Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Function) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1 -MR-J5-_B_ -MR-J5W_-_B_ -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 (20 minutes or more for a converter unit/drive unit) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...
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 Stroke limit function [B] ..............124 Servo parameter list .
Page 9 Procedure for replacing the scale measurement encoder (Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder)....222 Procedure of replacing a servo amplifier without losing the absolute position data [B]....223 Related objects [G] .
Page 10 Total travel distance failure prediction function ..........262 Gear failure diagnosis function .
Page 11 4.18 Servo amplifier life diagnosis function ........... . . 365 Cumulative energization time function.
Page 12 Master-slave operation function ............497 CHAPTER 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] Structure.
Page 13 Setting servo parameters ..............504 Protocol .
Page 14: 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). In this section, the models of servo amplifiers are abbreviated as follows.
Page 15 FUNCTION Detailed functions Description Ver. Detailed explanation Pulse/analog/DI Position control mode (P) This function operates the servo motor in the    Page 92 Position command (pulse train input) position control mode by the pulse train input. control mode (P) ...
Page 16 Operation function Functions Detailed functions Description Ver. Detailed explanation   Page 195 Quick stop Stop function Quick Stop This function stops the servo motor with a specified method and switches to the servo-off status.   Page 200 Halt [G] Halt This function stops the servo motor while the servo-on status is maintained.
Page 17 *3 This function is not available for CC-Link IE TSN Class A. *4 When the safety sub-function by a network is used (when [Pr. PSA01.1 Input mode selection] is set to "1"), this function is not available. Positioning function Functions Detailed functions Description Ver.
Page 18 I/O, monitor Functions Detailed functions Description Ver. Detailed explanation  Page 146 Assigning I/ DI/DO Input signal selection (device This function assigns input devices such as selection) LSP (Forward rotation stroke end) to certain O devices pins of the connector. Page 146 Assigning I/ Output signal selection This function assigns output devices such as...
Page 19 Protective functions Functions Detailed functions Description Ver. Detailed explanation Page 153 Alarm Alarm Alarm function This function displays an alarm or warning when an error occurs during operation. When function an alarm occurs, ALM (Malfunction) turns off and stops the servo motor. When a warning occurs, WNG (Warning) will turn on.
Page 20 Functional safety Functions Detailed functions Description Ver. Detailed explanation Safety sub- STO (Safe torque off) This servo amplifier supports the STO function Refer to "USING STO function (When functional safety for functional safety as per IEC/EN 61800-5-2. FUNCTION" in the parameters are not used) This allows a safety system to be easily following manuals.
Page 21 Instantaneous power failure measures Functions Detailed functions Description Ver. Detailed explanation  Tough drive SEMI-F47 function This function uses the electrical energy For MR-J5D_-_G_, this charged in the capacitor to avoid triggering [AL. function cannot be used. 010 Undervoltage] in case that an Page 210 Compliance instantaneous power failure occurs during with SEMI-F47 standard...
Page 22 Diagnostics Functions Detailed functions Description Ver. Detailed explanation Page 301 Drive Drive data Drive recorder This function continuously monitors the servo diagnosis status and records the state transition before recorder and after an alarm for a fixed period of time. The recorded data can be checked by the Waveform-Display button on the drive recorder window of MR Configurator2 being clicked.
Page 23 History Functions Detailed functions Description Ver. Detailed explanation  Page 155 Alarm Alarm history This function saves information of the alarm that occurred in the servo amplifier. The history [G] information is saved in chronological order and Page 158 Alarm used for occasions such as analyzing the history [A] cause of the alarm.
Page 24: Chapter 2 Control Mode
CONTROL MODE Control mode [G] 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 25: Control Switching
Control switching • The control mode is set to the cyclic synchronous position mode as a default. 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 26: 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 27 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 28: 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 29 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 30: 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 31 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 32: Profile Position Mode (Pp)
Profile position mode (pp) This mode is available on servo amplifiers with firmware version A5 or later. The following shows the functions and related objects of the profile position mode (pp). [Torque offset (Obj. 60B2h)] × [Velocity offset (Obj. 60B1h)] [Positive torque limit value (Obj.
Page 33 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 34 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 35 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 36: Profile Velocity Mode (Pv)
Profile velocity mode (pv) This mode is available on servo amplifiers with firmware version A5 or later. The following shows the functions and related objects of the profile velocity mode (pv). [Torque offset (Obj. 60B2h)] × [Positive torque limit value (Obj. 60E0h)] [Negative torque limit value (Obj.
Page 37 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 38 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 39 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 40: Profile Torque Mode (Tq)
Profile torque mode (tq) This mode is available on servo amplifiers with firmware version A5 or later. The following shows the functions and related objects of the profile torque mode (tq). [Torque offset (Obj. 60B2h)] [Target torque (Obj. 6071h)] [Target slope (Obj. 6087h)] [Torque demand [Torque profile type (Obj.
Page 41 Index Object Name Description 6091h ARRAY Gear ratio Gear ratio Motor revolutions Number of revolutions of the servo motor shaft (numerator) Page 132 Electronic gear function [G] Shaft revolutions Number of revolutions of the drive shaft (denominator) Page 132 Electronic gear function [G] ...
Page 42 Operation sequence [Torque demand value (Obj. 6074h)] Change in accordance with [Torque slope (Obj. 6087h)] Change in accordance with [Torque slope (Obj. 6087h)] [Target torque (Obj. 6071h)] HALT ([Controlword (Obj. 6040h)] bit 8) 2 CONTROL MODE 2.1 Control mode [G]...
Page 43: Point Table Mode (Pt)
Point table mode (pt) This mode is 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)] ×...
Page 44 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 45 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 46 ■Statusword OMS Bit (pt) Symbol Description Target reached 0 (Halt (Bit 8) = 0) : Target position not reached. 0 (Halt (Bit 8) = 1) : Axis decelerates 1 (Halt (Bit 8) = 0) : Target position reached. 1 (Halt (Bit 8) = 1) : Velocity of axis is 0 Judgment condition of Target position reached When the difference between the current position and point table command position has stayed within [Position window (Obj.
Page 47: Jog Operation Mode (Jg)
JOG operation mode (jg) This mode is 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)] ×...
Page 48 Related objects For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 607Bh ARRAY Position range limit Number of entries Min position range limit Minimum value of the position range limit Unit: pos units Max position range limit Maximum value of the position range limit Unit: pos units...
Page 49 Index Object Name Description  607Eh Polarity Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL Page 109 Rotation/travel direction selection [G] 60A8h  SI unit position SI unit position It is automatically set in [Pr. PT01.2 Unit for position data]. ...
Page 50 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 51: 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 52 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)] limit [Negative torque limit value (Obj.
Page 53 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 54 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 55 ■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 56: 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 57 Related objects For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 607Ch Home offset Set the difference between zero position of the machine coordinate system and homing position. After homing finishes, the value set to this object is subtracted from the homing position, and at the same time, [Position demand value (Obj.
Page 58 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary depending on the control mode are listed in the following tables.
Page 59 • When using an incremental external encoder in the fully closed loop control mode • When using a direct drive motor manufactured by Mitsubishi Electric in the direct drive motor control mode To execute homing securely, move the linear servo motor to the opposite stroke end with csv or other operation modes from the controller, then start homing.
Page 60 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 61 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 62 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 63 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 64 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 57 Homing method list Precautions •...
Page 65 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 66 CiA 402-type Homing method • For details on signal polarity and other I/O device assignments, refer to the following. Page 146 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 67 ■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 68 ■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 69 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 70 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 71 ■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 72 ■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 73 ■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 74 ■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 75 ■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 76 ■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 77 ■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 78 ■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 79 ■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 80 ■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 81 ■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 82 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 83 Operation example of Manufacturer-specific Homing method • For details on signal polarity and other I/O device assignments, refer to the following. Page 146 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 84 ■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 85 ■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 86 ■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 87 ■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 88 ■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 89 ■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 90 ■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 91 ■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 92: Control Mode [B]
Control mode [B] 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 SSCNET III/H control mode Position control mode P_SSC This is a control mode to drive servo motors by receiving a position command at a constant period in the synchronous communication with a controller.
Page 93: Continuous Operation To Torque Control Mode (Ct)
Continuous operation to torque control mode (ct) 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 94: Control Mode [A]
Control mode [A] The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are shown in the following. Category Control mode Symbol Description Pulse/analog/DI command Position control mode This is a control mode which operates the servo motor with the input of the pulse train.
Page 95 Pulse train input ■Input pulse waveform selection The command pulses can be input in three different forms, and either positive or negative logic can be selected. Set the command pulse train form in [Pr. PA13 Command pulse input form]. ■Connection and waveform •...
Page 96 RD (Ready) When the servo-on state is made by turning on SON (servo-on), RD turns on. When SON (servo-on) is turned off or at alarm occurrence, RD is off. SON (Servo-on) Occurring Alarm 100 ms occurring 10 ms or shorter 10 ms or shorter or shorter RD (Ready)
Page 97 Position command speed adjustment time constant (position smoothing) With [Pr. PB03 Position command speed adjustment time constant (position smoothing)], set the constant of a primary delay filter to the position command. Also, the control methods in "Primary delay" or "Linear acceleration/deceleration" can be selected with [Pr. PB25.1 Position acceleration/deceleration filter method selection].
Page 98: Speed Control Mode (S)
Speed control mode (S) Set [Pr. PA01.0] to "2" (Speed control mode). The speed can be controlled with the servo parameter setting or with the applied voltage of VC (Analog speed command). Speed setting ■Speed command and speed The servo motor is operated at the speed set in the servo parameter or at the speed set in the applied voltage of VC (Analog speed command).
Page 99 ■SP1 (Speed selection 1)/SP2 (Speed selection 2) and speed command value The speed command can be selected with SP1 (Speed selection 1) and SP2 (Speed selection 2). Input device Speed command value VC (Analog speed command) [Pr. PC05 Internal speed 1] [Pr.
Page 100: Torque Control Mode (T)
Torque control mode (T) Set [Pr. PA01.0] to "4" (Torque control mode). The torque can be controlled with the combination of the applied voltage of TC (Analog torque command) and either of RS1 (Forward rotation selection) or RS2 (Reverse rotation selection). Torque control ■Torque command and torque The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo...
Page 101 Torque limit The maximum torque is always limited by the values of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit] during operation. A relation between limit value and servo motor torque is the same as in the description of the position control mode. Note that TLA (Analog torque limit) is unavailable.
Page 102 ■Speed limit value selection The speed limit can be selected with SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3). Input device Speed limit VLA (Analog speed limit) [Pr. PC05 Internal speed 1] [Pr. PC06 Internal speed 2] [Pr.
Page 103: Position/Speed Control Switching Mode (P/S)
Position/speed control switching mode (P/S) Set [Pr. PA01.0] to "1" (Position/Speed control switching mode). Switching between the position control and speed control is enabled at a zero speed status. Refer to the following. Page 92 Control mode switching by using LOP (Control switching) Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact.
Page 104 Speed setting in speed control mode ■Speed command and speed The servo motor is operated at the speed set in the servo parameter or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as in the section of the speed control mode.
Page 105: Speed/Torque Control Switching Mode (S/T)
Speed/torque control switching mode (S/T) Set [Pr. PA01.0] to "3" (Speed control mode and torque control mode). Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact. The control mode may be switched at any time. LOP (Control switching) Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact.
Page 106 Speed limit in torque control mode ■Speed limit value and speed The speed is limited to the limit value of the servo parameter or the value set in the applied voltage of VLA (Analog speed limit). A relation between the VLA (Analog speed limit) applied voltage and the limit value is the same as the specification in the section of the torque control mode.
Page 107: Torque/Position Control Switch Mode (T/P)
Torque/position control switch mode (T/P) Set [Pr. PA01.0] to "5" (Torque/position control switching mode). Switching between the torque control and position control is enabled at a zero speed status. Refer to the following. Page 92 Control mode switching by using LOP (Control switching) Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact.
Page 108: 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 203 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 109 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 110: Object Dictionary [G]
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 111: Rotation/Travel Direction Selection [G]
Rotation/travel direction selection [G] 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 112: 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 113 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 114 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 115: Rotation/Travel Direction Selection [B]
Rotation/travel direction selection [B] The rotation direction of a servo motor or the travel direction of a linear servo motor can be changed according to position commands, speed commands, and torque commands. Set the directions with servo parameters in accordance with the system configurations.
Page 116: 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 117: Rotation/Travel Direction Selection [A]
Rotation/travel direction selection [A] The rotation direction of a servo motor or the travel direction of a linear servo motor can be changed according to position commands, speed commands, and torque commands. Set the directions with servo parameters in accordance with the system configurations.
Page 118: Setting Methods Of Functions
Setting methods of functions Setting with servo parameters The rotation/travel direction in each control mode is as follows: ■For position control mode With the setting of [Pr. PA14 Travel direction selection], the rotation/travel direction can be changed without changing the forward/reverse rotation pulse inputs of the input pulse train.
Page 119: Stroke Limit Function [G]
Stroke limit function [G] 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 120: Setting Methods Of Functions
Setting methods of functions Refer to the following table, and make the appropriate settings for the system configuration. Item Reference Page 118 When wiring the limit switch to the servo amplifier When wiring the limit switch to the servo amplifier When wiring the limit switch to equipment other than the servo amplifier Page 120 When wiring the limit switch to equipment other than the servo amplifier...
Page 121 ■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 output as FLS (Upper stroke limit) to the controller, and the on/off status of LSN (Reverse rotation stroke end) is output as RLS (Lower stroke limit).
Page 122 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 123: 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 124: 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 parameter Symbol Name Outline PC19.0 *COP6 [AL. 099 Stroke limit Enable or disable [AL. 099 Stroke limit warning]. warning] selection When "Disabled"...
Page 125: 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 126: Stroke Limit Function [B]
Stroke limit function [B] The stroke limit function is a function that limits the travel distance of servo motors using the controller. 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.
Page 127: Stroke Limit Function [A]
Stroke limit function [A] The stroke limit function is a function that limits the travel distance of servo motors. On a system configuration where the movable range is limited, wire the stroke limit signal and use this function to prevent machine damage due to a collision. When the stroke limit signal is detected, a warning regarding the detected signal occurs, and the servo motor stops based on the stop method described in this section.
Page 128: Stop Method At Stroke Limit Detection
When the movable range is not limited On a system configuration without the limited movable range, such as a conveyor, set LSP/LSN to be automatically turned on. As the signal is set to be always turned on, the servo motor does not stop with the stroke limit. This can be set from the "Basic Setting"...
Page 129: Command Unit Select Function [G]
Command unit select function [G] 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 130 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 131 ■Setting with object dictionary For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 6092 ARRAY Feed constant Travel distance per revolution of an output shaft Feed Travel distance setting Shaft revolutions Number of servo motor shaft revolutions ...
Page 132: Speed Command Unit Selection Function
Speed command unit selection function This function is available on servo amplifiers with firmware version A5 or later. This is a function to select setting units for speed data. Either r/min (mm/s) or command unit/s can be selected. Setting unit Explanation r/min, mm/s Use this when setting the speed data as servo motor speed (encoder unit).
Page 133: Command Unit Select Function [A]
Command unit select function [A] The unit of torque command can be selected. Torque command unit selection function This is a function to select setting units of torque data. The setting units of analog torque command and torque limit can be selected.
Page 134: Electronic Gear Function [G]
3.10 Electronic gear function [G] 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 135: 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 136 Setting example for a ball screw The following shows an example where the ball screw is moved at 10 μm per pulse. Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 67108864 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side...
Page 137 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 138 Setting example for conveyors Machine specifications r = 160 [mm] Servo motor encoder resolution 67108864 [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 = 67108864 [pulse/rev]...
Page 139 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 140 Setting example for conveyors Machine specifications r = 160 [mm] Servo motor encoder resolution 67108864 [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 = 67108864 [pulse/rev]...
Page 141: Electronic Gear Function [B]
3.11 Electronic gear function [B] 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 142: Electronic Gear Function [A]
3.12 Electronic gear function [A] Electronic gear function is a function that multiplies the electronic gear ratio to the position command, and sets the ratio of the rotation amount/travel distance of the servo motor to the rotation amount/travel distance of the command unit as desired. For the position feedback, the inverse number of the electronic gear ratio is multiplied.
Page 143: Setting Example
Setting example The electronic gears on the position command side are illustrated in the function block diagrams. The inverse number of the electronic gear ratio is multiplied to the position feedback side. For position control mode Adjust [Pr. PA06 Electronic gear numerator] and [Pr. PA07 Electronic gear denominator] so that the travel distance set in the controller matches the travel distance on the machine.
Page 144 ■Setting example for a ball screw The following shows an example where the ball screw is moved at 10 μm per pulse. Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 67108864 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 : Number of gear teeth on servo motor side...
Page 145: Electronic Gear Selection Function
Electronic gear selection function With the input devices CM1 (Electronic gear selection 1) and CM2 (Electronic gear selection 2), the numerator of the electronic gear (CMX) can be selected. The electronic gear numerator (CMX) switches at the same time as CM1 and CM2 are turned on or off.
Page 146: In-Position Range Setting
3.13 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 147: Setting Method [G]
Setting method [G] The servo parameters related to the in-position setting are as follows. Servo parameter Symbol Name Outline PA10 In-position range Set the in-position range. Initial value: 25600 [pulse] PC06.0 *COP3 In-position range unit Select a unit of the in-position range. selection 0: Command input pulse unit (initial value) 1: Servo motor encoder pulse unit...
Page 148: Assigning I/O Devices
3.14 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 149: Setting Method [G]
Setting method [G] Servo parameter list Input/output device selection, input signal automatic ON selection, input signal filter selection, and DI pin polarity selection settings can be performed directly with servo parameters. ■MR-J5-_G_ Servo Symbol Name Outline parameter PD01.2 *DIA1 Input signal automatic ON Set LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) to selection "Disabled"...
Page 150 ■MR-J5W_-_G_ Servo Symbol Name Outline parameter PD01.2 *DIA1 Input signal automatic ON Set LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) to selection "Disabled" (use for an external input signal) or "Enabled" (Automatic on). Initial value: 0h (disabled (use for an external input signal.)) PD03.0-1 *DI1 Device selection...
Page 151 ■MR-J5D2-_G_/MR-J5D3-_G_ Servo Symbol Name Outline parameter PD01.2 *DIA1 Input signal automatic ON Set LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) to selection "Disabled" (use for an external input signal) or "Enabled" (Automatic on). Initial value: 0h (disabled (use for an external input signal.)) PD03.0-1 *DI1 Device selection...
Page 152: Setting Method [B]
Setting method [B] Servo parameter list Input/output device selection, input signal automatic ON selection, and input signal filter selection settings can be performed directly with servo parameters. ■MR-J5-_B_ Servo Symbol Name Outline parameter PD02.0 *DIA2 Input signal automatic ON Set FLS (Upper stroke limit) and RLS (Lower stroke limit) to "Disabled" (use for an selection 1 external input signal) or "Enabled"...
Page 153: Setting Method [A]
Setting method [A] Servo parameter list Input/output device selection, input signal automatic ON selection, input signal filter selection, and DI pin polarity selection settings can be performed directly with servo parameters. Servo parameter Symbol Name Outline PD01.0-3 *DIA1 Input signal automatic Select input devices that turn on automatically.
Page 154: Regenerative Option Selection
Refer to "Regenerative option" in the following manual for the details of the regenerative options. MR-J5 User's Manual (Hardware) Regenerative option For the regenerative options, select the Mitsubishi Electric-specified regenerative resistor (MR-RB series). • The regenerative option cannot be used with the MR-J5D_-_G_. Precautions •...
Page 155: Alarm Function
3.16 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 156: Operation Status At Warning Occurrence [G] [B]
Operation status at warning occurrence [G] [B] The following shows the status of servo amplifiers at a warning occurrence. Status Reference The No. of the warning that has occurred is shown on the 7-segment LED. Refer to "Switch setting and display of the servo amplifier" or "Switch setting and display of the drive unit"...
Page 157: Returning From An Alarm [G] [B]
Returning from an alarm [G] [B] When an alarm occurs, remove its cause, check that the operation signal is not being input, ensure safety, and reset the alarm before restarting the operation. Remove the cause of the alarm in accordance with the following manual. MR-J5 User's Manual (Troubleshooting) The following table shows how to deactivate the alarm.
Page 158 Related objects By using the objects, the alarm occurrence status and alarm history can be checked. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2A00h RECORD Alarm history newest The number of sub objects (7) is returned. RECORD Alarm No.
Page 159 Index Object Name Description  2A47h Converter Alarm No. The number of the alarm that has occurred on the converter unit side is returned. 3 BASIC FUNCTION 3.16 Alarm function...
Page 160: Alarm History [B]
Alarm History [B] 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 161: Stop Method At Occurrence Of Alarms/Warnings
Stop method at occurrence of alarms/warnings The servo motor stop methods at alarm occurrence are as follows: forced stop deceleration, stop with dynamic brake, and stop with electronic dynamic brake. For the servo motor stop method of each alarm number, refer to the following manual. MR-J5 User's Manual (Troubleshooting) Forced stop deceleration The servo motor stops with the dynamic brake after forced stop deceleration.
Page 162: Timing Chart At Alarm Occurrence (Mr-J5-_G_/Mr-J5W_-_G_/Mr-J5-_B_/Mr-J5W_-_B_/Mr-J5-_A_)
Timing chart at alarm occurrence (MR-J5-_G_/MR-J5W_-_G_/MR- J5-_B_/MR-J5W_-_B_/MR-J5-_A_) • MR-J5-_G_/MR-J5W_-_G_ • In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. • When the servo motor is at a stop due to an alarm or other factors, commands from the controller are not accepted.
Page 163 ■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 164 ■When network communication shut-off has occurred [B] The dynamic brake may operate depending on the communication shut-off status. Network communication shut-off Model speed command is 0, Servo motor speed and the speed is equal to or less than zero speed 0 r/min Base circuit (Energy supply to...
Page 165: Timing Chart At Alarm Occurrence (Mr-J5D_-_G_)
Timing chart at alarm occurrence (MR-J5D_-_G_) In the torque mode and continuous operation to torque control mode, the forced stop deceleration function cannot be used. When the servo motor is at a stop due to an alarm or other factors, commands from the controller are not accepted.
Page 166 ■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. When the corresponding axis stop alarm occurs in the MR-J5D2-_G_ or the MR-J5D3-_G_, only the axis on which the alarm occurred will be in the operation status explained in this section.
Page 167 When using the forced stop deceleration function (when multiple MR-J5D_-_G_ are connected to the MR-CV) • When [Pr. PA04.3 Forced stop deceleration function selection] is set to "2" (Forced stop deceleration function enabled). • For a machine in which multiple axes are connected to each other, such as a tandem configuration, set [Pr. PA04.3] to "0"...
Page 168 Alarm occurrence Model speed command is 0, and the speed is equal to or less than zero speed First MR-J5D_-_G_ 0 r/min Servo motor speed Commands from the controller are not accepted. First MR-J5D_-_G_ Base circuit (Energy supply to the servo motor) Display of the first MR-J5D_-_G_ No alarm...
Page 169 ■Stopping with dynamic brake When connecting multiple MR-J5D_-G_ to one MR-CV, set [Pr. PC46.2 Protection coordination multiple connections selection] to "1". • When an alarm that is subject to the converter main circuit stop occurs When an alarm is detected, MBR and CVST are turned off, and the servo motor is stopped using the dynamic brake and electromagnetic brake.
Page 170 • When an alarm that is not subject to the converter main circuit stop occurs When connecting multiple MR-J5D_-G_ to one MR-CV, set [Pr. PC46.2 Protection coordination multiple connections selection] to "1". When an alarm is detected, MBR is turned off, and the servo motor is stopped using the dynamic brake and electromagnetic brake.
Page 171 • When an alarm occurs in the MR-CV When the MR-J5D_-_G_ detects that an alarm has occurred in the MR-CV_, MBR, ALM and CVST are turned off, and the servo motors are stopped using the dynamic brake and electromagnetic brake for all axes in the servo-on status. Alarm occurrence in the MR-CV Braking with dynamic brake Braking with dynamic brake and...
Page 172 ■When network communication shut-off or communication time-out has occurred The dynamic brake may operate depending on the communication shut-off status. Communication shut-off or communication time-out may not be detected, depending on the network. For details, refer to the User's Manual (Communication Function). Network communication shut-off Model speed command is 0, Servo motor speed...
Page 173: Forced Stop Deceleration Function
3.17 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 174: Setting Method [A]
Setting method [A] Set [Pr. PA04.3 Forced stop deceleration function selection] to enable/disable the forced stop deceleration function. Setting [Pr. PA04.3 Forced stop deceleration function selection] to "2" (Forced stop deceleration function enabled) operates the forced stop deceleration function when EM2 (Forced stop 2) is turned off. In addition, set the level of ZSP (Zero speed detection) and the amount of time to reach 0 [r/min] or [mm/s] from the rated speed by using [Pr.
Page 175: Timing Chart [A]
Timing chart [A] When EM2 (Forced stop 2) is turned off, the servo motor decelerates in accordance with the value of [Pr. PC51 Deceleration time constant at forced stop]. Once the servo motor speed becomes below [Pr. PC17 Zero speed] after completion of the deceleration command, the base circuit will be shut off and the dynamic brake will activate.
Page 176: Electromagnetic Brake Interlock Function
3.18 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 177: Setting Method [A]
Setting method [A] For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, refer to "Characteristics of electromagnetic brake" in the following manual. Rotary Servo Motor User's Manual (For MR-J5) For a selection example of a surge absorber for the electromagnetic brake, refer to "Characteristics of electromagnetic brake"...
Page 178: Timing Chart
Timing chart When using the forced stop deceleration function When [Pr. PA04.3 Forced stop deceleration function selection] is set to "2" (Forced stop deceleration function enabled). ■Turning the servo-on command on/off [G] [B] 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 179 ■Turning the servo-on command on/off [A] When the servo-on command is turned off, the servo lock is released after Tb [ms], following which the servo motor coasts. If the electromagnetic brake is enabled during servo-lock, its service life may be shortened. Therefore, when using this function with the vertical axis, set Tb to about 1.5 times of the minimum delay time where the moving part will not drop down.
Page 180 ■Turning the quick stop command (from controller) or EM2 (Forced stop 2) on/off [G] [B] 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 181 ■Turning EM2 (Forced stop 2) off/on [A] In the torque mode, the forced stop deceleration function cannot be used. Turn off EM2 (Forced stop 2), then turn off SON (Servo-on). When SON is turned off before EM2 is turned off, the operation state of the servo amplifier is the same as the following.
Page 182 ■Alarm occurrence [G] [B] • 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...
Page 183 • When network communication shut-off has occurred [G] 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 184 • When network communication shut-off has occurred [B] 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 185 ■Alarm occurrence [A] • 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 186 ■When both the main circuit power supply and the control circuit power supply are turned off When the base circuit is turned off, the servo motor is stopped with the dynamic brake and electromagnetic brake. Dynamic brake Dynamic brake + electromagnetic brake (10 ms) Servo motor speed Electromagnetic brake...
Page 187 ■Ready-off command from controller [G] After the base circuit is turned off with the ready-off command, the servo motor is stopped with the dynamic brake and electromagnetic brake. Dynamic brake Dynamic brake + electromagnetic brake (10 ms) Servo motor speed Electromagnetic brake 0 r/min Base circuit...
Page 188 ■Alarm occurrence When an alarm occurs, the servo motor stops using the same method as with the dynamic brake. Page 161 Stopping with dynamic brake ■When both the main circuit power supply and the control circuit power supply are turned off Page 184 When both the main circuit power supply and the control circuit power supply are turned off ■When the main circuit power supply is turned off and the control circuit power supply is on When a voltage drop is detected, the servo motor is stopped with the dynamic brake and electromagnetic brake.
Page 189: Vertical Axis Freefall Prevention Function
3.19 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 190: Timing Chart [G] [B]
Timing chart [G] [B] (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)
Page 191: Acceleration/Deceleration Function [G] [A]
3.20 Acceleration/deceleration function [G] [A] This function enables smooth acceleration/deceleration. The following methods are available for the acceleration/deceleration function. MR-J5-_G_/MR-J5W_-_G_ Item Explanation Reference Acceleration/deceleration This is a method for performing acceleration/deceleration in accordance with the specified Page 189 Acceleration/ time constant method acceleration/deceleration time constants [ms].
Page 192 Setting method [G] 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 171 Forced stop deceleration function Control mode Symbol...
Page 193: S-Pattern Acceleration/Deceleration Time Constant [G]
S-pattern acceleration/deceleration time constant [G] This function is available on servo amplifiers with firmware version A5 or later. Setting S-pattern acceleration/deceleration time constant enables smooth start/stop of the servo motor. This function operates when [Pr. PT51 S-pattern acceleration/deceleration time constants] is set. Setting speed Servo motor speed 0 [r/min]...
Page 194: S-Pattern Acceleration/Deceleration Time Constant [A]
S-pattern acceleration/deceleration time constant [A] Setting S-pattern acceleration/deceleration time constant enables smooth start/stop of the servo motor. This function is enabled when [Pr. PC03 S-pattern acceleration/deceleration time constants] is set. Servo motor speed Speed command 0 r/min Time (0 mm/s) Speed Speed acceleration...
Page 195: Acceleration/Deceleration [G]
Acceleration/deceleration [G] Acceleration/deceleration are available on servo amplifiers with firmware version A5 or later. Acceleration/deceleration is performed in accordance with the specified acceleration/deceleration [command unit/s ]. Unlike the acceleration/deceleration time constants, acceleration/deceleration can be performed independent of the rated speed of the servo motor.
Page 196 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 unit selection Select an acceleration/deceleration unit.
Page 197: Quick Stop [G]
3.21 Quick stop [G] 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 171 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 198: 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 199 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 200: 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 201 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 202: Halt [G]
3.22 Halt [G] 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 203: Timing Chart
Timing chart Servo motor speed Deceleration time HALT set with Halt option ([Controlword code (Obj. 6040h)] bit 8) 3 BASIC FUNCTION 3.22 Halt [G]...
Page 204: Command Pulse Train Monitoring Function [A]
3.23 Command pulse train monitoring function [A] Available on servo amplifiers with firmware version A5 or later. It is recommended to use this function for safety aspect. Use this function so that a command pulse train will not be input incorrectly due to such a factor as noise, which results in unexpected operation.
Page 205: 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 FUNCTIONS Outline Reference Software position limit Prevents a moving part from colliding with the equipment. Page 338 Software position limit [G] Page 341 Torque limit [G] Torque limit...
Page 206 Applicable function Outline Reference A/B/Z-phase pulse output function Outputs the position information of the servo motor or the load-side Page 351 A/B/Z-phase pulse output encoder as A/B/Z-phase pulses. Use this function to execute function synchronous control or other operations. *1 Available on servo amplifiers with firmware version A5 or later. Function to shorten operating time Applicable function Outline...
Page 207: 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 208 Servo Symbol Name Outline parameter PF25 CVAT SEMI-F47 function - Instantaneous Set the time until the occurrence of [AL. 010.1 Voltage drop in the control circuit power]. power failure detection time Initial setting: 200 [ms] (instantaneous power failure tough drive detection time) 4 APPLICABLE FUNCTIONS 4.1 Tough drive function...
Page 209 Timing chart ■When the instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time)] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time)].
Page 210 ■When the instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time)] The operation status differs depending on how much the bus voltage decreases. •...
Page 211 • When the bus voltage decreases to the undervoltage level or lower within instantaneous power failure time of control circuit power supply [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.
Page 212: Compliance With Semi-F47 Standard
Compliance with SEMI-F47 standard This function complies with "SEMI-F47 semiconductor process equipment voltage sag immunity test". With this function, even when an instantaneous power failure occurs during operation, the occurrence of [AL. 010 Undervoltage] can be avoided by using the electrical energy charged in the capacitor. •...
Page 213: Requirements Of The Semi-F47 Standard
Requirements of the SEMI-F47 standard The following table shows the permissible instantaneous power failure time for the instantaneous power failure voltage. Instantaneous power failure voltage Permissible time for instantaneous power failure [s] Rated voltage × 80 % Rated voltage × 70 % Rated voltage ×...
Page 214: Scale Measurement Function [G] [B]
Scale measurement function [G] [B] This function is available on servo amplifiers with firmware version A5 or later. If a linear encoder is used as a scale measurement encoder for this servo amplifier, refer to the following manual. MR-J5 Partner's Encoder User's Manual To replace a servo motor with a batteryless absolute position encoder using the absolute position detection system, set [Pr.
Page 215 [Pr. PA22.3 Scale measurement function selection] is set to "0" (disabled) or "2" (use with incremental system). • In the case of using the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder, connecting a servo motor that had not been connected at the startup of the absolute position detection system will cause [AL. 01A Servo motor combination error].
Page 216: Function Block Diagram [G]
Function block diagram [G] The following shows a block diagram of the scale measurement function. In the scale measurement function, the control is performed in the units of the servo motor encoder. Controller Position command Servo motor [Target position (Obj. 607Ah)] Servo motor-side feedback pulse (in servo motor-side resolution unit) Motor-side droop pulse...
Page 217: System Configuration
System configuration For linear encoders ■Servo amplifier without CN2L or CN2AL Controller Servo amplifier Position command control signal Linear encoder compatible with two-wire type serial interface CN2/CN2A/CN2B Load-side encoder signal Servo motor encoder signal Linear encoder head Servo motor Table ■Servo amplifier with CN2L or CN2AL Controller Servo amplifier...
Page 218 For rotary encoders ■Servo amplifier without CN2L or CN2AL Controller Servo amplifier Position command control signal Servo motor encoder signal Driving part CN2/CN2A/CN2B Servo motor Load-side encoder signal Two-wire type rotary encoder *1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. ■Servo amplifier with CN2L or CN2AL Controller Servo amplifier...
Page 219: Scale Measurement Encoders
Scale measurement encoders Precautions Contact the manufacturer of the scale measurement encoder being used for information on specifications, performance and guarantees. Linear encoders Refer to the following manual for linear encoders that can be used as a scale measurement encoder. MR-J5 Partner's Encoder User's Manual To use [Pr.
Page 220 Encoder cable configuration diagram for linear encoders Cables to be used vary depending on each scale measurement encoder. Refer to the following manual for the linear encoder cables. MR-J5 Partner's Encoder User's Manual ■Servo amplifier without CN2L or CN2AL MR-J4FCCBL03M branch cable Servo amplifier MOTOR Rotary servo motor encoder...
Page 221 Encoder cable configuration diagram for rotary encoders • If using a rotary encoder as a scale measurement encoder, use an HK-KT servo motor or HK-MT servo motor encoder for as the encoder. • Use a two-wire type encoder cable. For cables for rotary encoders, refer to "Motor cables/connector sets" and "Encoder cable" in the following manual. Rotary Servo Motor User's Manual (For MR-J5) ■Servo amplifier without CN2L or CN2AL MR-J4FCCBL03M branch cable...
Page 222: Setting Method
Setting method Precautions After mounting the scale measurement encoder and setting the servo parameters, operate the device (scale measurement encoder) to check that the data of the scale measurement encoder has been updated properly. If not properly updated, check the mounting, wiring, and servo parameter settings of the scale measurement encoder. Change the polarity of the scale measurement encoder as necessary.
Page 223 Selecting a polarity of the scale measurement encoder Select the polarity of the scale measurement encoder in [Pr. PC27.0 Encoder pulse count polarity selection] and set [Pr. PC27.2 ABZ phase input interface encoder ABZ phase connection assessment function selection] shown below as required. Precautions [Pr.
Page 224: Procedure For Replacing The Scale Measurement Encoder (Mitsubishi Electric Servo Motor Equipped With A Batteryless Absolute Position Encoder)
(Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder) To replace the Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder being used as a scale measurement encoder, use the following procedure. Servo motor replacement procedure Replacing the servo motor Turn off the power supply of the servo amplifier and replace the servo motor.
Page 225: Procedure Of Replacing A Servo Amplifier Without Losing The Absolute Position Data [B]
Procedure of replacing a servo amplifier without losing the absolute position data [B] When using existing parameter settings for a servo amplifier with factory settings, check that the settings of [Pr. PC92 Servo amplifier replacement data 9] to [Pr. PC95 Servo amplifier replacement data 12] are "0" before connecting the servo amplifier to the controller.
Page 226: Related Objects [G]
Related objects [G] Scale measurement function objects Check that bit 1 of [Encoder status 2 (Obj. 2D35h: 02h)] is on before reading the object. If the object is read while bit 1 is off, the value of each object will be 0. For details on the objects, refer to the User's Manual (Object Dictionary).
Page 227: Touch Probe [G]
Touch probe [G] Outline This function is available on servo amplifiers with firmware version A5 or later. The touch probe function latches the current position by inputting a signal from a sensor or the like. Position feedback at the rising edge and falling edge of an input device can be detected with precision of 1 μs and stored into an object according to specified conditions.
Page 228: 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 146 Assigning I/O devices Page 227 Input device settings Refer to the following for the timing chart.
Page 229 Input device settings ■For MR-J5-_G_ 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. Connector pin No. Servo parameter Initially assigned device CN3-10 [Pr.
Page 230 ■For MR-J5D2-_G_/MR-J5D3-_G_ Assign input devices (TPR1, TPR2, and TPR3) and also select on which axis an input signal is used. The touch probe function can be set such as the following: one channel for A-axis, B-axis, and C-axis respectively, three channels on B-axis, and latching current positions of A-axis, B-axis, and C-axis simultaneously with one input signal.
Page 231 The following shows a setting example of the MR-J5W3-_G_. Assign input devices (TPR1, TPR2, TPR3) with [Pr. PD05.0-1 Input device selection 3], and select an axis for using an input signal with [Pr. PD05.4 Input axis selection 3]. When storing latched positions of A-axis, B-axis, and C-axis to each corresponding touch probe 1 Axis to be latched Object Touch probe 1...
Page 232 Servo parameter The filter settings of [Pr. PD11.0 Input signal filter selection] are disabled for pins to which TPR1, TPR2, or TPR3 is assigned. ■MR-J5-_G_ Servo parameter Symbol Name Outline PD38.0-1 *DI4 Input device selection 4 Assign any input device to the CN3-10 pin. Initial value: 2Ch (TPR1) PD39.0-1 *DI5...
Page 233 ■MR-J5W3-_G_ Servo parameter Symbol Name Outline PD05.0-1 *DI3 Input device selection 3 Assign any input device to the CN3-9 pin. (A-axis) Initial value: 22h (DOG-A) PD05.4 Input axis selection 3 Set which axis is used for the input signal of the CN3-9 pin. (A-axis) Initial value: 0h (automatic setting: A-axis) PD05.0-1...
Page 234 ■MR-J5D3-_G_ Servo parameter Symbol Name Outline PD05.0-1 *DI3 Input device selection 3 Assign any input device to the CN3-29 pin. (A-axis) Initial value: 22h (DOG-A) PD05.4 Input axis selection 3 Set which axis is used for the input signal of the CN3-29 pin. (A-axis) Initial value: 0h (automatic setting: A-axis) PD05.0-1...
Page 235 Object dictionary For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 60B8h  Touch probe function Page 234 Details on [Touch probe function (Obj. 60B8h)]  Page 236 Details on [Touch probe status (Obj. 60B9h)] 60B9h Touch probe status 60BAh...
Page 236 ■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 237 ■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 238 ■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 239 ■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 240 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 241 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 242: Machine Diagnosis
Machine diagnosis The machine diagnosis function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier and detects errors in machine parts such as ball screws and bearings. The machine diagnosis function features the following functions: Diagnosis target Diagnosis item...
Page 243: Friction Vibration Estimation Function
Friction vibration estimation function In the friction vibration estimation function, the friction estimation function estimates the friction of the drive system in the equipment, and the vibration estimation function estimates the minute vibration level and vibration frequency based on the data in the servo amplifier.
Page 244 Setting method [G] [B] ■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 245 Setting method [A] ■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 246 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 247 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 248 Related objects [G] 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.
Page 249: Friction Failure Prediction Function
Friction failure prediction function The friction failure prediction function predicts device failure based on the dynamic friction (at rated speed) estimated by the friction vibration estimation function. • In the torque mode, the friction failure prediction function cannot be used. Precautions [G] [B] •...
Page 250 Setting method [G] [B] The friction failure prediction function predicts a failure of the equipment from the increase and decrease in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7.2 Friction failure prediction warning] will occur.
Page 251 *1 The data of the estimated static friction and dynamic friction can be saved on the machine diagnosis screen of MR Configurator2. *2 Setting the value estimated by the automatic threshold setting in [Pr. PF19] and [Pr. PF20] reduces the possibility of an erroneous detection for failure prediction although the function operates properly with the initial value of [Pr.
Page 252 ■Setting "Failure prediction - Servo motor total travel distance" Set the "Failure prediction - Servo motor total travel distance" when using the automatic threshold setting. It is recommended that the servo motor total travel distance for failure prediction be set to about the same as the rated life suggested by the manufacturers of the guides and ball screws being used.
Page 253 Setting method [A] The friction failure prediction function predicts a failure of the equipment from the increase and decrease in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7.2 Friction failure prediction warning] will occur.
Page 254 *1 The data of the estimated static friction and dynamic friction can be saved on the machine diagnosis screen of MR Configurator2. *2 Setting the value estimated by the automatic threshold setting in [Pr. PF19] and [Pr. PF20] reduces the possibility of an erroneous detection for failure prediction although the function operates properly with the initial value of [Pr.
Page 255 ■Threshold setting method When the automatic threshold setting is used, [Pr. PF54 Friction failure prediction - Average characteristic] and [Pr. PF55 Friction failure prediction - Standard deviation] for determining the threshold value are automatically rewritten according to the dynamic friction (at rated speed) estimated inside the servo amplifier. At this time, the threshold can be changed with [Pr. PF52.0 Friction failure prediction - Threshold multiplication].
Page 256 Friction failure prediction [G] [B] When upper and lower limit thresholds are input to the servo amplifier, the servo amplifier starts friction failure prediction. If the dynamic friction (at rated speed) estimated by the friction estimation function exceeds the upper or lower limit threshold during the friction failure prediction, [AL.
Page 257 Related objects [G] For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status]...
Page 258: Vibration Failure Prediction Function
Vibration failure prediction function The vibration failure prediction function predicts device failure based on the vibration level that has been estimated with the friction vibration estimation function during servo motor operation. Precautions • When the vibration failure prediction function is enabled, a vibration failure warning may occur if the gains of the servo amplifier are changed.
Page 259 For the vibration failure prediction function, the threshold that triggers [AL. 0F7.1 Friction failure prediction warning] can be set using the following two methods. ■Automatic threshold setting From the vibration level estimated by the vibration estimation function, a threshold that triggers [AL. 0F7.1 Vibration failure prediction warning] is automatically calculated in the servo amplifier.
Page 260 Setting method [A] The vibration prediction function predicts a failure of the equipment with the increase of the vibration level, which is estimated by the vibration estimation function. If a failure of the equipment is predicted from the vibration, [AL. 0F7.1 Vibration failure prediction warning] occurs.
Page 261 ■Manual threshold setting This is a method of setting a threshold that triggers [AL. 0F7.1 Vibration failure prediction warning] with [Pr. PF52.1 Vibration failure prediction - Threshold multiplication], [Pr. PF56 Vibration failure prediction - Average characteristics], or [Pr. PF57 Vibration failure prediction - Standard deviation]. For the manual threshold setting, vibration failure prediction will start immediately after the vibration failure prediction function begins operation.
Page 262 Vibration failure prediction [G] [B] When a threshold is input to the servo amplifier, the servo amplifier starts vibration failure prediction. During vibration failure prediction, if the vibration level estimated by the vibration estimation function while the servo motor is in operation exceeds the threshold, [AL.
Page 263 Related objects [G] For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status]...
Page 264: Total Travel Distance Failure Prediction Function
Total travel distance failure prediction function Outline [G] [B] The total travel distance failure prediction function can check the total travel distance of devices and that of the servo motor after the shipment. The servo motor total travel distance indicates the cumulative number of rotations or total travel distance of the servo motor. The servo motor total travel distance is intended to be used as a guide for the timing of replacement and maintenance of the servo motor and mechanical parts in the equipment.
Page 265 Total travel distance reading method [A] The servo motor total travel distance can be read with the engineering tool (MR Configurator2) via USB connection. The value set in [Pr. PF58 Servo motor total travel distance offset] is added to the read servo motor total travel distance. ■When reading the total travel distance with an engineering tool (MR Configurator2) Select the servo motor total travel distance on the machine diagnosis screen and click "Read".
Page 266 Setting method of total travel distance failure prediction function [A] Using the servo motor total travel distance, the total travel distance failure prediction function can be performed in the following procedure. ■Failure prediction function setting with servo motor total travel distance To enable servo motor total travel distance failure prediction warning, set [Pr.
Page 267 Execution of total travel distance failure prediction function [G] [B] Using the servo motor total travel distance, the total travel distance failure prediction function operates as follows. ■Total travel distance failure prediction with servo motor total travel distance Threshold = [Pr. PF41] Servo motor total travel distance (Warning)
Page 268 Execution of total travel distance failure prediction function [A] Using the servo motor total travel distance, the total travel distance failure prediction function operates as follows. ■Total travel distance failure prediction with servo motor total travel distance Threshold = [Pr. PF53] Servo motor total travel distance (Warning)
Page 269 When replacing equipment [G] [B] When replacing the equipment, set the servo motor total travel distance offset to obtain the accurate total travel distance for the device and have the servo motor total travel distance continue from the previous distance value. Perform the actions shown in the following table when replacing the equipment.
Page 270 Related objects [G] For details on the objects, refer to the User's Manual (Object Dictionary). index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status]...
Page 271: Gear Failure Diagnosis Function
Gear failure diagnosis function The gear failure diagnosis function uses the servo motor driving status to predict a gear malfunction by estimating the backlash amount of the gear connected to the servo motor. The gear failure diagnosis function includes the backlash estimation function and the gear failure prediction function.
Page 272 Setting method Use the gear failure diagnosis function with the following procedure: Start Startup the system. Set [Pr. PF66.0-3 Gear for backlash estimation - Numerator] and [Pr. PF66.4-7 Gear for backlash estimation - Denominator] to the gear ratio of the gears connected to the servo motor. Set [Pr.
Page 273 ■Backlash estimation servo parameter input • Setting of gear ratio for backlash estimation Input the numerator and denominator of the gear ratio on the gear connected to the servo motor. Inputting the numerator and denominator of the gear ratio limits the travel distance during the backlash estimation to the minimum. When either the numerator or the denominator of the gear ratio is set to "0", the travel distance during the backlash estimation is two rotations each in the forward and reverse rotation side from the starting position of the backlash estimation.
Page 274 ■Backlash estimation unit selection [G] [A] Select the unit for the travel distance which is to be automatically set in the backlash estimation function. Servo Symbol Name Outline parameter PF62.0 FOP14 Backlash estimation unit selection Select the unit for "travel distance at backlash estimation" which is to be automatically set in the backlash estimation function.
Page 275 Backlash estimation function [G] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
Page 276 Backlash estimation function [B] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
Page 277 Backlash estimation function [A] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
Page 278 Setting example [G] [A] The following setting example shows how to use the backlash estimation function. Machine specifications Machine Servo motor Pt (servo motor resolution): 67108864 pulses/rev Number of gear teeth on servo motor side: 11 Number of gear teeth on machine side: 25 = 11: 25 Bn Backlash nominal value presented by the manufacturer: 10 [degree] Motor side...
Page 279 ■When the gear ratio of the gear connected to the servo motor is identified Setting [Pr. PF66.0-3 Gear for backlash estimation - Numerator] and [Pr. PF66.4-7 Gear for backlash estimation - Denominator] limits the travel distance during the backlash estimation to the minimum. The backlash estimation value of the gear connected to the servo motor is the value in the load-side unit.
Page 280 Setting example [B] The following setting example shows how to use the backlash estimation function. Machine specifications Machine Servo motor (servo motor resolution): 67108864 pulses/rev Number of gear teeth on servo motor side: 11 Number of gear teeth on machine side: 25 = 11: 25 Backlash nominal value presented by the manufacturer: 10 [degree] Motor side...
Page 281 ■When the gear ratio of the gear connected to the servo motor is identified Setting [Pr. PF66.0-3 Gear for backlash estimation - Numerator] and [Pr. PF66.4-7 Gear for backlash estimation - Denominator] limits the travel distance during the backlash estimation to the minimum. The backlash estimation value of the gear connected to the servo motor is the value in the load-side unit.
Page 282 When backlash estimation error occurs If an estimation error occurs during the backlash estimation, the estimation will be canceled. At this time, as the error code is displayed in the error code status, check the cause of the estimation error. To perform backlash estimation again, stop the servo motor once.
Page 283 Gear failure prediction function The gear failure prediction function predicts the gear failure by comparing the backlash amount estimated by the backlash estimation function with the backlash value set in the servo parameter. After inputting the threshold to the servo amplifier with the gear diagnosis threshold setting method, performing backlash estimation executes the gear failure prediction.
Page 284: Belt Diagnosis Function
Belt diagnosis function • [AL. 037 Parameter error] occurs when the friction failure prediction function and static friction failure prediction function are enabled at the same time. Precautions • The static friction failure prediction function uses the static friction estimated by the friction estimation function to predict failures.
Page 285 ■Belt tension deterioration prediction function For the belt tension deterioration prediction function, [AL. 0F7 Machine diagnostic warning] occurs when the belt tension that is estimated from the servo amplifier internal data is equal to or lower than the input threshold of the belt tension servo parameter.
Page 286 Outline [A] The belt diagnosis function estimates the tension deterioration of the belt connected to the servo motor by using the friction value of the servo amplifier internal data. A belt failure can be predicted based on the tension deterioration of the belt. Also, the timing of belt re-tensioning can be determined.
Page 287 Static friction failure prediction function [G] [B] ■Friction failure prediction function method of use Follow these procedures when using the static friction failure prediction function. For the static friction failure prediction function, threshold that outputs a warning can be calculated automatically inside the servo amplifier using the automatic threshold setting or set with servo parameters using the manual threshold setting.
Page 288 *1 Estimated static friction and dynamic friction can be saved by opening the machine diagnostic screen of MR Configurator2. *2 If the equipment has been operated for less than continuous three hours, or the friction estimation has not finished for the rotation direction set in [Pr.
Page 289 ■Threshold setting method When [Pr. PF34.5 Static friction failure prediction warning selection] is set to "1" (automatic threshold setting), [Pr. PF69 Static friction failure prediction - Average characteristics] and [Pr. PF70 Static friction failure prediction - Standard deviation] for determining a threshold are automatically rewritten according to the static friction estimated in the servo amplifier. The threshold can be changed with [Pr.
Page 290 ■Threshold reset method When the automatic threshold setting is performed again after being used to set the upper and lower threshold, set [Pr. PF34.5 Static friction failure prediction warning selection] to "3" (threshold reset), then cycle the power or reset the software afterwards.
Page 291 ■Related objects [G] The following is a description of objects related to the static friction failure prediction function. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
Page 292 Static friction failure prediction function [A] ■Friction failure prediction function method of use Follow these procedures when using the static friction failure prediction function. For the static friction failure prediction function, threshold that outputs a warning can be calculated automatically inside the servo amplifier using the automatic threshold setting or set with servo parameters using the manual threshold setting.
Page 293 *1 Estimated static friction and dynamic friction can be saved by opening the machine diagnostic screen of MR Configurator2. *2 If the equipment has been operated for less than continuous three hours, or the friction estimation has not finished for the rotation direction set in [Pr.
Page 294 ■Threshold setting method When [Pr. PF51.5 Static friction failure prediction warning selection] is set to "1" (automatic threshold setting), [Pr. PF69 Static friction failure prediction - Average characteristics] and [Pr. PF70 Static friction failure prediction - Standard deviation] for determining a threshold are automatically rewritten according to the static friction estimated in the servo amplifier. The threshold can be changed with [Pr.
Page 295 ■Threshold reset method When the automatic threshold setting is performed again after being used to set the upper and lower threshold, set [Pr. PF51.5 Static friction failure prediction warning selection] to "3" (threshold reset), then cycle the power or reset the software afterwards.
Page 296 Belt tension deterioration prediction function [G] [B] ■How to use the belt tension deterioration prediction function Follow these procedures when using the static friction prediction function. Start Startup the system. Operate the equipment with the belt loosened and complete friction estimation.
Page 297 ■Setting "Static friction when extended" After attaching the belt to the equipment, drive the servo motor, and estimate the static friction with the friction vibration estimation function. In accordance with the completed static friction estimation, set [Pr. PF75 Static friction when extended] as follows.
Page 298 ■Threshold setting for belt tension Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. When the belt tension estimated value inside the servo amplifier falls below the belt tension threshold, [AL. 0F7 Machine diagnostic warning] occurs. [Pr. PF72 Belt tension on installation] [Pr.
Page 299 ■Related objects [G] The following is a description of objects related to the belt tension deterioration prediction function. For details on the objects, refer to the User's Manual (Object Dictionary). Index Object Name Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
Page 300 Belt tension deterioration prediction function [A] ■How to use the belt tension deterioration prediction function Follow these procedures when using the static friction prediction function. Start Startup the system. Operate the equipment with the belt loosened and complete friction estimation. Set a belt tension value in [Pr.
Page 301 ■Setting "Static friction when extended" After attaching the belt to the equipment, drive the servo motor, and estimate the static friction with the friction vibration estimation function. For friction vibration estimation function, refer to the following. Page 241 Friction vibration estimation function In accordance with the completed static friction estimation, set [Pr.
Page 302 ■Threshold setting for belt tension Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. When the belt tension estimated value inside the servo amplifier falls below the belt tension threshold, [AL. 0F7 Machine diagnostic warning] occurs. [Pr. PF72 Belt tension on installation] [Pr.
Page 303: 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 304 • The drive recorder does not operate in the following cases. When using the graph function with an engineering tool. When using the machine analyzer function. When [Pr. PF21 Drive recorder switching time setting] is set to "-1" (Drive recorder function disabled). •...
Page 305: 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 306 Method of reading recorded data Drive recorder data can be read with an engineering tool (MR Configurator2) via a network or USB connection. A connection example is shown below. • Transferring files with direct connection or via a hub (Ethernet/MR Configurator2) Servo amplifier Personal computer Ethernet hub...
Page 307 ■Reading recorded data via a network When reading the recorded data from the drive recorder via a network, use the engineering tool or the FTP server function. The read data can be checked with GX LogViewer. The data is saved in a file as shown below. Path Remark /drvrec/dr*_nnnn.json...
Page 308: How To Use The Function [B]
How to use the function [B] The automatic setting mode is enabled for the drive recorder function in the factory settings. If the initial setting does not meet your needs, set [Pr. PA23 Drive recorder desired alarm trigger setting] and collect data suitable for analyzing the occurrence factors of alarms.
Page 309 Saving the drive recorder data in manual setting mode Precautions • The storage area of the servo amplifier has a limit for the number of writings. When using the drive recorder with [Pr. PF81.0] set to "2" (continuous sampling), consider the number of write times. ■Record with desired data and triggers Set [Pr.
Page 310: How To Use The Function [A]
How to use the function [A] The automatic setting mode is enabled for the drive recorder function in the factory settings. If the initial setting does not meet your needs, set [Pr. PA23 Drive recorder desired alarm trigger setting] and collect data suitable for analyzing the occurrence factors of alarms.
Page 311 ■Reading recorded data via a network When reading the recorded data from the drive recorder via a network, use the FTP server function. The read data can be checked with GX LogViewer. The data is saved in a file as shown below. File path Remark /drvrec/dr1_nnnn.json...
Page 312: 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 313 Servo Symbol Name Outline parameter PF85 DRTL1 Drive recorder - Trigger level setting 1 Set the trigger level of [Pr. PF84.0-1 Drive recorder - Trigger channel selection 1] in decimal. Initial value: 0 PF86 DRTL2 Drive recorder - Trigger level setting 2 Set the trigger level of [Pr.
Page 314 *1 Refer to the following for setting values. Page 312 Trigger channel selection [G] *2 Refer to the following for setting values. Page 313 Analog channel [G] *3 Refer to the following for setting values. Page 315 Digital channel [G] ■Trigger channel selection [G] Setting value Meaning...
Page 315 ■Analog channel [G] 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...
Page 316 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 317 ■Digital channel [G] Setting value Symbol Name Classification 0000 CSON Servo-on command 0001 Forward rotation stroke end 0002 Reverse rotation stroke end 0005 Proportional control 0006 Reset 0012 EM2/1 Forced stop 0013 CRDY Ready-on command 0016 STO1 STO1 0017 STO2 STO2 001A CDP2...
Page 318 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position completion 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2...
Page 319 *1 Available on servo amplifiers with firmware version A5 or later. *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 only on the MR-J5D_-_G_.
Page 320 Servo parameter [B] Servo Symbol Name Outline parameter PF80.0 DRMC Drive recorder - Operation mode selection Select the operation mode of drive recorder. 0: Automatic setting mode (initial value) 1: Manual setting mode PF80.2-3 DRMC Drive recorder - Sampling cycle selection Set the sampling cycle.
Page 321 Servo Symbol Name Outline parameter PF87.4-6 DRAC1 Drive recorder - Analog channel 2 selection Set the data to be assigned to analog channel 2. Initial value: 002h (Torque/instantaneous torque) PF88.0-2 DRAC2 Drive recorder - Analog channel 3 selection Set the data to be assigned to analog channel 3. Initial value: 003h (Current command) PF88.4-6 DRAC2...
Page 322 ■Trigger channel selection [B] 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...
Page 323 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 324 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position completion 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2...
Page 325 Servo parameter [A] Servo Symbol Name Outline parameter PF80.0 DRMC Drive recorder - Operation mode selection Select the operation mode of drive recorder. 0: Automatic setting mode (initial value) 1: Manual setting mode PF80.2-3 DRMC Drive recorder - Sampling cycle selection Set the sampling cycle.
Page 326 Servo Symbol Name Outline parameter PF89.0-2 DRAC3 Drive recorder - Analog channel 5 selection Set the data to be assigned to analog channel 5. Initial value: 205h (Speed command + ) PF89.4-6 DRAC3 Drive recorder - Analog channel 6 selection Set the data to be assigned to analog channel 6.
Page 327 ■Trigger channel selection [A] 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...
Page 328 ■Analog channel [A] Setting value Data type Unit Category   No assigned function Servo motor speed 1 r/min 16-bit data Torque/instantaneous torque 0.1 % Current command 0.1 % Command pulse frequency (speed unit) 1 r/min Droop pulses (1 pulse unit) 1 pulse Speed command 1 r/min...
Page 329 *1 "mm/s" is used instead of "r/min" for linear servo motors. *2 Available on servo amplifiers with firmware version A5 or later. *3 Available on servo amplifiers with firmware version B0 or later. *4 Available on servo amplifiers with firmware version D4 or later. ■Digital channel [A] Setting value Symbol...
Page 330 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 331 Object dictionary [G] 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 332: Standard Acquisition Waveform List [G] [B]
Standard acquisition waveform list [G] [B] 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 333 Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 031 Servo Torque Current Command Position  Speed Bus voltage 0.500 ms 512 ms motor command pulse within one- command + speed +...
Page 334 Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 051 Servo Torque Current Droop Overload Bus voltage Effective  32 ms 32768 ms motor command pulses (100 alarm load ratio speed +...
Page 335: Standard Acquisition Waveform List [A]
Standard acquisition waveform list [A] When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), the acquired data is changed by [Pr. PA23 Drive recorder desired alarm trigger setting]. If [Pr. PA23] is set to the initial value (00000000h), the data shown in the "Standard"...
Page 336 Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 042 Servo Torque Motor-side/ Motor-side/ Command Droop pulses Load-side  0.500 ms 512 ms motor load-side load-side pulse (100 pulses) droop pulses...
Page 337: Waveform Recording Inapplicable Alarm List
Waveform recording inapplicable alarm list Alarms that are not covered in the alarm history are not subject to recording by the drive recorder. For details, refer to the following manual. MR-J5 User's Manual (Troubleshooting) The alarms shown in the following table are saved in the alarm history, but are not subject to recording by the drive recorder. The drive recorder does not operate in this case.
Page 338: 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 339: 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 340: Software Position Limit [G]
Software position limit [G] 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 341 ■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 342 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 343: Torque Limit [G]
Torque limit [G] 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 344: Checking "Limiting Torque" Status
Relation between servo parameters and objects [Pr. PA11] and [Pr. PA12] are used for [Positive torque limit value (Obj. 60E0h)] and [Negative torque limit value (Obj. 60E1h)]. For [Pr. PA14 Travel direction selection] and [Pr. PC29.3 Torque POL reflection selection], the relationship between objects and servo parameters that limit the torque changes as follows.
Page 345: Torque Limit [B]
4.10 Torque limit [B] The torque limit function limits the torque generated by the servo motor. • When setting the torque above the maximum torque of the servo motor, the torque is limited by the maximum torque of the servo motor. Precautions •...
Page 346: Torque Limit [A]
4.11 Torque limit [A] The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. The torque limit function can be used by switching the following limit vales. Item Outline Internal torque limit The maximum torque is limited by the values of [Pr.
Page 347: Setting Method
Setting method • The rated torque unit is used as a default unit for the torque limit, which differs from the setting for the MR- J4-_A_. To change the unit to the maximum torque unit, change the setting in [Pr. PC50.0 Torque limit unit change].
Page 348: Checking "Limiting Torque" Status
Torque limit selection The torque limit can be selected using TL (External torque limit selection). In addition, by turning on TL1 (Internal torque limit selection) through servo parameters, [Pr. PC35 Internal torque limit 2] can be selected. However, if the value for [Pr. PA11] or [Pr. PA12] is less than the limit value selected using TL/TL1, the value for [Pr. PA11] or [Pr.
Page 349: Speed Limit [G]
4.12 Speed limit [G] 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 350: Speed Limit [B]
4.13 Speed limit [B] During the torque mode, this function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in the torque mode. Precautions • When the servo motor speed reaches the speed limit value, torque control may become unstable. Setting method For details, refer to each controller manual.
Page 351: Speed Limit [A]
4.14 Speed limit [A] During the torque mode, this function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in the torque mode. Precautions • When the servo motor speed reaches the speed limit value, torque control may become unstable. Setting method Speed limit value and servo motor speed The speed is limited to the values set with [Pr.
Page 352: Checking "Limiting Speed" Status
Speed limit value selection The speed limit can be selected with SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3). Input device Speed limit VLA (Analog speed limit) [Pr. PC05 Internal speed 1] [Pr. PC06 Internal speed 2] [Pr.
Page 353: A/B/Z-Phase Pulse Output Function
4.15 A/B/Z-phase pulse output function This function outputs position information from the servo motor or the load-side encoder in the form of A/B/Z-phase pulses. Restrictions [G] [B] • The encoder Z-phase pulse is not output when the MR-J5W_-_, the MR-J5D2-_G_, or the MR-J5D3-_G_ is used. •...
Page 354 Encoder output pulse setting [G] [B] Set [Pr. PC03.1 Encoder output pulse setting selection]. Set the number of output pulses according to the set value. ■When [Pr. PC03.2] = "0" (servo motor-side encoder) Setting value of [Pr. PC03.1] For rotary servo motors and direct drive For linear servo motors motors "0"...
Page 355 ■When [Pr. PC03.2] = "1" (load-side encoder) Setting value of [Pr. PC03.1] When in the fully closed loop control mode When the scale measurement function is enabled "0" (output pulse setting) [AL. 037] occurs. "1" (dividing ratio setting) Set the dividing ratio to the resolution per servo motor Set the dividing ratio to the travel distance of the scale revolution with [Pr.
Page 356: Setting Method [A]
Setting method [A] The encoder output pulse function can be used by setting the following servo parameters. For output specifications of the Z- phase pulse, refer to the following. Page 356 Z-phase pulse output Servo Symbol Name Outline parameter PA15 *ENR Encoder output pulses Set the encoder output from the servo amplifier by using the number of output...
Page 357 Encoder output pulse setting Set [Pr. PC19.1 Encoder output pulse setting selection]. Set the number of output pulses according to the set value. ■When [Pr. PC19.2] = "0" (servo motor-side encoder) Setting value of [Pr. For rotary servo motors and direct drive motors For linear servo motors PC19.1] "0"...
Page 358: Z-Phase Pulse Output
■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]. Resolution per revolution [pulse/rev] Output pulse =...
Page 359: Degree Unit [G]
4.16 Degree unit [G] The degree 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. •...
Page 360 Data Description Travel distance after proximity dog The range is 0 to 359999. If a value outside the range is set, the value will be clamped to the range 0 to 359999. Position range output address The range is 0 to 359999. If a value outside the range is set, the value will be clamped to the range 0 to 359999.
Page 361: 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 127 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 parameter Symbol Name...
Page 362: 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 363 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 364 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 365 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 366: Infinite Feed Function [G]
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 367: Servo Amplifier Life Diagnosis Function
4.18 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 368: 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 369: Encoder Communication Diagnosis Function
4.19 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 370: Usage [A]
Usage [A] To enable the diagnosis mode, set "1" (enabled) in [Pr. PC60.4 Encoder communication circuit diagnosis mode selection] and cycle the power. Remove the encoder cable at power off. During the diagnosis mode, [AL. 118.1 Encoder communication circuit diagnosis in progress] occurs. Perform the diagnosis in accordance with the items displayed on the encoder communication circuit diagnosis screen of MR Configurator2.
Page 371: Disconnection/Incorrect Wiring Detection Function
These malfunctions are difficult to determine from the outside of the servo amplifier, making it difficult to identify the alarm cause. With the following function, the MELSERVO-J5 series servo amplifier can quickly identify the malfunction location and shorten the time needed to restore the device.
Page 372 Setting method [G] [B] ■200 V class 1-axis servo amplifiers with a capacity of 2.0 kW or less When [Pr. PC20.4 Input open-phase detection selection] is set to "0" (automatic), the input open-phase detection function is disabled. The input open-phase detection function is enabled by setting [Pr. PC20.4] to "1" (warning enabled) or "2" (alarm enabled). If "1"...
Page 373 Setting method [A] ■200 V class servo amplifiers with a capacity of 2.0 kW or less When [Pr. PC27.4 Input open-phase detection selection] is set to "0" (automatic), the input open-phase detection function is disabled. The input open-phase detection function is enabled by setting [Pr. PC27.4] to "1" (warning enabled) or "2" (alarm enabled). If "1"...
Page 374: Output Open-Phase Detection Function
Output open-phase detection function This function detects an open phase due to servo motor power supply cable (U/V/W) disconnection and generates [AL. 139 Open-phase error] after the detection. Restrictions [G] [B] • The output open phase detection function will be disabled if an alarm or warning other than [AL. 139 Open-phase error] has occurred.
Page 375 Setting method [G] [B] When [Pr. PC19.4 Output open-phase detection selection] is set to "1" (enabled), the output open-phase detection function will be enabled. Servo Symbol Name Outline parameter PC19.4 *COP6 Output open-phase detection selection Enable or disable the detection of output open-phase detection function. 0: Disabled (initial value) 1: Enabled PC19.6...
Page 376: Servo Motor Incorrect Wiring Detection Function [G]
• The incorrect wiring may not be detected when different servo motors with similar capacities are wired incorrectly. • Do not use this function when using a servo motor not manufactured by Mitsubishi Electric. Otherwise, a large current may flow because of this function.
Page 377 Setting method Enable/disable the servo motor incorrect wiring detection function in [Pr. PC16.4 Servo motor incorrect wiring detection function selection], and set when to execute the function in [Pr. PC16.5 Servo motor incorrect wiring detection function execution method selection]. Execute the servo motor incorrect wiring detection function when changing the wiring of the servo amplifier.
Page 378: Overload Protection (Electronic Thermal) Function
4.21 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 379: Command Offset [G]
4.22 Command offset [G] Available on servo amplifiers with firmware version A5 or later. The command offset function compensates position/speed/torque commands by adding a desired offset amount to the commands. Position offset, velocity offset, and torque offset can be set. Functions Outline Position offset...
Page 380 Applicable control modes The following shows enabled/disabled command offsets for each control mode. For control modes of which command offsets are disabled, the setting values of the disabled command offsets are invalid. In the test operation mode, the command offset function is disabled. Control mode Command offset Position offset...
Page 381: Excessive Error Alarm Detection Function
4.23 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 [G] [B] The excessive error alarm trigger level can be changed with the following servo parameters.
Page 382: Excessive Error Alarm Trigger Level Adjustment Method [G] [B]
Excessive error alarm trigger level adjustment method [G] [B] 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 383: Excessive Error Alarm Trigger Level Adjustment Method [A]
Excessive error alarm trigger level adjustment method [A] 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 384: Override Function [G]
4.24 Override function [G] 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 385 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 386 ■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 387: Chapter 5 Monitoring
MONITORING Outline [G] The status of servo motor speed, torque, bus voltage, and other areas of the servo amplifier can be checked with the engineering tools and analog monitor. This chapter shows an example when using MR Configurator2 as the engineering tool. Items that can be monitored with "Display All"...
Page 388 Monitor signal (analog) and analog monitor [G] 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. Signals that can be set with the analog monitor are also shown in the lists.
Page 389 Name Description Availability Display All Graph Analog function monitor    Load to motor inertia ratio The estimated ratio of the load inertia moment to the servo motor inertia moment is displayed. Bus voltage The bus voltage of the converter part of the servo amplifier (between P+ ...
Page 390 Name Description Availability Display All Graph Analog function monitor    Oscillation detection The frequency at the time of oscillation detection is displayed. frequency Number of tough drive The number of times the tough drive function has activated is displayed. ...
Page 391 Name Description Availability Display All Graph Analog function monitor    Encoder error counter This indicates the cumulative number of errors during communication with the encoder. Load-side encoder error This indicates the cumulative number of errors during communication with ...
Page 392 Monitor signal (analog) and analog monitor [B] 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. Signals that can be set with the analog monitor are also shown in the lists.
Page 393 Name Description Availability Display All Graph Analog function monitor    Load-side encoder droop Droop pulses of the deviation counter between a load-side position and a pulses command are displayed. Load-side encoder The following values are displayed for each encoder connected to the ...
Page 394 Name Description Availability Display All Graph Analog function monitor    Excessive error alarm The margin for the excessive error alarm trigger level is displayed in the margin encoder pulse unit. The excessive error alarm is triggered when the margin is 0 pulse.
Page 395 Monitor signal (analog) and analog monitor [A] On MR Configurator2, the status of the monitor signal (analog) can be obtained by using the "Display All" function and the graph function. Refer to the list in this section for the signals which can be obtained with the "Display All" function and the graph function. Signals that can be set with the analog monitor are also shown in the lists.
Page 396 Name Description Availability Display All Graph Analog function monitor    ABS counter The travel distance from the home position is displayed as a multi- revolution counter value of the absolution position encoder in the absolution position detection system. For the fully closed loop control mode, the ABS counter is displayed in the servo motor encoder unit.
Page 397 Name Description Availability Display All Graph Analog function monitor    Motor/load side position The position deviation between the servo motor-side and load-side is deviation displayed. This function can be used for fully closed loop control. The number of pulses is displayed in the load-side encoder unit. ...
Page 398 Name Description Availability Display All Graph Analog function monitor    U-phase current feedback The value of the U-phase current flowing in the servo motor is displayed in (unit of the rated current) increments of 0.1 % in relation to the rated current as 100 %. V-phase current feedback The value of the V-phase current flowing in the servo motor is displayed in ...
Page 399 Monitor signal (digital) [G] 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) input to a servo amplifier; DO indicates the monitor signal (digital) output from a servo amplifier.
Page 400 Symbol Device name Description DI/DO STOC STO command Operation command of the safety sub-function STO. The STO function is activated when OFF is input from the controller. Page 427 Input device SS1C SS1 command Operation command of the safety sub-function SS1. The SS1 function is activated when OFF is input from the controller.
Page 401 Symbol Device name Description DI/DO SLS2S SLS2 output Operation status of the safety sub-function SLS2. SLS2 output is turned off while the SLS2 function is operating. Page 428 Output device SLS3S SLS3 output Operation status of the safety sub-function SLS3. SLS3 output is turned off while the SLS3 function is operating.
Page 402 Monitor signal (digital) [B] 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) input to a servo amplifier; DO indicates the monitor signal (digital) output from a servo amplifier.
Page 403 Symbol Device name Description DI/DO SSV1 Currently selected control mode 1 The control mode currently selected is displayed. For details on each control mode setting, refer to the following. SSV2 Currently selected control mode 2 Page 401 Currently selected control mode SSV3 Continuous operation to torque control mode...
Page 404 Monitor signal (digital) [A] The status of the monitor signal (digital) can be obtained by using the I/O monitor and graph functions of MR Configurator2. As for DI/DO in the table, DI indicates the monitor signal (digital) input to a servo amplifier; DO indicates the monitor signal (digital) output from a servo amplifier.
Page 405 • Off: The external input signal and the input from the controller are off. Symbol Device name Description DI/DO ABSB0 ABS transmission data bit 0 Refer to "Signal (device) explanation" in the following manual. MR-J5 User's Manual (Hardware) ABSB1 ABS transmission data bit 1 ABSM ABS transfer mode ABSR...
Page 406: Signal Block Diagram
Symbol Device name Description DI/DO External torque limit selection Refer to "Signal (device) explanation" in the following manual. MR-J5 User's Manual (Hardware) Internal torque limit selection Limiting torque Limiting speed Warning Zero speed detection *1 Available on servo amplifiers with firmware version A5 or later. Signal block diagram The following signal block diagram indicates the points at where the monitor signals (analog) and analog monitors are detected.
Page 407 Fully closed loop control [G] [B] This control can be used on servo amplifiers with firmware version A5 or later. Speed command Speed command Droop pulses Current command Bus voltage output 1 output 2 Servo Current motor Differentiation Speed detector command Load-side Position...
Page 408 Semi closed loop control [A] Command pulse Speed command Current Droop pulses Bus voltage frequency output 2 command Current Speed detector Command command Position Speed Current Servo motor pulse control control control Internal temperature Current feedback of encoder Encoder Differen- tiation Position feedback Servo motor...
Page 409: 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 410: I/O Monitor Display
Set the sampling time, trigger, and other areas as required, then start measurement. 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 411: 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 412: Analog Monitor [G] [B]
Analog monitor [G] [B] The voltage of the analog monitor output may be irregular at power-on. The status of the servo amplifier, such as the servo motor speed, torque, and bus voltage, can be output with the voltage to two channels at the same time. For the MR-J5_-_B_, this function is available only with 1-axis servo amplifiers.
Page 413: Setting Details [G] [B]
Setting details [G] [B] When using a linear servo motor, the terms below have the following meanings. CCW direction → Positive direction CW direction → Negative direction Torque → Thrust In the factory setting, the servo motor speed is output to MO1 (analog monitor 1), and the torque is output to MO2 (analog monitor 2).
Page 414 Setting value Output item Description Command speed output 1 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Servo motor-side droop pulses (±10 V/100 pulses) CCW direction *1*2*3*4 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction Servo motor-side droop pulses (±10 V/1000 pulses) CCW direction *1*2*3*4...
Page 415 Setting value Output item Description Command speed output 2 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/1000 pulses) CCW direction...
Page 416 Setting value Output item Description Motor/load side position deviation (±10 V/100000 CCW direction *2*3*4*5 pulses) 10 [V] 100000 [pulse] 100000 [pulse] -10 [V] CW direction Motor/load side speed deviation CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Internal temperature of encoder (±10 V/±128 ˚C) 10 [V] -128 [°C]...
Page 417: Analog Monitor [A]
Analog monitor [A] The voltage of the analog monitor output may be irregular at power-on. The status of the servo amplifier, such as the servo motor speed, torque, and bus voltage, can be output with the voltage to two channels at the same time. Setting method Which signal to be output by analog monitor 1 or analog monitor 2 can be selected, and the offset voltage of each analog monitor can be set using the extension setting parameters in MR Configurator2.
Page 418: Setting Details
Setting details When using a linear servo motor, the terms below have the following meanings. CCW direction → Positive direction CW direction → Negative direction Torque → Thrust In the factory setting, the servo motor speed is output to MO1 (analog monitor 1), and the torque is output to MO2 (analog monitor 2).
Page 419 Setting value Output item Description Command pulse frequency (±10 V/±4 Mpulses/s) CCW direction 10 [V] 4 [Mpulse/s] 4 [Mpulse/s] -10 [V] CW direction Servo motor-side droop pulses (±10 V/100 pulses) CCW direction *1*2*3*4 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction Servo motor-side droop pulses (±10 V/1000 pulses) CCW direction...
Page 420 Setting value Output item Description Command speed output 2 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 100 [pulse] 100 [pulse] -10 [V] CW direction *2*3*4*5 Load-side droop pulses (±10 V/1000 pulses) CCW direction...
Page 421 Setting value Output item Description Servo motor-side/load-side position deviation (±10 CCW direction *2*3*4*5 V/100000 pulses) 10 [V] 100000 [pulse] 100000 [pulse] -10 [V] CW direction Motor/load side speed deviation CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Internal temperature of encoder (±10 V/±128 ˚C) 10 [V] -128 [°C]...
Page 422: Optional Data Monitor Function [B]
Optional data monitor function [B] The optional data monitor function monitors data in the servo amplifier using the controller. With the optional data monitor, data types of registered monitors can be set. For details on usage, units of each data type, and others, refer to the manual for the controller being used.
Page 423 Data type Description Z-phase counter The following values are displayed for each linear encoder connected to the servo motor-side. For an absolute position linear encoder, "0" is displayed. For an incremental linear encoder, the Z-phase counter (distance from the linear encoder home position (reference mark)) (32-bit data) is displayed after the Z-phase is passed.
Page 424: Transient Command
Transient command Data type Description Motor serial No. (first eight characters) The serial number of the servo motor is displayed. It is not displayed when a linear servo motor is connected. Motor serial No. (last eight characters) Servo motor ID (SSCNET III/H) The servo motor ID sent from the encoder is displayed.
Page 425 Data type Description Load-side encoder information 2 The following values are displayed for each encoder connected to the load-side. For a rotary servo motor, the cycle counter is displayed. For an absolute position linear encoder, "0" is displayed. For an incremental linear encoder, the Z-phase counter (distance from the linear encoder home position (reference mark)) (32-bit data) is displayed after the Z-phase is passed.
Page 426 Data type Description Failure prediction status The failure prediction status is displayed. [Bit 0 to 3: Friction failure prediction status] 0:Friction failure prediction disabled 1:During preparation for friction failure prediction 2:During execution of friction failure prediction 3:During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status] 0:Vibration failure prediction disabled 1:During preparation for vibration failure prediction...
Page 427: Chapter 6 Functional Safety
FUNCTIONAL SAFETY Functions and configuration Outline For the compatible servo amplifiers and firmware versions, refer to "Functional safety" in the User's Manual (Introduction). For the connection diagram and wiring, refer to "USING STO FUNCTION" and "USING FUNCTIONAL SAFETY" in the following manuals.
Page 428: Risk Assessments
Risk assessments To satisfy social demands for the provision of highly safe machine and equipment in which risk has been reduced to an acceptable level, perform risk assessments to identify potential hazards in this machine and equipment and objectively evaluate risk through rational steps. Users must determine all risk assessments and residual risks for the machine and equipment as a whole.
Page 429: Signal
Signal Explanation of signals Input device Assign a device to the input signal of the CN8-4/CN8-5 pin with [Pr. PSD02 Input device selection DI1]. Refer to the following for details. Page 436 Input device For safety sub-function control by network, input via a network is possible. Refer to the following for details. Page 442 Safety sub-function control by network Device Symbol...
Page 430 Output device The status monitor (SM) of the safety sub-functions is output as the output signal of the CN8-6/CN8-7 pin. The output device can be assigned to the output signal of the CN8-6/CN8-7 pin with [Pr. PSD08 Output device selection DO1]. Refer to the following for details.
Page 431: Power-On Sequence
Power-on sequence In a system using servo motors with functional safety, for the initial diagnosis of the encoder, ensure about 0.5 s to 2 s in addition to the startup time of the servo amplifier. For the startup time of the servo amplifier, refer to "Power-on procedure" in the following manual.
Page 432: Setting Method
Setting method Turning on servo amplifier for the first time When using the safety sub-functions, follow the steps below for startup. If the steps described in "Turning on servo amplifier for the first time" in the User's Manual (Introduction) have been already performed, attach the short-circuit connector to the CN8 connector of the servo amplifier, and then follow the steps in this section.
Page 433: Functional Safety Parameters That Must Be Set
Changing the password Set a password so that the functional safety parameters cannot be changed easily. Once a password is set, the functional safety parameters cannot be changed without password authentication. No password authentication is required to read the functional safety parameters. To change the password, follow the steps below. From the menu of MR Configurator2, select "Change Password".
Page 434: Test Operation
[Pr. PSA23 Servo motor rated speed] To execute speed monitoring, set the rated speed of the connected servo motor. If the rated speed of the connected servo motor differs from the setting of this functional safety parameter, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
Page 435: Safety Sub-Function
Safety sub-function Achievable safety level The achievable safety level and available safety sub-functions depend on the device to be connected. Moreover, it is necessary to set the parameters according to the device to be connected. The servo motors and parameter settings required to achieve each functional safety level are given below.
Page 436 • For safety sub-function control using emergency stop push button switch, safety switch, enable switch Safety sub-function Servo Operation mode Semi/Full Encoder Parameter motor setting with SS2/ Stan Semi Fully Mitsubishi A/B/Z- Position/ functional function function function dard closed closed Electric phase Speed...
Page 437 Output function Required safety level Servo Operation Semi/Full Encoder Parameter setting motor mode with STOS SLT1S SLS1S SOSS Semi Fully Mitsubishi A/B/Z- Position/ Internal functional SS1S SLT2S SLS2S SS2S closed closed Electric phase Speed test pulse safety SBCS SLT3S SLS3S SLIS serial monitor...
Page 438: I/O Function
I/O function Input device ■Outline Input devices cannot be used for safety sub-function control by network. Input devices for functional safety have the following characteristics. • Input device selection A device can be freely assigned to the input signal of the CN8-4/CN8-5 pin by parameter. •...
Page 439 ■Duplication of the input wiring • Duplication of the input wiring Switch the CN8-4/CN8-5 pin within the permissible time for mismatches. This function continuously monitors whether signals of duplicated input are matched. When a mismatch is detected, the corresponding input device is treated as off. The following shows the operation sequence when SLS1C (SLS1 command) is assigned to the input signal of the CN8-4/CN8-5 pin.
Page 440 ■Noise elimination filter • Outline The noise elimination filter is a function to set a filtering time to reduce the noise of input signals. Set the filtering time of the noise elimination filter with [Pr. PSD12 Input device - Noise elimination filter time DI1]. The longer the noise elimination filter time, the better the resistance to chattering and noise, but the slower the response to the input signals.
Page 441 Output device ■Outline The output device of the status monitor function (SM) has the following characteristics. • Output device selection A device can be freely assigned to the output signal of the CN8-6/CN8-7 pin by parameter. • Duplication of output The same signal is duplicated for output with duplicated wiring.
Page 442 ■Diagnosis with test pulses • Test pulse diagnosis function When the output signal of the CN8-6/CN8-7 pin is on, off-pulses are output periodically to diagnose wiring abnormalities. The following shows the operation sequence when STOS (STO output) is assigned to the output signal of the CN8-6/CN8-7 pin.
Page 443 ■Status of I/O signals at startup and error detection • At startup After power-on, each output device constantly outputs the OFF signal until completion of the diagnosis. After the diagnosis is completed, the devices assigned with [Pr. PSD08 Output device selection DO1] are output. The diagnosis completion timing differs depending on whether safety sub-function control is by an input device or by a network.
Page 444 Safety sub-function control by network ■Outline Input devices cannot be used for safety sub-function control by network. Assigning safety-specific I/O signals to the safety device of the master station can perform the control. Safety sub-function control by network has the following characteristics. •...
Page 445 *1 When using a Mitsubishi Electric safety programmable controller, use the safety output device "SA¥Y". For details on the safety device, refer to the following manual. MELSEC iQ-R CPU Module User's Manual (Application) • Transmission of each function command input via a network (for the MR-J5D_-_G) The following commands can be transmitted via a network.
Page 446 Master station → Device station Input command Axis Description STOC (STO command) B-axis 0: The STO function of the drive unit is activated and the energy supply is shut off. 1: The STO status is canceled and normal operation resumes. SS1C (SS1 command) 0: The SS1 function is activated.
Page 447 1: The SLT4 function is canceled. Not used Set to "0". *1 When using a Mitsubishi Electric safety programmable controller, use the safety output device "SA¥Y". For details on the safety device, refer to the following manual. MELSEC iQ-R CPU Module User's Manual (Application) 6 FUNCTIONAL SAFETY 6.4 Safety sub-function...
Page 448 • Feedback of various function outputs via a network (for MR-J5-_G_-RJ) STOS (STO output), SOSS (SOS output), SSMS (SSM output), etc., can be transmitted through the network. Device station → Master station Function output Description STOS (STO output) 0: Indicates that the STO status has been canceled. 1: Indicates that the STO function is activated and the energy supply has been shut off.
Page 449 *1 When using a Mitsubishi Electric safety programmable controller, use the safety input device "SA¥X". For details on the safety device, refer to the following manual. MELSEC iQ-R CPU Module User's Manual (Application) 6 FUNCTIONAL SAFETY 6.4 Safety sub-function...
Page 450 • Feedback of various function outputs via a network (for MR-J5D_-_G) STOS (STO output), SOSS (SOS output), SSMS (SSM output), etc., can be transmitted through the network. Device station → Master station Function output Axis Description STOS (STO output) A-axis 0: Indicates that the STO status has been canceled.
Page 451 Device station → Master station Function output Axis Description STOS (STO output) B-axis 0: Indicates that the STO status has been canceled. 1: Indicates that the STO function is activated and the energy supply has been shut off. SSMS (SSM output) 0: Indicates that the servo motor speed exceeds the set SSM speed.
Page 452 Device station → Master station Function output Axis Description STOS (STO output) C-axis 0: Indicates that the STO status has been canceled. 1: Indicates that the STO function is activated and the energy supply has been shut off. SSMS (SSM output) 0: Indicates that the servo motor speed exceeds the set SSM speed.
Page 453 *1 When using a Mitsubishi Electric safety programmable controller, use the safety input device "SA¥X". For details on the safety device, refer to the following manual. MELSEC iQ-R CPU Module User's Manual (Application) ■Setting GX Works3 To use the safety sub-function in the safety communications, set the station-specific mode using the following procedure.
Page 454 Servo motor with functional safety By using a servo motor with functional safety, various speed monitoring functions and position monitoring functions can be realized without using external encoders to duplicate encoders. When using a servo motor with functional safety, set [Pr. PSA02.1 Position/Speed monitor setting] to "1". When not using a servo motor with functional safety, set this parameter to a value other than "1".
Page 455: Sto Function
STO function Outline This function electrically shuts off the servo motor driving energy with input signals from external devices (shut-off by the secondary-side output). This is equivalent to the stop category 0 of IEC/EN 60204-1. The function is also used for an emergency stop when an internal diagnosis error is detected.
Page 456 ■Alarm occurrence The STO function is activated also when an alarm occurs. While STO is activated, the energy supply to the servo motor is shut off and the dynamic brake is activated. For the alarms that activate STO, refer to "List of alarm No./warning No." in the following manual.
Page 457 ■Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 431 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 436 Input device When using output devices, refer to the following.
Page 458: Ss1 Function
SS1 function Outline This function starts deceleration with input signals from external devices. After the specified time to confirm the motor stop, the STO function is executed (SS1). This is equivalent to the stop category 1 of IEC/EN 60204-1. Since the SS1 function is also used for emergency stop when an internal diagnostic error is detected, refer to the following to set the functional safety parameters.
Page 459 ■Alarm occurrence The SS1 function is activated also when an alarm occurs. After an alarm occurs, the servo motor decelerates by either the dynamic brake, electronic dynamic brake, or forced stop. At the same time, the time from when the SS1 function is activated is measured, and the STO function is activated when the time set in [Pr.
Page 460 Deceleration monitoring function When the SS1 command is input, this function starts deceleration and monitors whether the servo motor decelerates according to the deceleration time constant. If the deceleration set by the functional safety parameter cannot be performed, the STO function is executed. The STO function is activated even when the time specified by [Pr. PSA03 SS1/SS2 deceleration monitor time] has elapsed since the SS1 function was activated.
Page 461 ■Deceleration speed excess monitoring This function monitors whether the servo motor does not exceed the observation speed specified by [Pr. PSA24 SS1/SS2 deceleration monitor time constant] when the motor decelerates from the speed where [Pr. PSA25 SS1/SS2 deceleration monitor speed offset] is added to the speed at the timing the SS1 command is turned off. If the observation speed is exceeded, the STO function is activated after the time set in [Pr.
Page 462 Stop methods ■Classification of stop methods The stop method of the servo motor is determined by the parameter settings or the factor that activated the SS1 function. The following table lists the stop methods for the servo motor when the SS1 function is activated. Servo amplifier parameter Servo motor Control mode...
Page 463 ■Stop by forced stop deceleration (SD) For the operation of the forced stop deceleration, refer to the following. Page 171 Forced stop deceleration function When the SS1 function is activated, the servo motor decelerates in accordance with the value set in [Pr. PC24 Deceleration time constant at forced stop].
Page 464 ■Dynamic brake stop (DB) When the SS1 function is activated, dynamic brake stop is executed. For the dynamic brake operation, refer to "Dynamic brake characteristics" in the following manual. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) When the deceleration monitoring function is enabled, if the deceleration monitor time constant is shorter than the braking time during dynamic brake operation, the observation speed will be exceeded and an alarm will occur.
Page 465 ■Electronic dynamic brake stop (EDB) When the SS1 function is activated, the electronic dynamic brake stop is executed. The dynamic brake is activated when the elapsed time from the start of the SS1 function reaches the time set in [Pr. PF12 Electronic dynamic brake operating time]. If the value set in [Pr.
Page 466: Ss2/Sos Function
SS2/SOS function Outline When SS2C (SS2 command) turns off, the SS2/SOS function executes stop monitoring (SOS) of the servo motor after standby until a delay time set in advance is elapsed or until the servo motor stop is detected. Sequence outline The SS2/SOS function is activated by turning off SS2C (SS2 command).
Page 467 Deceleration stop monitoring ■Speed monitoring during deceleration During deceleration, when both the absolute value of the speed command and the absolute value of the speed feedback become equal to or less than the value set in [Pr. PSA04 Safety sub-function - Stop speed], deceleration is considered to have been completed, and stop monitoring (SOS) starts.
Page 468 ■Deceleration monitoring When [Pr. PSA02.2 Time/Deceleration monitor setting] is set to "1", speed monitoring can be performed. After the SS2 command is turned off and the time set in [Pr. PSA26 SS1/SS2 deceleration monitor delay time] has elapsed, speed monitoring starts. This function monitors whether the servo motor does not exceed the speed specified by [Pr. PSA24 SS1/SS2 deceleration monitor time constant] from the speed at the moment that the SS2 command is turned off.
Page 469 Stop monitoring The SOS function monitors both the command speed and feedback speed. ■Speed command monitoring During stop monitoring, this function monitors whether the absolute value of the command speed is within the value set in [Pr. PSA04 Safety sub-function - Stop speed]. If the time of the speed command remains exceeded for the duration set in [Pr. PSA15 Safety sub-function - Speed detection delay time], the STO function is activated.
Page 470 ■Position feedback monitoring at stop During stop monitoring, this function monitors whether the absolute value of the amount of position feedback change from when stop monitoring (SOS) starts is within the value set in [Pr. PSA05 SOS permissible travel distance]. If the travel distance remains deviated for the duration set in [Pr.
Page 471 Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 431 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 436 Input device When using output devices, refer to the following.
Page 472: Sls Function
SLS function Outline This function monitors whether the speed is within the prescribed speed limit. If the speed exceeds the specified speed limit, the STO will shut off energy. Upon detection that the servo motor speed exceeds the SLS speed, the STO function is activated.
Page 473 Parameter switching Four sets of SLS speed and SLS deceleration monitor time can be set with the SLS function. The following table lists the SLS deceleration monitor time and SLS speed that are enabled by the SLS1 command, the SLS2 command, the SLS3 command, and the SLS4 command.
Page 474 Speed monitoring ■Speed monitoring command During speed monitoring, this function monitors whether the absolute value of the speed command is within the SLS speed. Upon detection that the speed command exceeds the SLS speed, the STO function is activated. However, there will be a delay equal to the time set in [Pr.
Page 475 Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 431 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 436 Input device When using output devices, refer to the following.
Page 476: Ssm Function
SSM function Outline This function outputs signals when the servo motor speed is below the prescribed speed. Operation sequence ■SSMS (SSM output) In the SSM function, SSMS (SSM output) is on when both the speed command and speed feedback are equal to or less than the speed set in [Pr.
Page 477: Sbc Function
SBC function • Use SBCS (SBC output) for electromagnetic brake operation. It is not necessary to use MBR (electromagnetic brake interlock). Outline This function outputs signals for controlling the external brake. Operation sequence The following shows the operation sequence while SS1 is being activated and when returning from the STO state. The electromagnetic brake is activated when SBCS (SBC output) is off.
Page 478: Sdi Function
SDI function Outline This function monitors whether the servo motor travels in the specified direction. If the servo motor travels in a direction different from the specified direction, the STO function will be activated. Operation sequence The SDI function is activated by turning off SDIPC (SDIP command) or SDINC (SDIN command). When SDIPC (SDIP command) is turned off, the function monitors the address increasing direction.
Page 479 The operation sequence by SDINC (SDIN command) is shown below. The function monitors the address decreasing direction. SDI negative direction monitor delay time Direction monitoring Command Stop speed 0 r/min Servo motor speed (mm/s) Stop speed An alarm will occur if the stop speed in the address decreasing direction is Feedback exceeded.
Page 480 ■Speed feedback exceeded During direction monitoring, the function monitors whether the speed is within the stop speed of the monitoring direction specified by the speed feedback. If the time of the speed feedback remains exceeded for the duration set in [Pr. PSA15 Safety sub-function - Speed detection delay time], the STO function is activated.
Page 481: Sli Function
SLI function Outline This function monitors whether the travel distance of the servo motor is within the specified range. If the travel distance of the servo motor exceeds the specified permissible travel distance, the STO function is activated. Operation sequence The SLI function is activated by turning off SLIC (SLI command).
Page 482 Combination with stop monitoring In the SLI function, if stop monitoring after operation completion is required, perform SOS monitoring using the SS2 command. The following is an example of the operation sequence of stop monitoring after the operation is completed. Stop monitoring (SOS) Position monitoring SLI permissible travel distance...
Page 483: Slt Function
SLT function Outline This function monitors whether the torque is within the specified value. Upon detection that the torque exceeds the SLT torque, the STO function is activated. Operation sequence The SLT function is activated by turning off SLTC (SLT command). The function starts torque monitoring right after SLTC (SLT command) is turned off.
Page 484 Parameter switching Four sets of SLT torque upper limit value and SLT torque lower limit value can be set with the SLT function. Four commands (SLT1 command, SLT2 command, SLT3 command, and SLT4 command) corresponding to the respective thresholds can be used.
Page 485 Torque monitoring ■Torque command monitoring During torque monitoring, the function monitors whether the torque command does not exceed the SLT torque upper limit value and does not fall below the SLT torque lower limit value. Upon detection that the torque command exceeds or falls below the SLT torque, the STO function is activated.
Page 486 Setting functional safety parameters Refer to the following to set the functional safety parameters. Page 431 Functional safety parameters that must be set When using the safety sub-function control by input device, refer to the following. Page 436 Input device When using output devices, refer to the following.
Page 487: Status Monitor (Sm) Function
Status monitor (SM) function This function outputs each status of SSM, SBC, SDI, SLI, SLT, STO, SOS, SS1, SS2, and SLS in signals. This is a function designed specifically for the safety sub-functions and differs from the function defined in IEC/EN 61800-5-2. For details on the devices, refer to the following.
Page 488: Simultaneous Operation Of Sto And Ss1 Functions
Simultaneous operation of STO and SS1 functions If SS1C (SS1 command) is turned off while the STO function is being executed, deceleration operation and time counting by the SS1 function are not performed and the STO state continues. As shown in the following sequence, if the SS1C (SS1 command) is turned off during the STO state by STOC (STO command), time counting of the SS1 function is not executed.
Page 489: At Alarm Occurrence
At alarm occurrence This function displays an alarm and warning when an error occurs during operation. When an alarm and warning occur, refer to the following manual and take the appropriate action. MR-J5 User's Manual (Troubleshooting) Outline ■Stop methods The following stop methods are available when functional safety is used. Stop methods Explanation Stops with dynamic brake (for a servo amplifier without the dynamic brake, the servo motor coasts).
Page 490 Alarm reset method for safety sub-function ■Safety sub-function control by input device When the cause of an alarm occurrence is removed and alarm reset is executed with all the enabled input devices on, the STO is released and the operation returns to normal. STO is released even if the pin (unused pin) to which an input device is not assigned in [Pr.
Page 491: Troubleshooting
Troubleshooting Parameter combinations that trigger [AL. 537.2 Parameter combination error A (safety sub-function)] If the parameters shown in this section are set incorrectly, [AL. 537.2] occurs. Parameters related to [Pr. PSA01 Safety sub-function mode selection] and [Pr. PSA02 Functional safety setting] [Pr.
Page 492 Parameters related to [Pr. PSA02.1 Position/Speed monitor setting] and operation mode [Pr. PSA02.1 Position/Speed monitor setting] "Do not monitor the "Monitor the position/ "Monitor the speed without position/speed." speed using a servo motor using a servo motor with with functional safety." functional safety."...
Page 493: Chapter 7 Network Function (Ethernet) [G] [A]
NETWORK FUNCTION (ETHERNET) [G] [A] The function explained in this chapter is available for the following servo amplifiers. • MR-J5-_A(-RJ) • MR-J5-_G(-RJ) • MR-J5W_-_G • MR-J5D_-_G This is a function that uses an Ethernet communication to access servo amplifiers remotely. The network function of the servo amplifier is as follows.
Page 494: Managing Accounts
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. Account User name Authorization level Password User information No.1 [Pr. NPB04] [Pr. NPB05] [Pr. NPB06] User information No.2 [Pr.
Page 495: Precautions
Password Set a password in the password setting window. Double-clicking the network parameter input field will display the password setting window. Enter the desired password in the password field and password (reentry) field, then click "OK" to set the password. Set a password according to the following rule.
Page 496: 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 497: Directory Structure
Directory structure The following shows the directories that can be accessed from the FTP client. Directory Function Details   Page 495 Firmware update /fw/ Firmware update   Page 301 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 498: Chapter 8 Network Function (Sscnet Iii/H) [B]
NETWORK FUNCTION (SSCNET III/H) [B] This chapter describes communications with servo amplifiers using SSCNET III/H communication. For items not described in this chapter, refer to each controller manual. Functions and configuration • When high-accuracy synchronization is required, configure a system using the same series of servo amplifiers.
Page 499: Application Function
Application function Master-slave operation function • Configure settings so that all the master and slave axes for the same machine are stopped by the controller forced stop when a master or slave axis stops due to an alarm or other reasons. When they are not stopped simultaneously by the controller forced stop, the servo motor may operate unexpectedly and the machine can be damaged.
Page 500 System architecture • The master axis and slave axes are recommended to be used in a linked condition for the reason of machine components. When they are not linked, the speed may reach a speed limit level, causing [AL. 031 Overspeed].
Page 501 Master-slave control with torque command method ■Related servo parameter Set the servo parameters for using the master-slave operation function. For details, refer to the following manual. MR-J5-B/MR-J5W-B User's Manual (Parameters) Servo parameter Description Initial value Setting value Setting details Master axis Slave axis PA04.3 Forced stop deceleration function...
Page 502 ■Travel direction setting Travel directions of the mechanical system may differ among a controller command, master axis, and slave axes. Set the travel direction with [Pr. PA14 Travel direction selection] to align the directions that the mechanical system travels along. Failure to configure settings in accordance with the procedure may cause overload or other problems as the servo motor generates a reverse direction torque against the direction that the mechanical system moves in.
Page 503: Chapter 9 Communication Function (Mitsubishi Electric Ac Servo Protocol) [A]
Servo amplifier Servo amplifier RS-422 Axis No. 1 Axis No. 2 Axis No. n (station n - 1) communication (station 0) (station 1) (n = 1 to 32) controller 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.1 Structure...
Page 504 *3 The overall length is 30 m or less in low-noise environment. *4 If the RS-422 compatible controller does not have a termination resistor, terminate it with a 150 Ω resistor. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.1 Structure...
Page 505: Precautions For Using The Rs-422/Usb Communication Function
Shut off the power of the servo amplifier that was connected with the personal computer, and check that the charge light is off. Connect the device with the servo amplifier. Turn on the power of the servo amplifier and the connected device. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.1 Structure...
Page 506: Communication Specifications
Setting "1" will return data with a delay of 800 μs or longer. Setting station numbers Set the station No. of the servo amplifier in [Pr. PC20 Station No. setting]. The setting range is 0 to 31. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.2 Communication specifications...
Page 507: Protocol
Transmission of data request from the controller to the servo 10 frames Data Controller side Station No. (master station) Servo side Data* Station No. (slave station) 6 frames + (Data) 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.3 Protocol...
Page 508 EOT. Controller side (master station) Servo side (slave station) Data frames The data length varies depending on the command. Data Data 12 frames 16 frames 4 frames 8 frames 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.3 Protocol...
Page 509: Character Codes
The station numbers are from 0 to 31 (32 stations) and ASCII codes are used to specify stations. Station No. ASCII code Station No. ASCII code For example, transmit "30H" in hexadecimal for station No. "0" (axis 1). 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.3 Protocol...
Page 510: Error Codes
02H 30H 41H 31H 32H 35H 46H 03H 30H + 41H + 31H + 32H + 35H + 46H + 03H = 152H Lower 2 digits 52 is sent after conversion into ASCII code [5] [2]. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.3 Protocol...
Page 511: Time-Out Processing
• Wait for 3.5 s or longer after the slave station is switched on. • Check that normal communication can be made by reading servo parameters or other data which does not pose any safety problems. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.3 Protocol...
Page 512: Communication Procedure Example
3 consecutive times? 100 ms after EOT transmission Master station Slave station Other than error code [A] or [a]? 3 consecutive times? Receive data analysis Error processing Error processing 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.3 Protocol...
Page 513: Command And Data No. List
*1 When [Pr. PC29.4 Speed monitor unit selection] is set to "0", the decimal point position of read data becomes "0". *2 When [Pr. PC29.4 Speed monitor unit selection] is set to "1", the decimal point position of read data becomes "2". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 514 *1 When [Pr. PC29.4 Speed monitor unit selection] is set to "0", the decimal point position of read data becomes "0". *2 When [Pr. PC29.4 Speed monitor unit selection] is set to "1", the decimal point position of read data becomes "2". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 515 External input pin status [6] [0] Status of input devices switched on via communication [8] [0] Output device status [C] [0] External output pin status 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 516 Thirteenth last alarm detail No. [4] [D] Fourteenth last alarm detail No. [4] [E] Fifteenth last alarm detail No. [4] [F] Sixteenth last alarm detail No. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 517 *1 When [Pr. PC29.4 Speed monitor unit selection] is set to "0", the decimal point position of read data becomes "0". *2 When [Pr. PC29.4 Speed monitor unit selection] is set to "1", the decimal point position of read data becomes "2". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 518 *1 When [Pr. PC29.4 Speed monitor unit selection] is set to "0", the decimal point position of read data becomes "0". *2 When [Pr. PC29.4 Speed monitor unit selection] is set to "1", the decimal point position of read data becomes "2". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 519 Data No. Description Frame length [0] [2] [9] [0] Absolute position in units of servo motor-side pulses [9] [1] Absolute position in the command unit 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 520: Writing Commands
Cancels the prohibition of the input device, external analog input signal 1EA5 and pulse train input, except EM2, LSP and LSN. [1] [3] Cancels the prohibition of the output device. 1EA5 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 521 (positioning operation). "_" in data indicates a blank. GO _ _ STOP: Temporary stop CLR _ GO _ _: Restart for remaining distance CLR _ : Remaining distance clear 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.4 Command and data No. list...
Page 522: Detailed Explanations Of Commands
Since the display type is "0" in this case, convert the hexadecimal data into decimal. 00000929h → 2345 As the decimal point position is "3", place a decimal point in the third least significant digit. "23.45" is displayed. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 523 Since the decimal point position is the second least significant digit, the decimal point position data is "2". As the data to be transmitted is hexadecimal, convert the decimal data into hexadecimal. 155 → 9B Therefore, transmit "0200009B". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 524: Status Display
For example, after transmitting the command [0] [1] and data No. [8] [0] and receiving the status display data, transmitting the command [8] [1], data No. [0] [0], and data [1EA5] will clear the cumulative feedback pulse value to "0". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 525: Servo Parameter
The data No. is represented in hexadecimal. The decimal converted from the data No. value corresponds to the servo parameter No. ■Return The slave station returns the symbol of the requested servo parameter. 0 0 0 Symbol characters (9 digits) 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 526 No. ■Return The slave station returns the data and processing information of the requested servo parameter No. Data (in hexadecimal) For example, data "FFFFFFEC" means "-20". 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 527 "3" to the mode to change only the RAM data in the servo amplifier. When data is changed frequently (once or more per hour), do not write the data to the non-volatile memory. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 528: External I/O Signal Status (Dio Diagnosis)
*1 When the pulse train input is selected with [Pr. PD44 Input device selection 11H] or [Pr. PD46 Input device selection 12H], the bit will be always 0 (off). 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 529 CN3 connector pin                        9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 530: Input Device On/Off
0: Off Each bit command is transmitted to the master station as hexadecimal data. The bit is the same as that of [1] [2] + [0] [0]. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 531: Disabling/Enabling I/O Devices (Dio)
0: Off Each bit command is transmitted to the master station as hexadecimal data. The bit is the same as that of [1] [2] + [0] [0]. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 532: Test Operation Mode
To cancel the test operation mode, transmit the command [8] [B] + data No. [0] [0] + data. Command Data No. Transmission data Selecting test operation mode [8] [B] [0] [0] 0000 Test operation mode cancel 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 533 (Turn on SON, LSP, and LSN.) (Turn on SON.) Command : [8] [B] Test operation mode is canceled. Data No. : [0] [0] Data 0000 (Test operation mode iscanceled.) 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 534 : [8] [B] Test operation mode is canceled. Data No. : [0] [0] Data : 0000 (Test operation mode is canceled.) *1 A delay of 100 ms. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 535 Transmitting the following command, data No., and data during a temporary stop will stop positioning operation and erase the remaining travel distance. Command Data No. Data [A] [0] [4] [1] CLR _ *1 "_" indicates a blank. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 536: Output Signal Pin On/Off (Output Signal (Do) Forced Output)
To stop the output signal (DO) forced output, transmit the command [8] [B] + data No. [0] [0] + data. Command Data No. Transmission data Selecting test operation mode [8] [B] [0] [0] 0000 Test operation mode cancel 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 537: Alarm History
Transmit the command [3] [3] + data No. [4] [0] to [4] [F]. ■Return The alarm detail number corresponding to the data No. can be obtained. 0 0 0 Alarm detail No. (in hexadecimal) 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 538 Clearing the alarm history The alarm history can be cleared. Transmit the command [8] [2] + data No. [2] [0]. Command Data No. Data [8] [2] [2] [0] 1EA5 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 539: Current Alarm
1: First least significant digit (normally not used) 2: Second least significant digit 3: Third least significant digit 4: Fourth least significant digit 5: Fifth least significant digit 6: Sixth least significant digit 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 540: Version
Absolute position is sent back in hexadecimal in the servo motor-side pulse unit. (Data must be converted into decimal.) For example, data "000186A0" means 100000 pulses in units of motor-side pulses. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 541 Absolute position is sent back in hexadecimal in the command unit. (Data must be converted into decimal.) For example, data "000186A0" means 100000 pulses in the command unit. 9 COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A] 9.5 Detailed explanations of commands...
Page 542: Chapter 10 Positioning Mode (Point Table Method) (Cp) [G]
POSITIONING MODE (POINT TABLE METHOD) (CP) [G] 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 543: Operation Mode And Selection Method
10.1 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 542 Point table mode (pt) (Point table method) (CP) JOG operation mode (jg)
Page 544: Point Table Mode (Pt)
10.2 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 545: Point Table Operation (Absolute Value Command Method)
• Coordinate system in degree unit Coordinates are determined with respect to the position of 0 degree. + direction: 0, 90, 180, 270, 0, in that order. - direction: 0, -90, -180, -270, -360 in that order. 270 degrees and -90 degrees are the same position. 0 degree, 360 degrees, and -360 degrees are the same position.
Page 546 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 547 *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 548 Parameter setting Set the following parameters to perform the point table operation. ■Rotation direction selection ([Pr. PA14 Travel direction selection]) Select the servo motor rotation direction or the linear servo motor travel direction when bit 4 (New set-point) of [Controlword (Obj.
Page 549 ■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 degree/s...
Page 550: 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 551 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 552 ■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 553 ■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 554 ■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 555 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 556 ■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 557 ■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 558 ■When performing repetitive positioning 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 4. Point table Position data Servo motor Acceleration Deceleration Dwell time Auxiliary M code number...
Page 559 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 560 ■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 561 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 562 ■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 563 ■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 564 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 565 ■When the servo motor is rotating Acceleration time constant of Deceleration time constant of point table No. n point table No. n Forward Remaining rotation distance 0 r/min Servo motor speed Reverse rotation Target point table No. n Controlword bit 4 (New set-point) Controlword bit 8 (Halt) INP/S_INP...
Page 566 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 No.
Page 567: 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 568: Jog Operation Mode (Jg)
10.3 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 569 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 570 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 571 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 572: How To Set Point Table
10.4 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 573 ■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 574: 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 575 MEMO 10 POSITIONING MODE (POINT TABLE METHOD) (CP) [G] 10.4 How to Set Point Table...
Page 576: Revisions
10.2, Section 10.3 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 577: 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 578: 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 580 SH(NA)-030300ENG-H(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.

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Mr-j5

Mitsubishi Electric MELSERVO-J5 User Manual

Chapter 1 Function

Chapter 2 Control Mode

Chapter 3 Basic Function

Chapter 4 Applicable Functions

Chapter 5 Monitoring

Chapter 6 Functional Safety

Chapter 7 Network Function (Ethernet) [G] [A]

Chapter 8 Network Function (Sscnet III/H) [B]

Chapter 9 Communication Function (Mitsubishi Electric Ac Servo Protocol) [A]

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