COPA)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC45.0_Encoder pulse count polarity selection] Initial value Setting range Ver. Refer to the text Select a polarity of the linear encoder or load-side encoder. 0: Encoder pulse increasing direction in the servo motor CCW or positive direction 1: Encoder pulse decreasing direction in the servo motor CCW or positive direction [Pr.
  • Page 83: [Pr. Pc50_Function Selection C-B (*Copb)]

    [Pr. PC50_Function selection C-B (*COPB)] Initial value Setting range Ver. 00000001h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC50.0_Torque limit unit change] Initial value Setting range Ver. Refer to the text When "1" (rated torque unit) is set on this servo parameter, set the torque limit or thrust limit of [Pr. PA11], [Pr. PA12], and [Pr. PC35] in relation to the rated torque or continuous thrust (= 100 %).
  • Page 84: [Pr. Pc51_Deceleration Time Constant At Forced Stop (Rsbr)]

    [Pr. PC51_Deceleration time constant at forced stop (RSBR)] Initial value Setting range Ver. 100 [ms] 0 to 20000 Set the deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 [r/min] (0 [mm/s]) in units of ms. When "0"...
  • Page 85: [Pr. Pc60_Function Selection C-D (**Copd)]

    [Pr. PC60_Function selection C-D (**COPD)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PC60.0_Motor-less operation selection] Initial value Setting range Ver. Refer to the text Enable or disable motor-less operation. This operation can be used only in semi closed loop control while a rotary servo motor is used.
  • Page 86: [Pr. Pc73_Excessive Error Warning Trigger Level (Erw)]

    [Pr. PC73_Excessive error warning trigger level (ERW)] Initial value Setting range Ver. 0 [rev], [mm] 0 to 1000 Set the excessive error warning trigger level. If using a rotary servo motor or direct drive motor, set the level in units of rev. If 200 rev or higher is set, the value will be clamped to 200 rev.
  • Page 87: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD01_Input signal automatic ON selection 1 (*DIA1)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD01.0_Input signal automatic ON selection] Initial value Setting range Ver.
  • Page 88 [Pr. PD01.3_Input signal automatic ON selection] Initial value Setting range Ver. Refer to the text Select input devices that turn on automatically. Setting digit (BIN) Function _ _ _ x Forced stop (EM2)/forced stop (EM1) 0: Use for an external input signal 1: Automatic on ...
  • Page 89: [Pr. Pd03_Input Device Selection 1L (*Di1L)]

    [Pr. PD03_Input device selection 1L (*DI1L)] Initial value Setting range Ver. 00000202h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-15 pin. [Pr. PD03.0-1_Position control mode - Device selection] Initial value Setting range Ver.
  • Page 90: [Pr. Pd04_Input Device Selection 1H (*Di1H)]

    [Pr. PD04_Input device selection 1H (*DI1H)] Initial value Setting range Ver. 00000202h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-15 pin. [Pr. PD04.0-1_Torque control mode - Device selection] Initial value Setting range Ver.
  • Page 91: [Pr. Pd07_Input Device Selection 3L (*Di3L)]

    [Pr. PD07_Input device selection 3L (*DI3L)] Initial value Setting range Ver. 00000704h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-17 pin. If the absolute position detection system with DIO is selected while [Pr. PA03.0 Absolute position detection system selection] has been set to "1"...
  • Page 92: [Pr. Pd09_Input Device Selection 4L (*Di4L)]

    [Pr. PD09_Input device selection 4L (*DI4L)] Initial value Setting range Ver. 00000805h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-18 pin. If the absolute position detection system with DIO is selected while [Pr. PA03.0 Absolute position detection system selection] has been set to "1"...
  • Page 93: [Pr. Pd11_Input Device Selection 5L (*Di5L)]

    [Pr. PD11_Input device selection 5L (*DI5L)] Initial value Setting range Ver. 00000303h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-19 pin. [Pr. PD11.0-1_Position control mode - Device selection] Initial value Setting range Ver.
  • Page 94: [Pr. Pd14_Input Device Selection 6H (*Di6H)]

    [Pr. PD14_Input device selection 6H (*DI6H)] Initial value Setting range Ver. 00003920h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-41 pin. [Pr. PD14.0-1_Torque control mode - Device selection] Initial value Setting range Ver.
  • Page 95: [Pr. Pd19_Input Device Selection 9L (*Di9L)]

    [Pr. PD19_Input device selection 9L (*DI9L)] Initial value Setting range Ver. 000B0B0Bh Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-44 pin. [Pr. PD19.0-1_Position control mode - Device selection] Initial value Setting range Ver.
  • Page 96: [Pr. Pd22_Input Device Selection 10H (*Di10H)]

    [Pr. PD22_Input device selection 10H (*DI10H)] Initial value Setting range Ver. 00002B23h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-45 pin. [Pr. PD22.0-1_Torque control mode - Device selection] Initial value Setting range Ver.
  • Page 97: [Pr. Pd24_Output Device Selection 2 (*Do2)]

    [Pr. PD24_Output device selection 2 (*DO2)] Initial value Setting range Ver. 0000000Ch Refer to the relevant detail No. Refer to the relevant detail No. Select a function of the CN3-23 pin. If the absolute position detection system with DIO is selected while [Pr. PA03.0 Absolute position detection system selection] has been set to "1"...
  • Page 98: [Pr. Pd28_Output Device Selection 6 (*Do6)]

    [Pr. PD28_Output device selection 6 (*DO6)] Initial value Setting range Ver. 00000002h Refer to the relevant detail No. Refer to the relevant detail No. Select a function of the CN3-49 pin. [Pr. PD28.0-1_Device selection] Initial value Setting range Ver. Refer to the text Refer to the following for setting values.
  • Page 99: [Pr. Pd30_Function Selection D-1 (*Dop1)]

    [Pr. PD30_Function selection D-1 (*DOP1)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Set the following: the stop processing method at LSP/LSN signal off, the status of the base circuit when the RES signal is shorted, and the enable/disable setting of the servo motor thermistor.
  • Page 100: [Pr. Pd31_Function Selection D-2 (*Dop2)]

    [Pr. PD31_Function selection D-2 (*DOP2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD31.2_INP output signal ON condition selection] Initial value Setting range Ver. Refer to the text Select a condition for outputting INP (In-position). This function is enabled in the position control mode.
  • Page 101: [Pr. Pd34_Function Selection D-5 (*Dop5)]

    [Pr. PD34_Function selection D-5 (*DOP5)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PD34.1_Warning occurrence - Output device selection] Initial value Setting range Ver. Refer to the text Select ALM (Malfunction) output status at warning occurrence. Setting value Device status Warning occurrence...
  • Page 102: [Pr. Pd44_Input Device Selection 11H (*Di11H)]

    [Pr. PD44_Input device selection 11H (*DI11H)] Initial value Setting range Ver. 00003A00h Refer to the relevant detail No. Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-10/CN3-37 pin. • When "00h" is set, PP/PP2 (Forward rotation pulse/Manual pulse generator) will be assigned. •...
  • Page 103: [Pr. Pd47_Output Device Selection 7 (*Do7)]

    [Pr. PD47_Output device selection 7 (*DO7)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. Select functions of the CN3-13 pin and CN3-14 pin. [Pr. PD47.0-1_Device selection] Initial value Setting range Ver.
  • Page 104 [Pr. PD60.0_DI pin polarity selection] Initial value Setting range Ver. Refer to the text Select the DI pin polarity. Setting digit (BIN) Function _ _ _ x DI pin polarity selection 1 0: ON with 24 V input 1: ON with 0 V input _ _ x _ DI pin polarity selection 2 0: ON with 24 V input...
  • Page 105: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE01_Fully closed loop control function selection 1 (**FCT1)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PE01.0_Fully closed loop function selection] Initial value Setting range Ver.
  • Page 106: [Pr. Pe03_Fully Closed Loop Control Function Selection 2 (*Fct2)]

    [Pr. PE03_Fully closed loop control function selection 2 (*FCT2)] Initial value Setting range Ver. 00000003h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PE03.0_Fully closed loop control error - Detection function selection] Initial value Setting range Ver.
  • Page 107: [Pr. Pe04_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Numerator (**Fbn)]

    [Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)] Initial value Setting range Ver. 1 to 4294967295 If using the fully closed loop control, set the electronic gear numerator to the servo motor encoder pulses. Set the electronic gear so that the number of the servo motor encoder pulses per servo motor revolution is converted into load-side encoder resolution.
  • Page 108: [Pr. Pe10_Fully Closed Loop Function Selection 3 (Fct3)]

    [Pr. PE10_Fully closed loop function selection 3 (FCT3)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PE10.1_Fully closed loop control - Position deviation error detection level - Unit selection] Initial value Setting range Ver.
  • Page 109: [Pr. Pe45_Lost Motion Compensation Negative-Side Compensation Value Selection (Lmcn)]

    [Pr. PE45_Lost motion compensation negative-side compensation value selection (LMCN)] Initial value Setting range Ver. 0 [0.01 %] 0 to 30000 Set the lost motion compensation for when positive speed switches to negative speed in increments of 0.01 % in relation to the rated torque as 100 %.
  • Page 110: [Pr. Pe50_Lost Motion Compensation Non-Sensitive Band (Lmct)]

    [Pr. PE50_Lost motion compensation non-sensitive band (LMCT)] Initial value Setting range Ver. 0 [pulse], [kpulse] 0 to 65535 Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses is equal to or less than the setting value, the speed is recognized as 0. The setting unit can be changed with [Pr. PE48]. Set the servo parameter per encoder unit.
  • Page 111: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) [Pr. PF02_Function selection F-2 (*FOP2)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF02.4_Memory writing frequency warning enable/disable selection] Initial value Setting range Ver.
  • Page 112: [Pr. Pf09_Function Selection F-5 (*Fop5)]

    [Pr. PF09_Function selection F-5 (*FOP5)] Initial value Setting range Ver. 00000013h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF09.0_Electronic dynamic brake selection] Initial value Setting range Ver. Refer to the text Enable or disable the electronic dynamic brake. 2: Disabled 3: Enabled only for specific servo motors Refer to the following table for the specific servo motors.
  • Page 113: [Pr. Pf15_Electronic Dynamic Brake Operating Time (Dbt)]

    [Pr. PF15_Electronic dynamic brake operating time (DBT)] Initial value Setting range Ver. 2000 [ms] 0 to 10000 Set an operating time for the electronic dynamic brake. [Pr. PF18_STO diagnosis error detection time (**STOD)] Initial value Setting range Ver. 10 [s] 0 to 60 Set the time from when the error of the STO input or STO circuit is detected until the occurrence of [AL.
  • Page 114: [Pr. Pf23_Vibration Tough Drive - Oscillation Detection Level (Oscl1)]

    [Pr. PF23_Vibration tough drive - Oscillation detection level (OSCL1)] Initial value Setting range Ver. 20 [%] 0 to 100 Set the oscillation detection level for readjusting the machine resonance suppression filter while the vibration tough drive is enabled. When the oscillation level is higher than the setting value of this servo parameter, reset [Pr. PB13 Machine resonance suppression filter 1] or [Pr.
  • Page 115: [Pr. Pf31_Machine Diagnosis Function - Friction Judgment Speed (Fric)]

    [Pr. PF31_Machine diagnosis function - Friction judgment speed (FRIC)] Initial value Setting range Ver. 0 [r/min], [mm/s] 0 to 65535 Set the servo motor speed to divide the friction estimation area between low-speed and high-speed in the friction estimation process of machine diagnosis. When the maximum operation speed is under the rated speed, it is recommended to set half the value of the maximum operation speed.
  • Page 116: [Pr. Pf50_Friction Failure Prediction - Compensation Coefficient 2 (Tic)]

    [Pr. PF50_Friction failure prediction - Compensation coefficient 2 (TIC)] Initial value Setting range Ver. 0 [0.1 %] -10000 to 10000 Set compensation coefficient 2 to compensate the dynamic friction being used for the friction failure prediction. When the friction failure prediction warning selection is set to the automatic threshold setting, the value will be calculated automatically from the estimated dynamic friction.
  • Page 117 [Pr. PF51.5_Static friction failure prediction warning selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Automatic threshold setting 2: Manual threshold setting 3: Threshold reset When "2" is set, if the static friction exceeds the set threshold, [AL. 0F7.5 Static friction failure prediction warning] occurs. When "3"...
  • Page 118: [Pr. Pf52_Machine Failure Prediction Servo Parameter (Mfpp)]

    [Pr. PF52_Machine failure prediction servo parameter (MFPP)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF52.0_Friction failure prediction - Threshold multiplication] Initial value Setting range Ver. 0h to Fh Set a multiplying factor for calculating the threshold used in the friction failure prediction function.
  • Page 119: [Pr. Pf53_Failure Prediction - Servo Motor Total Travel Distance (Fpmt)]

    [Pr. PF53_Failure prediction - Servo motor total travel distance (FPMT)] Initial value Setting range Ver. 0 [10 rev], [m] 0 to 4294967295 Set a servo motor total travel distance required for determining the threshold used in the friction failure prediction function and the servo motor total travel distance failure prediction function.
  • Page 120: [Pr. Pf56_Vibration Failure Prediction - Average Characteristics (Vav)]

    [Pr. PF56_Vibration failure prediction - Average characteristics (VAV)] Initial value Setting range Ver. 0 [0.1 %] 0 to 10000 Set a vibration level average during servo motor operation. This servo parameter is enabled when [Pr. PF51 Friction failure prediction warning selection] is set to "2" (enabled (manual threshold setting)).
  • Page 121: [Pr. Pf67_Backlash Nominal Value (Bln)]

    [Pr. PF67_Backlash nominal value (BLN)] Initial value Setting range Ver. 0 [0.01 degree] 0 to 3600000 To set the threshold for gear failure prediction, a backlash nominal value must be set. Input a backlash value presented by the manufacturer of the gear connected to the servo motor. When [Pr.
  • Page 122: [Pr. Pf71_Belt Failure Prediction Function Selection (Bfp)]

    [Pr. PF71_Belt failure prediction function selection (BFP)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF71.0_Belt tension deterioration prediction function selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Execute only belt tension estimation 2: Belt tension deterioration prediction function enabled...
  • Page 123: [Pr. Pf75_Static Friction When Extended (Asf)]

    [Pr. PF75_Static friction when extended (ASF)] Initial value Setting range Ver. 0 [0.1 %] 0 to 10000 Set a static friction for when the belt stretches or for when the belt is looser than at the time of the attachment. Set the static friction with any of the following values estimated by the friction estimation function depending on the value of [Pr.
  • Page 124: [Pr. Pf80_Drive Recorder - Operation Condition Selection (Drmc)]

    [Pr. PF80_Drive recorder - Operation condition selection (DRMC)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF80.0_Drive recorder - Operation mode selection] Initial value Setting range Ver. Refer to the text 0: Automatic setting mode 1: Manual setting mode When "0"...
  • Page 125: [Pr. Pf81_Drive Recorder - Sampling Operation Selection (Drms)]

    [Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF81.0_Drive recorder - Sampling start selection] Initial value Setting range Ver. Refer to the text Set this servo parameter to start drive recorder sampling.
  • Page 126 [Pr. PF82.1_Drive recorder - Trigger binding condition selection] Initial value Setting range Ver. Refer to the text Select the trigger binding condition for the drive recorder. When this servo parameter is set to "0" (disabled), the settings of [PF84.2-3 Drive recorder - Trigger channel selection 2] and [PF86 Drive recorder - Trigger level setting 2] are disabled.
  • Page 127: [Pr. Pf84_Drive Recorder - Trigger Channel Selection (Drtc)]

    [Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] Initial value Setting range Ver. 00008101h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF84.0-1_Drive recorder - Trigger channel selection 1] Initial value Setting range Ver. Refer to the text Set the trigger channel No.
  • Page 128: [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (Drtl1)]

    [Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] Initial value Setting range Ver. -2147483648 to 2147483647 Set the trigger level of trigger channel No. 1 of the drive recorder in decimal. Set the value considering the decimal point. For example, if setting a torque of 100.0 [%] for the trigger level, set this servo parameter to "1000" because the torque unit is [0.1 %].
  • Page 129: [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (Drac1)]

    [Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] Initial value Setting range Ver. 00020201h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection] Initial value Setting range Ver. 201h Refer to the text Select the data to be assigned to analog channel 1 of the drive recorder.
  • Page 130 Setting value Data type Unit Category Servo motor speed + 0.1 r/min 32-bit data Command pulse frequency + kpulse/s Command pulse frequency (speed unit) + 0.1 r/min Droop pulses (1 pulse unit) + 1 pulse Speed command + 0.1 r/min Position within one-revolution + 1 pulse Load-side encoder information 1 +...
  • Page 131: [Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (Drac2)]

    [Pr. PF88_Drive recorder - Analog channel setting 2 (DRAC2)] Initial value Setting range Ver. 02040003h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF88.0-2_Drive recorder - Analog channel 3 selection] Initial value Setting range Ver. 003h Refer to the text Select the data to be assigned to analog channel 3 of the drive recorder.
  • Page 132: [Pr. Pf90_Drive Recorder - Analog Channel Setting 4 (Drac4)]

    [Pr. PF90_Drive recorder - Analog channel setting 4 (DRAC4)] Initial value Setting range Ver. 0000020Ch Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF90.0-2_Drive recorder - Analog channel 7 selection] Initial value Setting range Ver. 20Ch Refer to the text Select the data to be assigned to analog channel 7 of the drive recorder.
  • Page 133 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 134: [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (Drdc2)]

    [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)] Initial value Setting range Ver. 80058010h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF92.0-3_Drive recorder - Digital channel 3 selection] Initial value Setting range Ver. 8010h Refer to the text Refer to the following for values that can be assigned.
  • Page 135: [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (Drdc4)]

    [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)] Initial value Setting range Ver. 801D8015h Refer to the relevant detail No. Refer to the relevant detail No. [Pr. PF94.0-3_Drive recorder - Digital channel 7 selection] Initial value Setting range Ver. 8015h Refer to the text Refer to the following for values that can be assigned.
  • Page 136: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) [Pr. PL01_Function selection L-1 (**LIT1)] Initial value Setting range Ver. 00000301h Refer to the relevant detail No. Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr.
  • Page 137: [Pr. Pl04_Function Selection L-2 (*Lit2)]

    [Pr. PL04_Function selection L-2 (*LIT2)] Initial value Setting range Ver. 00000003h Refer to the relevant detail No. Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr. PL04.0_[AL. 042 Servo control error] detection function selection] Initial value Setting range Ver.
  • Page 138: [Pr. Pl07_Torque Deviation Error Detection Level (Lb3)]

    [Pr. PL07_Torque deviation error detection level (LB3)] Initial value Setting range Ver. 100 [%] 0 to 1000 Set the torque/thrust deviation error detection level of the servo control error detection. When the difference between a current command and current feedback is larger than the setting value, [AL. 042.3 Servo control error by torque/thrust deviation] occurs.
  • Page 139: [Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (Ltsts)]

    [Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] Initial value Setting range Ver. 00000000h Refer to the relevant detail No. Refer to the relevant detail No. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4" (minute position detection method).
  • Page 140 [Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection] Initial value Setting range Ver. Refer to the text Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used for the minute position detection method.
  • Page 141 [Pr. PL18_Magnetic pole detection - Minute position detection method - Identification signal amplitude (IDLV)] Initial value Setting range Ver. 0 [%] 0 to 200 Set an identification signal amplitude to be used in the minute position detection method. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4". However, when "0"...
  • Page 142: Chapter 2 Lists Of Servo Parameter Supported Modes

    LISTS OF SERVO PARAMETER SUPPORTED MODES Structure The following shows the meaning of each abbreviation used in the lists. "" indicates the modes that can be used, and "" indicates the modes that cannot be used or modes that are not used even if set. Mode List abbreviation Meaning...
  • Page 143: Lists Of Supported Control Modes

    Lists of supported control modes Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PA01 PA01.0            ...
  • Page 144: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard         PB01 PB01.0         PB01.3 ...
  • Page 145 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PB45 PB45.0-1                 PB45.2 PB46        ...
  • Page 146: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard          PC01         ...
  • Page 147: I/O Setting Servo Parameters Group ([Pr. Pd

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PC43                  PC44 PC44.3 PC45 PC45.0      ...
  • Page 148: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard         PD28 PD28.0-1         PD29 PD29.0        ...
  • Page 149: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PF02 PF02.4                ...
  • Page 150 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard         PF82 PF82.0         PF82.1         PF82.2 ...
  • Page 151: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PL01 PL01.0                ...
  • Page 152: Chapter 3 Lists Of Servo Parameter Initial Values

    LISTS OF SERVO PARAMETER INITIAL VALUES Basic setting servo parameters group ([Pr. PA_ _ ]) Initial value Remark PA01 10003000h   PA02 00000000h  PA03 00000000h  PA04 00002000h  PA05 10000 PA06   PA07 PA08 00000001h  ...
  • Page 153: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Initial value Remark  PB01 00000000h PB02 00000000h   PB03  PB04 PB05 For manufacturer setting  PB06 7.00 PB07 15.0   PB08 37.0 PB09   PB10 33.7 PB11 ...
  • Page 154 Initial value Remark PB49 00000000h   PB50 4500  PB51 00000000h  PB52 100.0  PB53 100.0  PB54 0.00  PB55 0.00 PB56   PB57 PB58 0.00   PB59 0.00  PB60 PB61 For manufacturer setting PB62 00000000h For manufacturer setting...
  • Page 155: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Initial value Remark  PC01 PC02   PC03  PC04  PC05 100.00  PC06 500.00 PC07 1000.00   PC08 200.00 PC09 300.00   PC10 500.00 PC11 800.00 ...
  • Page 156 Initial value Remark PC49 For manufacturer setting  PC50 00000001h  PC51 PC52 For manufacturer setting PC53 For manufacturer setting  PC54 PC55 For manufacturer setting PC56 For manufacturer setting PC57 00000000h For manufacturer setting PC58 For manufacturer setting PC59 00000000h For manufacturer setting ...
  • Page 157: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Initial value Remark PD01 00000000h  PD02 00000000h For manufacturer setting PD03 00000202h   PD04 00000202h PD05 00002100h   PD06 00002021h  PD07 00000704h  PD08 00000707h  PD09 00000805h PD10 00000808h...
  • Page 158 Initial value Remark PD52 00110001h For manufacturer setting PD53 For manufacturer setting PD54 For manufacturer setting PD55 For manufacturer setting PD56 00000000h For manufacturer setting PD57 00000000h For manufacturer setting PD58 00000000h For manufacturer setting PD59 00000000h For manufacturer setting ...
  • Page 159: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Initial value Remark  PE01 00000000h PE02 00000000h For manufacturer setting  PE03 00000003h  PE04  PE05  PE06 PE07   PE08 PE09 00000000h For manufacturer setting  PE10 00000000h PE11...
  • Page 160 Initial value Remark PE49   PE50  PE51 PE52 00000000h For manufacturer setting PE53 00000000h For manufacturer setting PE54 00000000h For manufacturer setting PE55 00000000h For manufacturer setting PE56 00000000h For manufacturer setting PE57 00000000h For manufacturer setting PE58 00000000h For manufacturer setting PE59...
  • Page 161: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Initial value Remark PF01 00000000h For manufacturer setting PF02 00000000h  PF03 00000000h For manufacturer setting PF04 For manufacturer setting PF05 For manufacturer setting PF06 00000000h For manufacturer setting PF07 For manufacturer setting PF08 For manufacturer setting...
  • Page 162 Initial value Remark PF49   PF50  PF51 00000000h  PF52 00000000h  PF53  PF54  PF55 PF56   PF57 PF58  PF59 00000000h For manufacturer setting PF60 00000000h For manufacturer setting PF61 00000000h For manufacturer setting PF62 00000000h For manufacturer setting...
  • Page 163: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) Initial value Remark  PL01 00000301h PL02 1000   PL03 1000  PL04 00000003h  PL05  PL06 PL07   PL08 00001010h PL09  PL10 For manufacturer setting PL11 For manufacturer setting PL12...
  • Page 164 Initial value Remark PL49 00000000h For manufacturer setting PL50 00000000h For manufacturer setting PL51 00000000h For manufacturer setting PL52 00000000h For manufacturer setting PL53 For manufacturer setting PL54 00000000h For manufacturer setting PL55 00000000h For manufacturer setting PL56 00000000h For manufacturer setting PL57 00000000h For manufacturer setting...
  • Page 165: Chapter 4 Servo Parameter Setting Method

    Engineering tool Servo parameters can be set using an engineering tool manufactured by Mitsubishi Electric such as MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable. For details on how to set servo parameters, refer to Help or the manual for each engineering tool.
  • Page 166 MEMO 4 SERVO PARAMETER SETTING METHOD 4.2 Operation section (push buttons)
  • Page 167: Chapter 5 Network Parameter Details

    Depending on the servo amplifier firmware version and MR Configurator2 software version, some network parameters and ranges cannot be set. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2 or by other means.
  • Page 168: Network Basic Parameters

    Network basic parameters [Pr. NPA02_IP address] Initial value Setting range Size Ver. 192.168.3.1 (C0A80301h) Refer to the text 4 bytes Set the IP address. Set each octet to a value between 0 to 255. In the eight digits of hexadecimal, the first to forth octets are expressed with each pair of digits. digits digits digits...
  • Page 169: User Authentication Parameters

    User authentication parameters [Pr. NPB01_User authentication and authorization setting] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the connection method to use for setting the user authentication parameter. To enable this network parameter, cycle the power or reset the software after setting. Setting value Authorization Description...
  • Page 170: [Pr. Npb06_Password No.1]

    [Pr. NPB06_Password No.1] Initial value Setting range Size Ver.   user Set the password to use when accessing the FTP server function of the servo amplifier. Set the password in accordance with the following restrictions. Number of characters Type of characters 4 to 32 •...
  • Page 171: [Pr. Npb13_User Name No.4]

    [Pr. NPB13_User name No.4] Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes Set the user name (No.4) to use when accessing the FTP server function of the servo amplifier. Page 167 [Pr. NPB04_User name No.1] [Pr.
  • Page 172: [Pr. Npb20_Authorization Level No.6]

    [Pr. NPB20_Authorization level No.6] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the authorization level for the user (No.6). Page 167 [Pr. NPB05_Authorization level No.1] [Pr. NPB21_Password No.6] Initial value Setting range Size Ver. ...
  • Page 173: [Pr. Npb27_Password No.8]

    [Pr. NPB27_Password No.8] Initial value Setting range Size Ver.    Set the password (No.8) to use when accessing the FTP server function of the servo amplifier. Page 168 [Pr. NPB06_Password No.1] 5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters...
  • Page 174: Chapter 6 Network Parameter Setting Method

    NETWORK PARAMETER SETTING METHOD Engineering tool The network parameters can be set with MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool. 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
  • Page 175 MEMO 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
  • Page 176: Revisions

    A/B/Z-phase differential output type encoder, regenerative option, network function 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 177: 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 178: 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)-030310ENG-C...
  • Page 180 SH(NA)-030310ENG-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.

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