Page 1 Mitsubishi Electric AC Servo System MR-JET User's Manual (Function) -MR-JET-_G -MR-JET-_G-N1...
Page 3: Safety Instructions
SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.
Page 5: About The Manual
ABOUT THE MANUAL 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: Object Units
OBJECT UNITS This section explains the pos units, vel units, and acc units used in this manual. The degree unit is available on servo amplifiers with firmware version B6 or later. The mm unit and inch unit are available on servo amplifiers with firmware version B8 or later in the positioning mode (point table method).
Page 7: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 8 Operation status at warning occurrence ............108 Returning from an alarm .
Page 9 Setting method ............... . . 181 Checking "Limiting torque"...
Page 10 Steps of accessing the FTP server ............219 Firmware update .
Page 11: 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 12 Operation function Functions Detailed functions Description Ver. Detailed explanation MR-JET Page 132 Quick stop Stop function Quick Stop This function stops the servo motor with a specified method and switches to the servo-off status. Page 137 Halt Halt This function stops the servo motor while the servo- on status is maintained.
Page 13 I/O, monitor Functions Detailed functions Description Ver. Detailed explanation MR-JET Page 106 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 the O devices connector. Output signal selection (device This function assigns output devices such as MBR Page 106 Assigning I/...
Page 14 Protective functions Functions Detailed functions Description Ver. Detailed explanation MR-JET Page 108 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 15 Diagnostics Functions Detailed functions Description Ver. Detailed explanation MR-JET Page 160 Drive Drive data diagnosis Drive recorder This function continuously monitors the servo status and records the state transition before and after an recorder 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 16: Chapter 2 Control Mode
CONTROL MODE Control mode The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are shown in the following. Category Control mode Symbol Description CiA 402 control mode Cyclic synchronous position 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 17: Control Switching
Control switching • The initial control mode setting is the cyclic synchronous position mode. When using the cyclic synchronous position mode, perform position follow-up with the controller at servo-on. • To use the profile mode, switch to the mode in the servo-off state. After the control mode is switched, turn on the servo-on.
Page 18: 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 19 Index Object Name Description  60FAh Control effort Position control loop output (speed command) Unit: vel units  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...
Page 20: 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 21 Index Object Name Description  60A8h SI unit position SI unit position It is automatically set in [Pr. PT01.2 Unit for position data].  60A9h SI unit velocity SI unit velocity The SI unit velocity is returned. It is automatically set in [Pr. PT01.2 Unit for position data]. ...
Page 22: 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 23 Index Object Name Description  60B2h Torque offset Torque offset Unit: 0.1 % (with rated torque being 100 %) 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.
Page 24: Profile Position Mode (Pp)
Profile position mode (pp) This mode is available on servo amplifiers with firmware version B2 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 25 Index Object Name Description  6085h Quick stop deceleration Deceleration at deceleration to a stop with Quick stop Unit: acc units  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) ...
Page 26 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 27 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 28: Profile Velocity Mode (Pv)
Profile velocity mode (pv) This mode is available on servo amplifiers with firmware version B2 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 29 Index Object Name Description  6077h Torque actual value Current torque Unit: 0.1 % (with rated torque being 100 %) 6092h ARRAY Feed constant Travel distance per revolution of an output shaft Feed Travel distance setting Shaft revolutions Number of servo motor shaft revolutions Unit: rev ...
Page 30 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 31 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 32: Profile Torque Mode (Tq)
Profile torque mode (tq) This mode is available on servo amplifiers with firmware version B2 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 33 Index Object Name Description 6091h ARRAY Gear ratio Gear ratio Motor revolutions Number of revolutions of the servo motor shaft (numerator) Page 97 Electronic gear function Shaft revolutions Number of revolutions of the drive shaft (denominator) Page 97 Electronic gear function ...
Page 34 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...
Page 35: Point Table Mode (Pt)
Point table mode (pt) Available on servo amplifiers with firmware version B8 or later. The following shows the functions and related objects of the point table mode (pt). [Torque offset (Obj. 60B2h)] × [Velocity offset (Obj. 60B1h)] × [Positive torque limit value (Obj. 60E0h)] [Negative torque limit value (Obj.
Page 36 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 Unit: rev  60F4h Following error actual value Droop pulses Unit: pos units ...
Page 37 Index Object Name Description 2A43h ARRAY Point table error Number of entries (point table data) Point table error No. Point table error number During [AL. 037.3 Point table setting error] occurrence, the point table number that triggers the alarm is returned. Point table error factor Point table error element During [AL.
Page 38: Jog Operation Mode (Jg)
JOG operation mode (jg) Available on servo amplifiers with firmware version B8 or later. The following shows the functions of the JOG operation mode (jg) as well as related objects. [Torque offset (Obj. 60B2h)] × [Velocity offset (Obj. 60B1h)] × [Positive torque limit value (Obj.
Page 39 Index Object Name Description  6064h Position actual value Current position Unit: pos units  606Ch Velocity actual value Current speed Unit: vel units  6077h Torque actual value Current torque Unit: 0.1 % (with rated torque being 100 %) 6092h ARRAY Feed constant...
Page 40 *1 This object may not be used depending on the network being used. For details, refer to the User's Manual (Object Dictionary). *2 Available on servo amplifiers with firmware version C0 or later. 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.
Page 41: Continuous Operation To Torque Control Mode (Ct)
Continuous operation to torque control mode (ct) This mode is available on servo amplifiers with firmware version B0 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 42 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 (Obj. 6072h)] Torque [Positive torque limit value (Obj. 60E0h)] [Torque demand value (Obj. 6074h)] [Negative torque limit value (Obj. 60E1h)] limit function [Target torque (Obj.
Page 43 Index Object Name Description  60A8h SI unit position SI unit position It is automatically set in [Pr. PT01.2 Unit for position data].  60A9h SI unit velocity SI unit velocity The SI unit velocity is returned. It is automatically set in [Pr. PT01.2 Unit for position data]. ...
Page 44 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 45 ■Switching between csv 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 Torque...
Page 46: Homing Mode (Hm)
Homing mode (hm) The following shows the functions of the homing mode (hm) as well as related objects. [Controlword (Obj. 6040h)] [Homing method (Obj. 6098h)] [Statusword (Obj. 6041h)] [Homing speeds (Obj. 6099h)] Homing method [Homing acceleration (Obj. 609Ah)] [Position demand value (Obj. 6062h)] Acceleration [Max acceleration (Obj.
Page 47 *1 In the homing mode (hm), the servo motor is brought to a quick stop according to the deceleration time constant when the stroke end is detected. Set the homing speed carefully. *2 If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s). *3 This object may not be used depending on the network being used.
Page 48 Homing method list In the following cases, make sure that the Z-phase has been passed once before performing homing. If the Z-phase has not been passed, [AL. 090.5 Homing incomplete warning] will occur. • When using an incremental linear encoder in the linear servo motor control mode •...
Page 49 Method Homing methods Homing direction Description Home position shift function [Pr. PA14] = 0 [Pr. PA14] = 1 Count type homing Forward rotation (CCW) Reverse rotation (CW) or Performs homing with reference to the Available (Front end detection - or positive direction negative direction front end of the proximity dog.
Page 50 Method Homing methods Homing direction Description Home position shift function [Pr. PA14] = 0 [Pr. PA14] = 1 Homing on positive Forward rotation (CCW) Reverse rotation (CW) or After the forward rotation stroke end is Available limit switch and index or positive direction negative direction detected, the position moves in the...
Page 51 Method Homing methods Homing direction Description Home position shift function [Pr. PA14] = 0 [Pr. PA14] = 1 Homing without index Reverse rotation (CW) or Forward rotation (CCW) After the reverse rotation stroke end is Available pulse negative direction or positive direction detected, the position is shifted away from the stroke end in the forward direction, where the home position is set.
Page 52 Method Homing methods Homing direction Description Home position shift function [Pr. PA14] = 0 [Pr. PA14] = 1 Homing without index Reverse rotation (CW) or Forward rotation (CCW) Although this type is the same as the dog Available pulse negative direction or positive direction cradle type homing, the stop position is not on the Z-phase.
Page 53 Home position shift function The home position shift function can set the position shifted by the value set in [Pr. PT07] from the reference home position in each homing method as the home position. For the homing methods available in the home position shift function, refer to the following list. Page 46 Homing method list ...
Page 54 Conditions for erasing absolute position data For an incremental system, the absolute position data is erased in the following situations: • If homing is not being executed. • If homing is in progress. • If [AL. 069 Command error] occurs. For an absolute position detection system, the absolute position data is erased in the following situations: •...
Page 55 CiA 402-type Homing method • For details on signal polarity and other I/O device assignments, refer to the following. Page 106 Assigning I/O devices 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.
Page 56 ■Method 3 and Method 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 57 ■Method 9, Method 10, Method 13, and Method 14: Homing on home switch and index pulse These homing methods use the Home switch (dog) and Index pulse (Z-phase). The homing direction is forward rotation (CCW) or positive direction. In Method 9, the home position is the Z-phase immediately before the rear end of the dog, and in Method 10, the home position is the Z-phase immediately after the rear end of the dog.
Page 58 These homing methods set the current position as a home position. The operation is the same as that of the data set type homing, however, homing can be executed even in the servo-off status. Homing cannot be executed in the servo-off status when Motion modules manufactured by Mitsubishi Electric (RD78G(H)/ FX5-SSC-G) are used. For details, refer to each controller manual.
Page 59 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 when [Pr. PA14_Travel direction selection] is set to "0". The homing direction when [Pr. PA14] is "1" is opposite to the figure. When [Pr.
Page 60 ■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 when the home position shift distance is a positive value. The homing direction of Homing method 5 is opposite to that of Homing method 3.
Page 61 ■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 when the home position shift distance is a positive value. The homing direction of Homing method 6 is opposite to that of Homing method 4.
Page 62 ■Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7 when the home position shift distance is a positive value. The homing direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12...
Page 63 ■Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8 when the home position shift distance is a positive value. The homing direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12...
Page 64 ■Method 9 and Method 13 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 9 when the home position shift distance is a positive value. The homing direction of Homing method 13 is opposite to that of Homing method 9. Statusword bit 10 Target reached Statusword bit 12...
Page 65 ■Method 10 and Method 14 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 10 when the home position shift distance is a positive value. The homing direction of Homing method 14 is opposite to that of Homing method 10. Statusword bit 10 Target reached Statusword bit 12...
Page 66 ■Method 17 (Homing on negative limit switch) and Method 18 (Homing on positive limit switch) The following figure shows the operation of Homing method 18 when the home position shift distance is a positive value. The homing direction of Homing method 17 is opposite to that of Homing method 18. Statusword bit 10 Target reached Statusword bit 12...
Page 67 ■Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19 when the home position shift distance is a positive value. The homing direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12...
Page 68 ■Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20 when the home position shift distance is a positive value. The homing direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12...
Page 69 ■Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23 when the home position shift distance is a positive value. The homing direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12...
Page 70 ■Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24 when the home position shift distance is a positive value. The homing direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12...
Page 71 The following figure shows the operation of Homing method 35 and Homing method 37. Homing can be executed even in the servo-off status. Homing cannot be executed in the servo-off status when Motion modules manufactured by Mitsubishi Electric (RD78G(H)/ FX5-SSC-G) are used. For details, refer to each controller manual.
Page 72 Operation example of Manufacturer-specific Homing method • For details on signal polarity and other I/O device assignments, refer to the following. Page 106 Assigning I/O devices The following shows an operation example of the Manufacturer-specific homing when [Pr. PA14_Travel direction selection] is set to "0".
Page 73 ■Method -2 and Method -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 74 ■Method -3 (Data set type homing) The following figure shows the operation of Homing method -3. Data set type homing cannot be executed in the servo-off status. Statusword bit 12 Homing attained Homing position data Forward rotation Servo motor speed 0 r/min Reverse rotation...
Page 75 ■Method -6 and Method -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 76 ■Method -7 and Method -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 77 ■Method -8 and Method -40 (Dog cradle type homing) The following figure shows the operation of Homing method -8 when the home position shift distance is a positive value. The homing direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12...
Page 78 ■Method -9 and Method -41 (Dog type last Z-phase reference homing) The following figure shows the operation of Homing method -9 when the home position shift distance is a positive value. The homing direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12...
Page 79 ■Method -10 and Method -42 (Dog type front end reference homing) The following figure shows the operation of Homing method -10 when the home position shift distance is a positive value. The homing direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12...
Page 80 ■Method -11 and Method -43 (Dogless Z-phase reference homing) The following figure shows the operation of Homing method -11 when the home position shift distance is a positive value. The homing direction of Homing method -43 is opposite to that of Homing method -11. •...
Page 81: 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 139 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 82 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 83: Object Dictionary
When using a controller manufactured by Mitsubishi Electric, any concern regarding the Objects is alleviated as the controller itself has the functions to set and obtain the Object values necessary to implement each function. When the respective object values are needed to be obtained and set specifically, use the servo cyclic transmission function or the servo transient transmission function.
Page 84: Rotation/Travel Direction Selection
Rotation/travel direction selection 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 85: 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 86 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 87 Target object The following shows the 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)] •...
Page 88: Stroke Limit Function
Stroke limit function The stroke limit function is a function that limits the travel distance of servo motors. On a system configuration where the movable range is limited, wire the stroke limit signal and use this function to prevent machine damage due to a collision. When the stroke limit signal is detected, a warning regarding the detected signal occurs, and the servo motor stops based on the stop method described in this section.
Page 89: Setting Methods Of Functions
Setting methods of functions Refer to the following table, and make the appropriate settings for the system configuration. Item Reference When wiring the limit switch to the servo amplifier Page 87 When wiring the limit switch to the servo amplifier Page 89 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 90 ■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 91 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 92: 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 93: 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 94: Limit Switch Release Position Assessment Function
Limit switch release position assessment function 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 95: Command Unit Selection Function
Command unit selection function Position command unit selection function The position command unit selection function and degree unit are available on servo amplifiers with firmware version B6 or later. The mm unit and inch unit are available on servo amplifiers with firmware version B8 or later in the positioning mode (point table method).
Page 96 Function block diagram Unit for position data ([Pr. PT01] = _ _ _ _ _ x _ _) Cyclic synchronous mode Pulse unit Travel distance Pulse unit Profile mode Degree unit To the position Electronic gear 360000 control loop mm unit inch unit Positioning mode (point table method)
Page 97 Setting method ■Setting with servo parameters Use [Pr. PT01.2 Unit for position data] to set the command unit of position data. Servo Symbol Name Outline parameter PT01.2 **CTY Unit for position data Set the unit of position data. 0: mm 1: inch 2: degree 3: pulse (initial value)
Page 98: Speed Command Unit Selection Function
Speed command unit selection function 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 Use this when setting the speed data as servo motor speed (encoder unit). Command unit/s Use this when setting the speed data in command units.
Page 99: Electronic Gear Function
Electronic gear function Electronic gear function is a function that multiplies the electronic gear ratio to the position command, and sets the ratio of the rotation amount/travel distance of the servo motor to the rotation amount/travel distance of the command unit as desired. For the position feedback, the inverse number of the electronic gear ratio is multiplied.
Page 100: 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 101 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 4194304 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side...
Page 102 For profile position mode ■When setting "3" (pulse) in [Pr. PT01.2 Unit for position data] 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. 6091h: 02h)] can also be used for the setting.
Page 103 Setting example for a ball screw Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 4194304 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side : Number of gear teeth on load gear Servo motor encoder resolution: P = 4194304 [pulse/rev]...
Page 104 ■When setting "2" (degree) in [Pr. PT01.2 Unit for position data] Set the number of gear teeth on machine side with [Pr. PA06 Electronic gear numerator] and the number of gear teeth on servo motor side with [Pr. PA07 Electronic gear denominator]. [Motor revolutions (Obj. 6091h: 01h)] and [Shaft revolutions (Obj.
Page 105 For positioning mode (point table method) ■When setting "3" (pulse) in [Pr. PT01.2 Unit for position data] 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. 6091h: 02h)] can also be used for the setting.
Page 106 Setting example for conveyors Machine specifications r = 160 [mm] Servo motor encoder resolution 4194304 [pulse/rev] 1/n = Z = 1/3 Pulley diameter: r = 160 [mm] Reduction ratio: 1/n = Z = 1/3 : Number of gear teeth on servo motor side : Number of gear teeth on load gear Servo motor encoder resolution: P = 4194304 [pulse/rev]...
Page 107: In-Position Range Setting
In-position range setting The positioning completion status can be checked with INP (in-position). When the number of droop pulses falls within or less than the range set in servo parameters, INP (in-position) turns on. In addition, the range unit for the in-position and the conditions to turn on the in-position can be changed with servo parameters.
Page 108: Assigning I/O Devices
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 109: Regenerative Option Selection
Refer to "Regenerative option" in the following manual for the details of the regenerative options. MR-JET User's Manual (Hardware) Regenerative option For the regenerative options, select the Mitsubishi Electric-specified regenerative resistor (MR-RB series). Precautions • To prevent a fire from occurring, use servo amplifiers with regenerative options in the specified combinations.
Page 110: Alarm Function
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 111: Returning From An Alarm
Returning from an alarm When an alarm occurs, remove its cause, check that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting the operation. Remove the cause of the alarm in accordance with the following manual. MR-JET User's Manual (Troubleshooting) The following table shows how to deactivate the alarm.
Page 112: Alarm History
Alarm history The No. of the alarm that has occurred and the time at which it occurred can be recorded in the history. In the alarm history, the latest 16 alarms are recorded so that the types of alarms that have occurred in the past can be checked. The alarm history can be cleared with [Pr.
Page 113: Stop Method At Occurrence Of Alarms/Warnings
Index Object Name Description 2A43h ARRAY Point table error The number of sub objects (2) is returned. ARRAY Point table error No. The point table error number is returned. ARRAY Point table error factor The point table error element is returned. ...
Page 114: Timing Chart For Alarm Occurrence
Timing chart for alarm occurrence • 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 115 ■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 116: Forced Stop Deceleration Function
3.10 Forced stop deceleration function Forced stop deceleration function is a function that decelerates the servo motor with commands when EM2 (Forced stop 2) is turned off, and stops the servo motor with the dynamic brake when the servo motor rotates at the zero speed or less. This enables the servo motor to stop with shorter coasting distance than stopping only with dynamic brake.
Page 117: Timing Chart
Timing chart When EM2 (Forced stop 2) is turned off, the servo motor decelerates in accordance with the value of [Pr. PC24 Deceleration time constant at forced stop]. Once the servo motor speed becomes below [Pr. PC07 Zero speed] after completion of the deceleration command, the base circuit will be shut off and the dynamic brake will activate.
Page 118: Electromagnetic Brake Interlock Function
3.11 Electromagnetic brake interlock function For servo motors with an electromagnetic brake, this function activates the electromagnetic brake at servo-off, upon an error occurrence, and at other necessary times. By using the electromagnetic brake, the position can be maintained so that the servo motor will not move due to external force.
Page 119: Setting Method
Setting method 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 (For MR-JET) For a selection example of a surge absorber for the electromagnetic brake, refer to "Characteristics of electromagnetic brake"...
Page 120: Timing Chart
Timing chart When using the forced stop deceleration function When [Pr. PA04.3 Forced stop deceleration function selection] is set to "2" (Forced stop deceleration function enabled). ■Turning the servo-on command on/off When the servo-on command is turned off, the servo lock is released after Tb [ms], following which the servo motor coasts. If the electromagnetic brake is enabled during servo-lock, its service life may be shortened.
Page 121 ■Turning the quick stop command (from controller) or EM2 (Forced stop 2) on/off In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. Turn off the quick stop command (from controller) or EM2 (Forced stop 2), then turn off the servo-on command (from controller) and ready-on command (from controller).
Page 122 ■Alarm occurrence • When forced stop deceleration is enabled 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...
Page 123 • When network communication shut-off has occurred 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. The dynamic brake may operate depending on the communication shut-off status. Network communication shut-off Model speed command 0 Servo motor speed...
Page 124 ■Power 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 0 r/min Base circuit (Electromagnetic brake interlock) Operation delay time of No alarm...
Page 125 ■Ready-off command from controller After the base circuit is turned off with the ready-off command, the servo motor is stopped with the dynamic brake and electromagnetic brake. Dynamic brake Dynamic brake + electromagnetic brake (10 ms) Servo motor speed Electromagnetic brake 0 r/min Base circuit Operation delay time of...
Page 126 When the forced stop deceleration function is not used When [Pr. PA04.3 Forced stop deceleration function selection] is set to "0" (Forced stop deceleration function disabled). ■Turning the servo-on command on/off Page 118 Turning the servo-on command on/off ■Turning the quick stop command (from controller) or EM1 (Forced stop 1) on/off When the off command is inputted, the servo motor is stopped with the dynamic brake and electromagnetic brake.
Page 127: Vertical Axis Freefall Prevention Function
3.12 Vertical axis freefall prevention function When the servo motor is used to operate a vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function can be used to prevent the vertical axis from dropping at forced stop; however, the axis may fall by several μm due to mechanical clearance of the servo motor electromagnetic brake.
Page 128: Timing Chart
Timing chart (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 Enabled brake Servo-on command (from controller) Ready-on command (from controller)
Page 129: Acceleration/Deceleration Function
3.13 Acceleration/deceleration function This function enables smooth acceleration/deceleration. The following methods are available for the acceleration/deceleration function. Item Explanation Reference Acceleration/deceleration This is a method for performing acceleration/deceleration in accordance with the specified Page 127 Acceleration/ time constant method acceleration/deceleration time constants [ms]. deceleration time constant Set [Pr.
Page 130 Setting method 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 114 Forced stop deceleration function Control mode Symbol Description...
Page 131: S-Pattern Acceleration/Deceleration Time Constant
S-pattern acceleration/deceleration time constant This time constant is available on servo amplifiers with firmware version B2 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 132: Acceleration/Deceleration
Acceleration/deceleration Acceleration/deceleration is performed in accordance with the specified acceleration/deceleration [command unit/s ]. Unlike the acceleration/deceleration time constants, acceleration/deceleration can be performed independent of the rated speed of the servo motor. The control mode influences whether the acceleration/deceleration is set in the control mode. Setting example To accelerate at 0.5 [s] from 0 [command unit/s] to 1500 [command unit/s], set 3000 [command unit/s ] for the acceleration.
Page 133 Setting method Select an acceleration/deceleration unit in [Pr. PT01.1 Speed/acceleration/deceleration unit selection]. When [Pr. PT01.1] is set to "1" (command unit/s ), select the command unit with [Pr. PT01.2 Unit for position data]. Servo Symbol Name Outline parameter PT01.1 **CTY Speed/acceleration/deceleration Select an acceleration/deceleration unit.
Page 134: Quick Stop
3.14 Quick stop With Quick stop defined in CiA 402, the servo motor can be stopped by the forced stop deceleration. For details of the forced stop deceleration, refer to the following. Page 114 Forced stop deceleration function When the Quick stop command in [Controlword (Obj. 6040h)] is turned off, the servo motor decelerates to a stop in accordance with the setting of [Quick stop option code (Obj.
Page 135: Setting Method
Setting method Setting with servo parameters [Pr. PT68.0 Quick stop method selection] can be used to specify the deceleration stop operation method. [Pr. PT68.0] corresponds to [Quick stop option code (Obj. 605Ah)]. Servo Name Outline parameter PC24 Deceleration time constant at forced stop Set the deceleration time constant at forced stop.
Page 136 Settings with objects For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description  6085h Quick stop deceleration Deceleration at deceleration to a stop with Quick stop Unit: acc units  605Ah Quick stop option code Refer to the following table for the description.
Page 137: Timing Chart
Timing chart When [Quick stop option code (Obj. 605Ah)] is set to "1" The servo motor decelerates to a stop at the deceleration time constant of any of the control modes, then the state shifts to "Switch On Disabled". For the deceleration time constant, refer to the User's Manual (Object Dictionary). Quick stop command (Enabled) Operation Enabled...
Page 138 When [Quick stop option code (Obj. 605Ah)] is set to "5" The servo motor decelerates to a stop at the deceleration time constant of any of the control modes, then the state remains as "Quick Stop Active" (servo-on). For the deceleration time constant, refer to the User's Manual (Object Dictionary). Quick stop command (Enabled) Operation Enabled...
Page 139: Halt
3.15 Halt Halt defined in CiA 402 enables temporary stop of the servo motor. When 1 is set in Bit 8 (HALT) of [Controlword (Obj. 6040h)], the servo motor decelerates to a stop with the deceleration time constant of [Profile deceleration (Obj. 6084h)] or [Homing acceleration (Obj. 609Ah)], and then the state remains as "Operation Enable"...
Page 140: Timing Chart
Timing chart Servo motor speed Deceleration time HALT set with Halt option code ([Controlword (Obj. 6040h)] bit 8) 3 BASIC FUNCTION 3.15 Halt...
Page 141: 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 177 Software position limit Page 180 Torque limit Torque limit...
Page 142 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 176 Software reset Software reset The same processing performed at power cycle of the servo amplifier is performed without the need for actual cycling.
Page 143: 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 144 Timing chart ■Instantaneous power failure time > [Pr. PF25 Instantaneous power failure tough drive detection time] The alarm occurs when the instantaneous power failure time exceeds [Pr. PF25 Instantaneous power failure tough drive detection time]. MTTR (Tough drive in progress) turns on after the instantaneous power failure is detected. MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Page 145 ■Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive detection time] The operation status differs depending on how much the bus voltage decreases. • When the bus voltage does not decrease to the undervoltage level or lower within instantaneous power failure time. The operation continues without generating an alarm.
Page 146 • When the bus voltage decreases to the undervoltage level or lower within instantaneous power failure time. [AL. 010 Undervoltage] occurs when the bus voltage decreases to the undervoltage level or lower even if the instantaneous power failure tough drive is enabled. Time for instantaneous power failure (Energization) Power supply...
Page 147: Touch Probe
Touch probe Outline 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 detected with precision of 1 μs and stored into an object according to specified conditions.
Page 148: Setting Method
Setting method The touch prove function memorizes position feedback and stores it in each object according to the conditions specified with [Touch probe function (Obj. 60B8h)] or [Touch probe function 2 (Obj. 2DE8h)]. Refer to the following table for the settings of input/output devices. Page 106 Assigning I/O devices Page 147 Input device settings Refer to the following for the timing chart.
Page 149 Input device settings TPR1, TPR2, and TPR3 are not assigned to the input devices in the initial setting. When using this function, assign TPR1, TPR2, and TPR3. The following table shows the connector pin numbers to which input devices TPR1, TPR2, and TPR3 can be assigned and the servo parameters used for the assignment.
Page 150 Object dictionary For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description  Page 149 Details on [Touch probe function (Obj. 60B8h)] 60B8h Touch probe function  Page 151 Details on [Touch probe status (Obj. 60B9h)] 60B9h Touch probe status ...
Page 151 ■Details on [Touch probe function (Obj. 60B8h)] Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: Single trigger mode 1: Continuous trigger mode 0: Triggered by inputting touch probe 1 1: Triggered at the zero point of the encoder (reserved) The value at reading is undefined.
Page 152 ■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 153 ■Details on [Touch probe status (Obj. 60B9h)] Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: The data at the rising edge of touch probe 1 has not been stored. 1: The data at the rising edge of touch probe 1 has been stored. When the position feedback is stored in [Touch probe 1 positive edge (Obj.
Page 154 ■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 155 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 Touch probe status Touch Probe 1 is enabled 60B9h Bit 1 Touch Probe 1 positive edge stored...
Page 156 Transition Object Description → 60B9h Bit 0, 1, 2 = 0 Clears all the status bits. → 60BAh, 60BBh, 60D1h, 60D2h Touch probe 1 positive/negative edge and Touch probe time stamp 1 positive/negative value do not change. 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.
Page 157: Machine Diagnosis
Machine diagnosis The machine diagnosis function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier and detects errors in machine parts such as ball screws and bearings. The machine diagnosis function features the following functions: Diagnosis Diagnosis item...
Page 158 Setting method ■Friction estimation function Startup the system. 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 159 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 160 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 161 Related objects 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: Estimation in progress. (normal) 1: Estimation has finished.
Page 162: 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 163 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 164: 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 165 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) Personal Servo amplifier computer...
Page 166 ■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/dr1_nnnn.json...
Page 167: 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 4] are disabled. The drive recorder operates automatically with the alarm trigger.
Page 168 Servo Symbol Name Outline parameter PF87.0-2 DRAC1 Drive recorder - Analog channel 1 selection Set the data to be assigned to analog channel 1. Initial value: 201h (Servo motor speed +) PF87.4-6 DRAC1 Drive recorder - Analog channel 2 selection Set the data to be assigned to analog channel 2.
Page 169 ■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 170 ■Analog channel Setting value Data type Unit Category No assigned function   Servo motor speed r/min 16-bit data Torque/instantaneous torque 0.1 % Current command 0.1 % Command pulse frequency (speed unit) r/min Droop pulses (1 pulse unit) pulse Speed command r/min Bus voltage Effective load ratio...
Page 171 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) + pulse Speed command + 0.1 r/min Position within one-revolution + pulse Load-side encoder information 1 + pulse...
Page 172 ■Digital channel Setting value Symbol Name Classification 0000 CSON Servo-on command 0001 Forward rotation stroke end 0002 Reverse rotation stroke end 0005 Proportional control 0006 Reset 0012 EM2/1 Forced stop 0013 CRDY Ready-on command 0016 STO1 STO1 0017 STO2 STO2 001A CDP2 Gain switching selection 2...
Page 173 *1 This signal cannot be used. *2 Available on servo amplifiers with firmware version B2 or later. *3 Available on servo amplifiers with firmware version B6 or later. *4 Available on servo amplifiers with firmware version B8 or later. *5 Available on servo amplifiers with firmware version C4 or later. 4 APPLICABLE FUNCTIONS 4.4 Drive recorder...
Page 174 Object dictionary 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 175: Standard Acquisition Waveform List
Standard acquisition waveform list When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), the acquired data is changed by [Pr. PA23 Drive recorder desired alarm trigger setting]. If [Pr. PA23] is set to the initial value (00000000h), the data shown in the "Standard"...
Page 176: Waveform Recording Inapplicable Alarm List
Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 046 Servo Torque Current Internal Temperature Bus voltage Effective  32 ms 32768 ms motor command temperature of servo load ratio speed +...
Page 177: 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 hidden. Name Outline Servo amplifier identification information...
Page 178: 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 179: Software Position Limit
Software position limit Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit position is specified, the command position is clamped at the limit position. Specify the limit position relative to the machine home position (position address = 0).
Page 180 ■When [Pr. PT01.2] is set to "2" (degree) Set [Pr. PT17] as the starting point and [Pr. PT15] as the ending point. The moving part can move from "-" to "+" in the CCW direction. 0 [degree] 315 [degree] Moving range A 90 [degree] Moving range B Set servo parameters as follows to specify moving range A.
Page 181 Related objects The following table shows the related objects. [Pr. PT15 Software position limit +] is used for [Max position limit (Obj. 607Dh: 02h)]. [Pr. PT17 Software Position Limit -] is used for [Min position limit (Obj. 607Dh: 01h)]. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name...
Page 182: Torque Limit
Torque limit The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. Item Outline Internal torque limit The maximum torque is limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].
Page 183: Setting Method
Setting method Servo parameter setting 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. Set servo parameters in relation to the rated torque or continuous thrust as 100.0 [%]. Servo parameter Symbol Name...
Page 184: Speed Limit
Speed limit 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 185: Degree Unit
Degree unit This unit is available on servo amplifiers with firmware version B6 or later. Summary Using the degree unit enables positioning in modulo coordinates (axes of rotation). • This function cannot be used in the cyclic synchronous mode. • This function cannot be used in the linear servo motor control mode. Enabling this function in the linear servo motor control mode will trigger [AL.
Page 186: Position-Related Data When The Unit Is Set To "Degree
Position-related data when the unit is set to "degree" When the unit is set to "degree", position-related data is different as shown below. For details on the objects, refer to the User's Manual (Object Dictionary). Data Description [Target position (Obj. 607Ah)] The range is -360000 to 360000.
Page 187: Setting Method
Setting method Setting with servo parameters ■Degree unit selection Set the unit to "degree" with [Pr. PT01.2 Unit for position data]. Page 93 Position command unit selection function ■Degree unit rotation direction selection Use [Pr. PT03.2 Degree unit rotation direction selection] to set the rotation direction for when the unit is set to "degree". Servo Symbol Name...
Page 188: Sequence
Sequence The following shows the operation patterns according to the settings of [Positioning option code (Obj. 60F2h)]. When disabling POL ([Pr. PA14 Travel direction selection] = 0) 360 = 0 360 = 0 360 = 0 360 = 0 Bit 7 Bit 6 Bit 7 Bit 6...
Page 189 When using the specified rotation direction ([Pr. PT03.2 Degree unit rotation direction selection] = 0) When the position data of 270.000 degrees (target position) is specified, the servo motor rotates in CCW direction. Target position (270) Current position When the position data of -90.000 degrees (target position) is specified, the servo motor rotates in CW direction. Target position (-90) Current position...
Page 190 When using the shortest distance ([Pr. PT03.2] = 1) When the position data of 270.000 degrees (target position) is specified, the servo motor rotates in CCW direction. Target position (270) Current position When the position data of -90.000 degrees (target position) is specified, the servo motor rotates in CCW direction. Target position (-90) Current position...
Page 191 When using the address decreasing direction ([Pr. PT03.2] = 2) When the position data of 270.000 degrees (target position) is specified, the servo motor rotates in CW direction. Target position (-270) Current position When the position data of -270.000 degrees (target position) is specified, the servo motor rotates in CW direction. Target position (-270) Current position...
Page 192: Infinite Feed Function
When an absolute position detection system is configured in the cyclic synchronous mode with a Motion module manufactured by Mitsubishi Electric, set [Pr. PC29.5 [AL. 0E3 Absolute position counter warning] selection] to "0" (disabled). For information on the controller, refer to "Absolute Position Control" in the following manual.
Page 193: Servo Amplifier Life Diagnosis Function
4.11 Servo amplifier life diagnosis function The servo amplifier life diagnosis function is a function to diagnose the service life of the servo amplifier itself. The approximate service life of the servo amplifier being used can be determined. The servo amplifier life diagnosis function features the following functions.
Page 194: 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. • MR Configurator2 or a controller is required to acquire the number of times the inrush relay has been turned on/off.
Page 195: Encoder Communication Diagnosis Function
4.12 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 196: Disconnection/Incorrect Wiring Detection Function
4.13 Disconnection/incorrect wiring detection function Output open-phase detection function This function detects an open phase due to servo motor power supply cable (U/V/W) disconnection and generates [AL. 139 Open-phase error] after the detection. Restrictions • The output open phase detection function will be disabled if an alarm or warning other than [AL. 139 Open-phase error] has occurred.
Page 197: Overload Protection (Electronic Thermal) Function
4.14 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 198: Command Offset
4.15 Command offset 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 • In the position mode, an offset can be added to [Target position (Obj. 607Ah)]. Velocity offset •...
Page 199 Setting method Set the position offset with [Position offset (Obj. 60B0h)], the velocity offset with [Velocity offset (Obj. 60B1h)], and the torque offset with [Torque offset (Obj. 60B2h)]. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name...
Page 200: Excessive Error Alarm Detection Function
4.16 Excessive error alarm detection function Outline The excessive error alarm detection function generates an alarm when the difference between the position command and the feedback position become large. The excessive error alarm trigger level can be changed with parameters. Setting method The excessive error alarm trigger level can be changed with the following servo parameters.
Page 201: Excessive Error Alarm Trigger Level Adjustment Method
Excessive error alarm trigger level adjustment method Checking the excessive error alarm margin Monitor the excessive error alarm margin using the graph function of MR Configurator2. The pulse of the excessive error alarm margin is at a maximum when the position command and feedback position match. [AL. 052 Excessive error] occurs when the excessive error alarm margin is 0 pulse.
Page 202: Override Function
4.17 Override function The override function can be used in the following modes. • Point table mode (pt) • JOG operation mode (jg) • Homing mode (hm) • Profile position mode (pp) The override function cannot be used for the test operation (JOG operation and positioning operation) of MR Configurator2.
Page 203 Timing chart ■Point table mode Controlword bit 4 (New set-point) Target point table Point actual value Status DO 5 bit 6 (S_MEND (Travel completion)) Deceleration time constant of point table No. 1 Override 150% Override 100% Override 100% Forward Point table rotation No.
Page 204 ■Point table mode (Set of set-points) The following shows a timing chart when bit 9 (Change on set-point) of [Controlword (Obj. 6040h)] is "0". New set-point (1st time) New set-point (2nd time) Controlword bit 4 (New set-point) Target point table Statusword bit 10 (Target reached) Statusword bit 12...
Page 205: Chapter 5 Monitoring
MONITORING Summary The status of servo motor speed, torque, bus voltage, and other areas of the servo amplifier can be checked with the engineering tools. This chapter shows an example when using MR Configurator2 as the engineering tool. Items that can be monitored with "Display All" can also be monitored by objects. For details, refer to User's Manual (Object Dictionary).
Page 206 Monitor signal (analog) 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. Name Description Availability...
Page 207 Name Description Availability Display All Graph function   Load-side encoder droop Droop pulses of the deviation counter between a load-side position and a command are pulses displayed. Load-side encoder The following values are displayed for each encoder connected to the load-side. ...
Page 208 Name Description Availability Display All Graph function   Command position In the profile position mode (pp) and point table mode (pt), the command current position with the machine home position set as "0" is displayed.   Controller position command This indicates the position command from the controller in the cyclic synchronous position mode (csp).
Page 209 Monitor signal (digital) 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 210 *1 Available on servo amplifiers with firmware version B2 or later. *2 Available on servo amplifiers with firmware version B6 or later. *3 Available on servo amplifiers with firmware version B8 or later. *4 Available on servo amplifiers with firmware version C4 or later. 5 MONITORING 5.1 Explanation of monitor signals...
Page 211: Signal Block Diagram
Signal block diagram The following signal block diagram indicates the points at where the monitor signals (analog) are detected. Semi closed loop control Command speed Command speed Current Droop pulses Bus voltage output 1 output 2 command Current Position Speed detector command command...
Page 212 Fully closed loop control This control can be used on servo amplifiers with firmware version C4 or later. Command speed Command speed Droop pulses Current command Bus voltage output 1 output 2 Servo Current Differentiation motor detector Speed command Load-side Position Position Speed...
Page 213: 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 214: Graph Function
Graph function The monitor signals of the selected servo amplifier can be measured and displayed in the graph. For setting details, refer to "Help" of MR Configurator2. Display method Open the graph display screen in MR Configurator2. Set the sampling time, trigger, and other areas as required, then start measurement. 5 MONITORING 5.2 Checking with MR Configurator2...
Page 215: I/O Monitor Display
The waveform is displayed upon completion of measurement. The obtained data can be checked by clicking "Zoom", "Cursor", and other buttons. MR Configurator2 with software version 1.110Q or later supports saving data in GX LogViewer format (JSON file) with the graph function or drive recorder function.
Page 216: System Configuration Display
System configuration display System information including the serial No. 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 and software version of MR Configurator2, as well as whether it is viewed from the diagnosis tab of MR Configurator2 or the drive recorder.
Page 217: Chapter 6 Network Function
NETWORK FUNCTION The function explained in this chapter is available for the following servo amplifier. MR-JET-_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. Function Description FTP server function...
Page 218: Ip Address Setting
IP address setting Setting an IP address Refer to "IP address setting function" in the following manual. MR-JET-G User's Manual (Communication Function) Managing accounts To use the network function, set an account. Accounts can be set with the following network parameters. Up to 8 accounts can be set.
Page 219: 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 220: 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 221: Directory Structure
Directory structure The following shows the directories that can be accessed from the FTP client. Directory Function Details /fw/ Firmware update Page 219 Firmware update Page 160 Drive recorder /drvrec/ 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 222: Chapter 7 Positioning Mode (Point Table Method) (Cp)
POSITIONING MODE (POINT TABLE METHOD) (CP) The positioning mode (point table method) is available on servo amplifiers with firmware version B8 or later. When using this function, set [Pr. PA01.0 Control mode selection] to "6" (positioning mode (point table)). This is a method for performing positioning in accordance with the point table by setting the positioning data to the point table (up to 255 points).
Page 223: Operation Mode And Selection Method
Operation mode and selection method Operation mode The following shows the operation modes of the positioning mode (point table method) (CP). Control mode Operation mode Explanation Positioning mode Point table mode (pt) Operates the servo motor according to the preset point table. Page 222 Point table mode (pt) (Point table method) (CP) JOG operation mode (jg)
Page 224: Point Table Mode (Pt)
Point table mode (pt) Point table mode (pt) Select the preset point table with [Target point table (Obj. 2D60h)], and start operation with bit 4 (New set-point) of [Controlword (Obj. 6040h)]. The command method of the point table mode (pt) is the absolute value command method. Absolute value command method Set the target address for the position data.
Page 225: Point Table Operation (Absolute Value Command Method)
■Degree unit When [Pr. PA14 Travel direction selection] is "0" (initial value), set the target position with the CCW direction as + and the CW direction as -. When the direction is specified by absolute value, the direction of rotation can be specified by + or -. The following shows a setting example when [Pr.
Page 226 If a value outside the range is set in the point table, the setting value will be clamped to the maximum value or minimum value. If a value out of the range is set due to the change of the command unit or connected servo motor, [AL. 037 Parameter error] occurs.
Page 227 *1 When degree is set, the setting range is -360000 to 360000. *2 In the linear servo motor control mode, the unit is mm/s. *3 The setting unit of the speed and acceleration/deceleration can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection].
Page 228 ■Speed data / acceleration/deceleration data unit ([Pr. PT01.1 Speed/acceleration/deceleration unit selection]) Set the unit of speed data and acceleration/deceleration data. Setting of [Pr. PT01.1] Unit for position data Speed data unit Acceleration/deceleration data unit  r/min,mm/s mm/s mm/s inch inch/s inch/s degree degree/s...
Page 229: Timing Chart Of The Point Table Operation
Timing chart of the point table operation The unit of the speed data and acceleration data of the point table can be changed with [Pr. PT01.1 Speed/acceleration/ deceleration unit selection]. In the following timing chart, the units are r/min for speed data and ms for acceleration/ deceleration data.
Page 230 Continuous positioning operation (absolute value command method) Select one point table and turn on bit 4 (New set-point) of [Controlword (Obj. 6040h)] to continuously operate the point table with consecutive numbers. The following shows the timing chart. Controlword bit 4 (New set-point) Target point table Forward...
Page 231 ■When positioning to the same direction The following shows an example of behavior for the following setting values. In this example, point table number 1 is the absolute position command method, point table number 2 is the relative position command method, and point table number 3 is the absolute position command method. Point table Position data Servo motor...
Page 232 ■When positioning in the opposite direction in the middle of operation The following shows an example of behavior for the following setting values. In this example, point table number 1 is the absolute position command method, point table number 2 is the relative position command method, and point table number 3 is the absolute position command method.
Page 233 ■When the position data is in degree unit The following shows an example of behavior for the following setting values. In this example, point table number 1 and point table number 2 are the absolute position command method, point table number 3 is the relative position command method, and point table number 4 is the absolute position command method.
Page 234 Speed change operation (absolute value command method) The speed, acceleration/deceleration time constants, and acceleration/deceleration during the positioning operation can be changed by setting the auxiliary function of the point table. Use the point tables as many as speeds, acceleration/deceleration time constants, and acceleration/deceleration to be set. When "1"...
Page 235 ■When positioning to the same direction The following shows an example of behavior for the following setting values. In this example, point table number 1 is the absolute position command method, point table number 2 is the relative position command method, and point table number 3 is the absolute position command method. Point table Position data Servo motor...
Page 236 ■When positioning in the opposite direction in the middle of operation The following shows an example of behavior for the following setting values. In this example, point table number 1 is the absolute position command method, point table number 2 is the relative position command method, and point table number 3 is the absolute position command method.
Page 237 Repetitive positioning operation (absolute value command method) Set the auxiliary function of the point table to return to the operation pattern of the set point table number and enable the repetitive positioning operation. When "8" or "10" is set for the auxiliary function, continuous operation or speed change operation is performed up to the point table, and after positioning is completed, continuous operation or speed change operation is performed again from the operation pattern of the point table number at startup.
Page 238 Point table number 2 Point table number 3 Point table number 4 Speed Forward Speed (3000.00) rotation (2000.00) Speed (1000.00) Servo motor speed 0 r/min Reverse rotation Speed (3000.00) Point table number 2 Position address 1000 1500 Target point table Controlword bit 4 (New set-point) INP/S_INP...
Page 239 The following shows the behavior when "9" is set for the auxiliary function of the point table number 3. Point table Position data Servo motor Acceleration Deceleration Dwell time Auxiliary M code number [pulse] speed [r/min] time constant time constant [ms] function [ms]...
Page 240 ■When performing repetitive positioning operation with the relative position command method The following shows the behavior when "10" is set for the auxiliary function of the point table number 4. Point table Position data Servo motor Acceleration Deceleration Dwell time Auxiliary M code number...
Page 241 The following shows the behavior when "11" is set for the auxiliary function of the point table number 3. Point table Position data Servo motor Acceleration Deceleration Dwell time Auxiliary M code number [pulse] speed [r/min] time constant time constant [ms] function [ms]...
Page 242 ■When performing speed change operation with the absolute position command method The following shows the behavior when "8" is set for the auxiliary function of the point table number 3. Point table Position data Servo motor Acceleration Deceleration Dwell time Auxiliary M code number...
Page 243 ■When performing speed change operation with the relative position command method The following shows the behavior when "10" is set for the auxiliary function of the point table number 3. Point table Position data Servo motor Acceleration Deceleration Dwell time Auxiliary M code number...
Page 244 Temporary stop/restart When bit 8 (HALT) of [Controlword (Obj. 6040h)] is turned on during point table operation, the servo motor decelerates and stops temporarily at the deceleration time constant/deceleration of the point table being executed. When bit 8 (HALT) of [Controlword (Obj.
Page 245 ■During dwell Point table number n Point table number n + 1 Dwell = ta + tb Forward rotation Servo motor speed 0 r/min Reverse rotation Target point table Number n Controlword bit 4 (New set-point) Controlword bit 8 (Halt) INP/S_INP (In-position) Status DO 5 bit 5...
Page 246 Interruption of point table operation To interrupt the point table operation or change the operation pattern, stop the operation with bit 8 (HALT) of [Controlword (Obj. 6040h)], and turn on bit 4 (New set-point) of [Controlword (Obj. 6040h)]. The remaining distance is cleared. Point table number n Remaining distance Forward...
Page 247: Positioning Function To The Home Position
Positioning function to the home position This function allows positioning to the home position to return to the home position after the home position has been determined by homing after power-on. For the absolute position detection system, homing is not required after power-on. If positioning to the home is performed when homing has not been completed, [AL.
Page 248: Jog Operation Mode (Jg)
JOG operation mode (jg) When [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1" (command unit/s, command unit/s2), the setting ranges of the servo motor speed and acceleration/deceleration differ from those in the point table mode (pt). Therefore, it is recommended that the same range be used as in the point table mode (pt).
Page 249 Servo motor rotation direction Select the servo motor rotation direction when bit 4 (Rotation start) of [Controlword (Obj. 6040h)] is turned on. [Pr. PA14 Travel direction selection] Servo motor rotation direction [Controlword (Obj. 6040h)] bit 5 [Controlword (Obj. 6040h)] bit 5 (Direction) OFF (Direction) ON Rotate in CCW direction...
Page 250 Timing chart ■When operating at a constant speed Decelerates with Profile deceleration Forward rotation Servo motor speed 0 r/min Reverse rotation Accelerates with Profile acceleration Controlword bit 4 (Rotation start) Controlword bit 5 (Direction) Statusword bit 10 (Target reached) Status DO 5 bit 5 (S_CPO (Rough match)) Status DO 5 bit 6 (S_MEND (Travel completion))
Page 251 Temporary stop/restart When bit 8 (Halt) of [Controlword (Obj. 6040h)] is turned on during JOG operation, the motor will decelerate and stop temporarily at the deceleration time constant/deceleration [Profile deceleration (Obj. 6084h)] being executed. When bit 8 (Halt) of [Controlword (Obj. 6040h)] is turned off during temporary stop, JOG operation is restarted. When bit 4 (Rotation start) of [Controlword (Obj.
Page 252: How To Set Point Table
How to Set Point Table Setting method using MR Configurator2 The setting of the point table can be used in MR Configurator2 with software version 1.120A or later. The point table can be set in the positioning mode (point table method). The positioning mode (point table method) is available on servo amplifiers with firmware version B8 or later.
Page 253 ■Copy and paste of point table data (h) Click "Copy" to copy the selected point table data. Click "Paste" to paste the copied point table data. ■Inserting point table data (i) Click "Insert" to insert one block before the selected point table number. The blocks after the selected point table number are shifted down by one block.
Page 254: Setting Method Using Objects
Setting method using objects The master (controller) can change the point table of the servo amplifier by writing a value to the following object via SDO communication. However, once the power supply is shut off, the changed setting is not maintained at the next startup. To maintain the changed setting even after the power supply is shut-off, save the point table setting value to the non-volatile memory by using [Store Parameters (Obj.
Page 255 MEMO 7 POSITIONING MODE (POINT TABLE METHOD) (CP) 7.4 How to Set Point Table...
Page 256: Revisions
Section 5.1, Section 5.2, Section 7.2, Section 7.3 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 257: Warranty
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.
Page 258: 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.
Page 260 IB(NA)-0300458ENG-G(2301)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, 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.

Mitsubishi Electric MELSERVO-JET MR-JET User Manual

Chapter 1 Function

Chapter 2 Control Mode

Chapter 3 Basic Function

Chapter 4 Applicable Functions

Chapter 5 Monitoring

Chapter 6 Network Function

Chapter 7 Positioning Mode (Point Table Method) (Cp)

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