Mitsubishi Electric MELSERVO-J5 Series Introduction Manual
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Mitsubishi Electric MELSERVO-J5 Series Introduction Manual

Mitsubishi Electric MELSERVO-J5 Series Introduction Manual

Cc-link ie tsn drive safety device ac servo system
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FACTORY AUTOMATION
MELSERVO-J5 Series
CC-Link IE TSN Drive Safety
Device Introduction Guide
AC Servo System

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Summary of Contents for Mitsubishi Electric MELSERVO-J5 Series

  • Page 1 FACTORY AUTOMATION MELSERVO-J5 Series CC-Link IE TSN Drive Safety Device Introduction Guide AC Servo System...

  • Page 3: Introduction

    INTRODUCTION This manual explains an example of the wiring for receiving safety signal data with the AC servo MELSERVO-J5, and the setting procedure using the engineering tools (GX Works3, MR Configurator2). Please carefully read this manual and related materials before using the products, fully understand the functions and performance of the programmable controller and servo amplifier, and use them correctly.

  • Page 4: Table Of Contents

    CONTENTS INTRODUCTION ................1 PRODUCT APPLICATIONS .
  • Page 5 How to switch safety operation mode ............91 Checking After Switching Safety Operation Mode .

  • Page 6: Servo Amplifier Characteristics

    Servo Amplifier Characteristics Safety sub-functions The MR-J5 servo amplifier includes safety sub functions. However the achievable safety sub functions and safety level vary depending on the combination of servo amplifier and servo motor. Refer to the table below. Safety sub-function compatibility list (servo amplifier firmware version: B2) Servo amplifier Function delivery Servo motor...
  • Page 7 Safety sub-functions conforming to IEC/EN 61800-5-2 The MR-J5-G-RJ supports the STO, SS1, SS2, SOS, SBC, SLS, SSM, SDI, SLI, and SLT safety sub-functions. In this manual, SLS, SS1, and SDI are used. Safe Torque Off (STO) Safety Limited Speed (SLS) Based on an input signal from an external device, the motor drive energy is This function monitors to prevent the prescribed speed limit value from being electronically shut off.
  • Page 8 Safe Brake Control (SBC) Safely-Limited Torque (SLT) A safety output signal is output for external brake control. Monitors to ensure that the torque (or thrust) does not exceed the prescribed range. Speed If the range is exceeded, the STO function is executed. Torque/speed Tmax Time...

  • Page 9: Safety Communication Characteristics

    Safety Communication Characteristics The [Safety sub-function] which is a feature of the servo amplifier can use safety communication to perform control. Depending on the combination of the Safety CPU set and Motion module, it may be possible for the servo amplifier to receive safety signal data from the Safety CPU via the CC-Link IE TSN that is connected to the Motion module.

  • Page 10: System Configuration

    System Configuration This manual explains the following example of system configuration. : Ethernet cable 100 to 240 V AC power supply 3-phase 200 to 240 V AC* power supply 24 V power supply *1 In the case of a single phase 200 to 240 V AC power supply, the power supply is connected to L1 and L3, and nothing should be connected to L2.

  • Page 11: About The Tools Used

    About the Tools Used GX Works3 (model: SW1DND-GXW3-E) GX Works3 is an engineering tool that is used for configuring settings, programming, debugging, and maintenance of a programmable controller such as the MELSEQ iQ-R series or MELSEC iQ-F series. Connect the PC and Safety CPU with a USB cable, and set the motion and servo amplifier parameters (except the safety parameters).
  • Page 12 Motion Setting Tool (model: SW1DNN-MUCNF-E) Motion Setting Tool is software that performs setting and monitoring of the Motion module in combination with GX Works3. ■Motion Setting Tool download procedure MITSUBISHI ELECTRIC FA Global Website top page https://www.mitsubishielectric.com/fa/ Download → Software Please select the country/region where you currently live.

  • Page 13: Setting Flow

    Setting Flow Follow the procedure below and configure the safety communication settings before start-up. Page 14 Registering a Profile Page 19 Creating a Project (Page 19 Creating a New Project, Page 21 Programmable Controller Initialization, Page 23 Registering User Information, Page 24 Module Configuration) Page 28 Parameter Settings (Servo amplifier, safety remote I/O module) Page 39 Safety Communication Settings Page 47 Extended Parameter Settings (Servo amplifier, safety remote I/O module)

  • Page 14: 1.1 Devices To Prepare

    Preparation Devices to Prepare Prepare the following devices. Safety CPU set Power supply module (1) Main base unit (1) Safety CPU (1) Safety function module (1) R16SFCPU R6SFM R61P R33B Firmware version 21 or later Motion module (1) Safety remote I/O module (1) Servo amplifier (1) Servo motor (1) RD78G4...

  • Page 15: Chapter 1 Preparation

    USB cable confirmed to operate correctly functions with Ver.1.110Q. • MR-J3USBCBL3M (Mitsubishi Electric Corporation) Purpose: Starting operation (forward, reverse), • GT09-C30USB-5P (Mitsubishi Electric System & acceleration, reset Service Co., Ltd.) When connecting servo amplifier  PC USB cable confirmed to operate correctly •...

  • Page 16: Registering A Profile

    Registering a Profile The “Safety remote I/O module” and “Servo amplifier” profiles are used with GX Works3 [CC-Link IE TSN Configuration Settings]. Please consult your local Mitsubishi Electric representative. Operating procedure This explains how to register a profile using GX Works3.
  • Page 17 Wiring This explains an example of the wiring. CC-Link IE TSN wiring The CC-Link IE TSN wiring is as shown below. The master station is the Motion module (STA#0) and the device modules are the servo amplifier (STA#1) and safety remote I/O module (STA#2).

  • Page 18: 1.3 Wiring

    Safety remote I/O module wiring The safety remote I/O module includes “I/O terminal block” and “Unit power supply/FG terminal block” connectors, and the specifications of the cables used are different. The processing of the cable ends is the same in all cases. Forward switch Accelerate switch (X2•T0)
  • Page 19 Precautions for servo amplifier wiring When connecting wiring to the servo amplifier, supply power correctly to the locations shown below. Refer to the following for cable standards, cable sizes, and details of the wiring method. MR-J5 User's Manual (Hardware) (1) L1, L2, L3 (main circuit power supply): Connect the input power supply (3-phase 200 to 240 V AC). (2) L11, L21 (control circuit power supply): Connect the control circuit power supply and regenerative option.
  • Page 20 MEMO 1 Preparation 1.3 Wiring...

  • Page 21: Chapter 2 Creating A Project

    Creating a Project Creating a New Project Create a GX Works3 project. Operating procedure Create a project. [Project]  [New] Item Setting Series RCPU Type R16SF Program Language Ladder The window shown below appears. Click [OK]. 2 Creating a Project 2.1 Creating a New Project...
  • Page 22 Enter the desired [User Name], [Password], and [Re-enter Password], then click [OK]. In this manual, “melsec” is used for both [User Name] and [Password]. • Enter a password that is six 1-byte characters or more. • Because the user name and password are used for subsequent settings, make a note of them so that you do not forget them.

  • Page 23: Programmable Controller Initialization

    Programmable Controller Initialization Initialize all programmable controller information. The operations and settings hereafter described must be performed with the PC and CPU module connected. USB cable • Stop the CPU module. • Connect the CPU module and PC using the USB cable. •...
  • Page 24 A second confirmation window appears. Click [Yes]. Click [OK]. 2 Creating a Project 2.2 Programmable Controller Initialization...

  • Page 25: Registering User Information

    Registering User Information The user information which is registered in a project is written to the CPU module. Operating procedure Perform writing of user information to the programmable controller. [Online]  [User Authentication]  [Write User Information to PLC] A confirmation window appears. Click [Yes]. Click [OK].

  • Page 26: Module Configuration

    Module Configuration The module configuration is defined according to the system configuration which is actually used. For details of the system configuration, refer to “Page 8 System Configuration.” Operating procedure Display the module configuration. Navigation window  Double-click [Module Configuration] If the window shown below appears, click [OK].
  • Page 27 From the [Element Selection] window, drag & drop the following modules into the module configuration. Category Model Safety CPU R16SFCPU CPU Extension R6SFM Power Supply R61P Main base R33B Motion Module RD78G4 *1 This is the CPU module that was selected at the time the new project was created, and is displayed from the beginning in the module configuration.
  • Page 28 Click [OK]. Confirm the module configuration. Right-click in the module configuration  [Parameter]  [Fix] A confirmation window appears. Click [Yes]. The following window appears. Click [Yes]. 2 Creating a Project 2.4 Module Configuration...
  • Page 29 If the window shown below appears, click [OK]. If the window shown below appears, click [OK]. 2 Creating a Project 2.4 Module Configuration...

  • Page 30: Parameter Settings

    Parameter Settings Network configuration settings Set the network configuration of the Motion module (RD78G4). Precautions The settings introduced in this section are an example. When using with an actual system, give sufficient consideration to ensure that there are no problems with control in that system. For details of the parameters, refer to the following manuals.
  • Page 31 Set the communication period interval. [Basic Settings]  [Communication Period Setting]  [Communication Period Interval Setting (Do not Set it in Units of 1s)] Item Setting 1000.00 s (default) [Communication Period Interval Setting (Do not Set it in Units of 1s)] *1 Refer to the following for details of the communication period setting.
  • Page 32 From the [Module List], select the following modules and drag & drop them into the configuration. Category Module name General Purpose AC Servo MR-J5-G-RJ I/O Combined NZ2GNSS2-16DTE • Perform the following operation to change the display in the [Module List] window. [View] ...
  • Page 33 Set PDO mapping. [CC-Link IE TSN Configuration]  [Batch Setting of PDO Mapping] Click [Yes]. Click [OK]. 2 Creating a Project 2.5 Parameter Settings...

  • Page 34: Servo Amplifier

    Servo Amplifier Set the other servo parameters. Operating procedure Configure the settings in the [CC-Link IE TSN Configuration] window. [MR-J5-G-RJ]  [Parameter Automatic Setting]  Double-click [<Detail Setting>] The following window appears. Click [Yes]. If the window shown below appears, click [OK]. 2 Creating a Project 2.5 Parameter Settings...
  • Page 35 MR Configurator2 starts. Set the parameters according to the system control. In this manual, because servo forced stop input EM2 and EM1 are not used, the following is set. [Function display (List)]  [Common] Abbr. Name Setting PA04.2 Servo forced stop selection 1: Disabled (The forced stop input EM1 and EM2 are not used) Precautions...
  • Page 36 In this manual, because external input signals are not used for forward stroke end (LSP) and reverse stroke end (LSN), the following is set. [Function display (List)]  [I/O] Abbr. Name Setting PD01.0-7 *DIA1 Input signal automatic ON selection 1 00000C00 PC19.0 [AL.

  • Page 37: Parameter Settings (Safety Remote I/O Module)

    Parameter settings (safety remote I/O module) Save the parameters of the safety remote I/O module in the master station, and configure the parameters that are automatically set when connection or reconnection occurs as a result of safety remote I/O module power ON or other reason. Operating procedure Configure the detailed settings for the safety remote I/O module.
  • Page 38 Click [Yes]. Set the transmission interval monitoring time. In this manual, the following value is set. Name Write Value/Setting Value Transmission interval monitoring time 35 (default) *1 For details of the transmission interval monitoring time, refer to “Page 46 Monitoring time for safety communication.” 2 Creating a Project 2.5 Parameter Settings...
  • Page 39 Set the type of input wiring that is connected to the NZ2GNSS2-16DTE. Name Write Value/Setting Value Wiring selection of input X0 1: Safety double wiring (NC/NC) Wiring selection of input X1 1: Safety double wiring (NC/NC) Wiring selection of input X2 3: General single Wiring selection of input X3 3: General single...
  • Page 40 Click [Close with Reflecting the Setting]. Click [Close with Reflecting the Setting]. If the window shown below appears, click [Yes]. 2 Creating a Project 2.5 Parameter Settings...

  • Page 41: Safety Communication Settings

    Safety Communication Settings Configure the settings necessary for safety communication. Precautions The settings introduced in this section are an example. When using with an actual system, give sufficient consideration to ensure that there are no problems with control in that system. For details of the parameters, refer to the following manuals.

  • Page 42: Safety Communication Settings

    Safety communication settings Set the safety connection and safety device transfer range that are necessary for safety communication. Operating procedure Display the module parameters. Navigation window  [Parameter]  [Module Information]  [RD78G4]  Double-click [Module Parameter (Network)]  [Module Parameter] window  [Basic Settings]  [Safety Communication Setting] Select [Use] for [To Use or Not to Use the Safety Communication Setting], then double-click [<Detailed Setting>] A confirmation window appears.
  • Page 43 The [Safety Communication Setting] window appears. Set the No. 1 communication destination to [Local Network]. The devices which were set in the network configuration settings are displayed in the candidate fields. Check the checkbox of the device to use for safety communication and click [Add]. Here, check the checkboxes of all the remote stations.
  • Page 44 Click [Check]. Click [OK]. Click [OK]. Click [Check]. 2 Creating a Project 2.6 Safety Communication Settings...
  • Page 45 Click [OK]. Click [Apply]. Check that disappears. Precautions The safety communication settings are deleted under the following conditions. • Module information delete • Station type change • Parameter setting method change • [To Use or Not to Use the Safety Communication Setting] is changed to [Not to Use]. 2 Creating a Project 2.6 Safety Communication Settings...
  • Page 46 Safety data transfer device setting There is no setting on the servo amplifier side for selecting the device, such as selecting a B device or Y device. STO and other bits are allocated to the selected device. The set safety data transfer device is assigned to the following servo amplifier signals. •...
  • Page 47 • Servo amplifier  Master station Servo amplifier output signals Master station safety device Function output Description STO output Turns ON when the STO function activates and the energy supply is SA¥X0 shut off. SSM output Turns ON when the servo motor speed is at or below the set SSM SA¥X1 speed.
  • Page 48 Monitoring time for safety communication This section explains the monitoring time for safety communication. Monitoring times are set for each safety connection. When each time exceeds the monitoring time, safety communication timeout is detected and safety communication stops. Station Item Description Station using the set where set...

  • Page 49: Extended Parameter Settings

    Extended Parameter Settings Configure the settings related to axis operation other than the network settings, and perform label registration for the I/O data that is used in motion control. Navigation window  [Parameter]  [Module Information]  [RD78G4]  Double-click [Module Extended Parameter] ...

  • Page 50: Servo Amplifier

    Servo Amplifier Set the MR-J5-G-RJ parameters. Operating procedure Create a new axis setting. Navigation window  Right-click on [Axis].  [New Data] Click [...] for Station Address Setting. 2 Creating a Project 2.7 Extended Parameter Settings...
  • Page 51 Select [192.168.3.1] and click [OK]. Check the contents of the Axis No. and Station Address, then click [OK]. Item Setting Axis No. Station Address Setting 192.168.3.1 2 Creating a Project 2.7 Extended Parameter Settings...
  • Page 52 Set the Electronic Gear. [Real Drive Axis]  [Axis Parameters]  [Driver Unit Conversion Numerator]  [...] Item Setting Machine Components Rotary Table Position Command Unit Revolution Encoder Resolution 67108864 Click [Calculate Axis Parameters] to calculate the Electronic Gear numerator and denominator. Click [OK]. 2 Creating a Project 2.7 Extended Parameter Settings...
  • Page 53 Click [Yes]. In this manual, because home position return is not used, it is set as shown below. [Real Drive Axis]  [Axis Parameter]  [Homing Required or Not] Item Setting Homing Required or Not 0: Homing Not Required 2 Creating a Project 2.7 Extended Parameter Settings...
  • Page 54 Set the following contents for [Position Command Unit] and [Velocity Command Unit], then click [Apply]. [Real Drive Axis]  [Axis Parameter]  [Position Command Unit] and [Velocity Command Unit] Item Setting Position Command Unit Revolution Velocity Command Unit U/min 2 Creating a Project 2.7 Extended Parameter Settings...

  • Page 55: Safety Remote I/O Module

    Safety remote I/O module Set the parameters for the safety remote I/O module. Operating procedure Set network I/O. Navigation window  Double-click [Network I/O]  [Network I/O] window Check the checkboxes of RX2 to RX5 for NZ2GNSS2-16DTE, then click [Create Label]. In the confirmation window, click [Yes].
  • Page 56 Set [Public Label] to [Enabled] in order to use the registered global labels in the sequence program. Navigation window  [Label]  [Global Label]  Double-click [NW+Global1] Label Name Public Label NZ2GNSS2_16DTE_001_RX2 Enabled NZ2GNSS2_16DTE_001_RX3 Enabled NZ2GNSS2_16DTE_001_RX4 Enabled NZ2GNSS2_16DTE_001_RX5 Enabled Perform conversion. [Convert] ...
  • Page 57 The generated public label information is applied to the project on the CPU module side. [Convert]  [Reflect Public Labels] Click [Yes]. Click [OK]. Perform [Rebuild All] with GX Works3. [Convert]  [Rebuild All] 2 Creating a Project 2.7 Extended Parameter Settings...
  • Page 58 Check that Label Assignment is [Reassignment], then click [OK]. If Label Assignment is [Retain], click [Options] and select [Yes] for [Reassign Labels in Executing Rebuild All]. 2 Creating a Project 2.7 Extended Parameter Settings...

  • Page 59: Writing Extended Parameters

    Writing extended parameters Write the contents which were set in the [Motion Control Setting Function] window to the RD78G4. Operating procedure Perform the following operations on the [Motion Control Setting Function] window. [Online]  [Write to PLC]  [Online Data Operation] window Select the file to write and click [Execute].
  • Page 60 After writing is completed, click [Close]. Click [Close]. 2 Creating a Project 2.7 Extended Parameter Settings...

  • Page 61: Safety Function Cancel Program

    Safety Function Cancel Program When performing safety sub-function control using a network, it is necessary to create a program that cancels the safety functions in advance. The safety function can be canceled by turning the corresponding assigned bit ON. Bit assignments are the contents set in “Page 39 Safety Communication Settings.” Create an operation program such as the following.

  • Page 62: Program Writing

    Enabling safety functions The conditions when the safety functions are enabled are shown below. When Cm_SS1C is turned ON, SA¥Y1 turns OFF and the SS1 function is activated. Program Writing Write the settings that have been made using GX Works3 so far to the CPU module. •...
  • Page 63 Check that Label Assignment is [Reassignment], then click [OK]. If Label Assignment is [Retain], click [Options] and select [Yes] for [Reassign Labels in Executing Rebuild All]. Display the [Online Data Operation] window. [Online]  [Write to PLC]  [Online Data Operation] window 2 Creating a Project 2.9 Program Writing...
  • Page 64 Execute writing to the programmable controller. [Select All]  [Execute] If a user authentication message is displayed, follow the instructions on the screen. When writing to the programmable controller is completed, click [Close]. 2 Creating a Project 2.9 Program Writing...
  • Page 65 A writing completed window appears. Check the checkboxes of [Confirmation 1] and [Confirmation 2], then click [Close]. Each time that writing to the safety programmable controller is performed, the e-Manual Viewer launches and an explanation about switching safety operation mode is displayed. Select whether to operate normally as a safety system (SAFETY MODE) or whether to change the safety program, safety parameters, or other elements (TEST MODE).

  • Page 66: Safety Parameter Settings Using Mr Configurator2

    2.10 Safety Parameter Settings Using MR Configurator2 Setting the servo amplifier safety parameters Use MR Configurator2 and set the servo amplifier safety parameters. Here, set the following items. The setting contents are explained beginning from step 7. Precautions The settings introduced in this section are an example. When using with an actual system, give sufficient consideration to ensure that there are no problems with control in that system.
  • Page 67 Operating procedure Connect the servo amplifier and PC by USB. Start MR Configurator2. Create a project. [Project]  [New Project] If a project close confirmation window appears, click [Yes]. In the [New Project] window, set the model of the servo amplifier and click [OK]. Item Setting Model...
  • Page 68 Enable [Safety sub-function]. [Safety]  [Safety Parameter Setting]  [Function display (List)]  [Safety sub-function] Item Setting Safety sub-function activation setting 1: Enabled Configure the settings related to the safety sub-function. Item Setting Input mode selection 1: Safety observation function control by network Position/Speed monitor setting 1: Perform position/speed monitoring by using functional safety corresponding servo motor...
  • Page 69 Set the transmission interval monitor time. For information about the transmission interval monitor time, refer to “Page 46 Monitoring time for safety communication.” Item Setting Transmission interval monitor time 32 (default) In this manual, because the SS1 function is used, set the deceleration monitor time for the SS1 function. Item Setting SS1/SS2 deceleration monitor time...
  • Page 70 In this manual, because the SLS function is used, configure the settings for the SLS function. Item Setting SLS deceleration monitor time 1 1000 (default) SLS speed 1 2 Creating a Project 2.10 Safety Parameter Settings Using MR Configurator2...

  • Page 71: Writing The Safety Parameter Settings

    Writing the safety parameter settings Write the parameters that have been set using MR Configurator2 so far to the servo amplifier. There are two writing methods: [Single Axis Write] and [Selected Items Write]. • Single Axis Write: All parameters are written for the selected axis. •...
  • Page 72 A password authentication window appears. Enter the password and click [OK]. The password “000000” is set on the hardware side (MR-J5-10G-RJ) at the time of factory shipment. The password authentication window appears at first start, or when password authentication has not yet been completed.

  • Page 73: Enabling The Safety Settings (Safety Remote I/O Module)

    2.11 Enabling the Safety Settings (Safety Remote I/O Module) Perform the safety module enable process with GX Works3. Execute the process in the order shown below. [Start of checking the module position]  [Stop of checking the module position]  [Error history clear request] ...
  • Page 74 Display the [Command Execution of Device Station] window. Right-click on [NZ2GNSS2-16DTE].  [Online]  [Command Execution of Device Station] Select [Start of checking the module position] for [Method selection], then click [Execute]. An execution confirmation window for the selected process appears. Click [Yes]. 2 Creating a Project 2.11 Enabling the Safety Settings (Safety Remote I/O Module)
  • Page 75 A user authentication window appears. Enter the password and click [OK]. A process execution completion window appears. Click [OK]. Check that SAFETY.LED on the main unit is flashing. Flashing If the NZ2GNSS2-16DTE SAFETY.LED is not flashing, check the following. • Is the module power ON? •...
  • Page 76 Stop of checking the module position Operating procedure Select [Stop of checking the module position] for [Method selection], then click [Execute]. An execution confirmation window for the selected process appears. Click [Yes]. A process execution completion window appears. Click [OK]. 2 Creating a Project 2.11 Enabling the Safety Settings (Safety Remote I/O Module)
  • Page 77 Error history clear request Operating procedure Select [Error history clear request] for [Method selection], then click [Execute]. An execution confirmation window for the selected process appears. Click [Yes]. A process execution completion window appears. Click [OK]. 2 Creating a Project 2.11 Enabling the Safety Settings (Safety Remote I/O Module)
  • Page 78 Safety module validation Operating procedure Select [Safety module validation] for [Method selection], then click [Execute]. A confirmation window appears. Click [Yes]. An execution confirmation window for the selected process appears. Click [Yes]. 2 Creating a Project 2.11 Enabling the Safety Settings (Safety Remote I/O Module)
  • Page 79 A process execution completion window appears. Click [OK]. Click [Close]. Click [Close with Reflecting the Setting] on the [CC-Link IE TSN Configuration] window to apply the configuration. 2 Creating a Project 2.11 Enabling the Safety Settings (Safety Remote I/O Module)
  • Page 80 If the window shown below appears, click [Yes]. After the [Safety module validation] process is completed, turn the power to the overall system OFF and back 2 Creating a Project 2.11 Enabling the Safety Settings (Safety Remote I/O Module)

  • Page 81: Chapter 3 Operation Check

    Operation Check Communication with the Safety Remote I/O Module Check the status of communication with the safety remote I/O module.    “D LINK” illuminates when the network configuration is written.  “SAFETY” illuminates when safety systems are enabled. Checking that Safety Communication Settings were Completed Correctly When the safety communication settings are written correctly, the servo amplifier display (3-digit, 7-segment LED) shows the...

  • Page 82: Safety Monitoring Operation Check

    Safety Monitoring Operation Check Check the operating status of safety speed monitoring (SLS1), safety rotation direction monitoring (SDI), and safety torque cut-off (STO). Preparation for operation check ■Creating a program The explanation here uses an example of a sample program. For information about the sample example, refer to “Page 95 Sample Program.”...
  • Page 83 ■MR Configurator2 monitor start [Monitor]  [Display All] [Diagnosis]  [Alarm Display] 3 Operation Check 3.3 Safety Monitoring Operation Check...
  • Page 84 Safety speed monitoring (SLS1) operation check If the servo motor speed reaches 200 or higher while the SLS1 function is operating, the STO function activates and stops the motor. Operating procedure Press the forward switch (X2). When the forward switch (X2) turns ON, safety speed monitoring (SLS1) and safety rotation direction monitoring (SDI) are enabled.
  • Page 85 Activation of the STO function If the servo motor speed reaches 200 or higher, the STO function activates due to excessive SLS1 speed. In the program, the STO status (SA¥X0) contact is ON, so the STO function is activated *1 SSM (within SSM speed) and SNERR (safety communication error) also occur. •...
  • Page 86 Safety direction monitoring (SDI) operation check IF the servo motor rotates in the reverse direction for a certain period of time while the SDI function is operating, the STO function activates and stops the motor. *1 This is determined by Pr. PSA28, the SDI reverse direction monitoring delay time. Here it is set to 1000 ms (default). Operating procedure Press the reverse switch (X3).
  • Page 87 An alarm (AL.565.3) occurs at the servo amplifier. The LEDs are indicated as shown below. 7-segment LED 565. Servo amplifier (MR-J5-10G-RJ) Checking the alarm details (MR Configurator2) [Diagnosis]  [Alarm Display] Press the reset switch to cancel the alarm. 3 Operation Check 3.3 Safety Monitoring Operation Check...
  • Page 88 Safety deceleration monitor (SS1) If the servo motor speed drops below the stop speed while the SS1 function is operating, the STO function activates and stops the motor. *1 This is determined by the setting of Pr. PSA04, safety sub-function stop speed. Here it is set to 50 (default). Operating procedure Press the forward switch (X2).
  • Page 89 An alarm (AL.596.1) occurs at the servo amplifier. The LEDs are indicated as shown below. 7-segment LED 596. Servo amplifier (MR-J5-10G-RJ) Checking the alarm details (MR Configurator2) [Diagnosis]  [Alarm Display] Press the reset switch (X5) to cancel the alarm. 3 Operation Check 3.3 Safety Monitoring Operation Check...

  • Page 90: Chapter 4 Troubleshooting

    Troubleshooting Segment LED Displays and Contents The servo amplifier communication status, IP address, and errors can be checked on the servo amplifier display (3-digit, 7- segment LED). Display flow The following explains the flow from after the servo amplifier power supply is turned ON until the 7-segment LED is displayed. After systems check is completed and the servo amplifier starts, the network connection status is displayed.
  • Page 91 When connected to a network The network connection status is displayed as shown below. The decimal point indicates the servo amplifier status. Servo amplifier status OFF: Indicates ready-off, servo-off status. Flashing: Indicates ready-on, servo-off status. Lit: Indicates ready-on, servo-on status. The last two digits indicate the address for that network.

  • Page 92: Errors And Corrective Actions

    Errors and Corrective Actions The causes and corrective actions for alarms that occurred at the servo amplifier are shown below. For alarms other than those listed below, refer to the following. MR-J5 User's Manual (Troubleshooting) Name Cause Corrective action AL. 537.1 Parameter setting range error A There is a functional safety parameter that Check the parameter error number on the MR Configurator2...

  • Page 93: Chapter 5 Switching Safety Operation Mode

    Switching Safety Operation Mode Safety operation mode The Safety CPU has two main operation modes: SAFETY MODE and TEST MODE. Change the mode for operation during debugging work and for actual operation. Safety operation mode Description SAFETY MODE • This is a mode for operating the safety system controlled by the Safety CPU. •...

  • Page 94: Checking After Switching Safety Operation Mode

    A SAFETY MODE change completion window appears. Click [OK]. If the operation mode cannot be changed, perform the following. • Change the operating status of the CPU module to STOP. • Execute again after completing file writing to the CPU module. •...

  • Page 95: Appendix

    Library Registration This explains the procedure for registering an FB library. This operation is not required when downloading a sample program. Please obtain the motion control FB library (PLCopen Motion Control FB) from Mitsubishi Electric. Uncompress the downloaded archive file (.zip).
  • Page 96 Select the uncompressed file “MotionControl_****.mslm” and click [Open]. The loaded FB is displayed in the [Element Selection] window. Refer to the following in order to upgrade the version of the FB library. MELSEC iQ-R Motion Module User's Manual (Application) APPX Appendix 1 Library Registration...

  • Page 97: Appendix 2 Sample Program

    Appendix 2 Sample Program This explains the sample program ladder and label contents. Creating data ■Creating a program Navigation window  Right-click on [Program].  Click [New Data] and create the following program data. main01 (ladder for drive control) Item Setting Category General...
  • Page 98 ■Global label Navigation window  [Label]  Right-click on [Global Label].  Click [New Data] and create the following label. General (label used for drive control) Item Setting Category General Data type Global label Data name General General_FB (label used for FB) Item Setting Category...
  • Page 99 Ladder for drive control APPX Appendix 2 Sample Program...
  • Page 100 APPX Appendix 2 Sample Program...
  • Page 101 APPX Appendix 2 Sample Program...
  • Page 102 FB used for drive control APPX Appendix 2 Sample Program...
  • Page 103 APPX Appendix 2 Sample Program...
  • Page 104 Ladder for safety control APPX Appendix 2 Sample Program...
  • Page 105 APPX Appendix 2 Sample Program...
  • Page 106 Label used for drive control Label name Data type Class Allocation (device/label) AlwaysON VAR_GLOBAL SM400 RUN1ScanON VAR_GLOBAL SM402 RUN1ScanOFF VAR_GLOBAL SM403 Sequencer_Ready VAR_GLOBAL RD78_Ready VAR_GLOBAL VAR_GLOBAL VAR_GLOBAL VAR_GLOBAL SP_OVR Double-precision real number VAR_GLOBAL Err_OC VAR_GLOBAL Label used for FB Label name Data type Class Allocation (device/label)
  • Page 107 Label name Data type Class Allocation (device/label) Id_ErrRst_Opt Double word [Signed] VAR_GLOBAL Ob_ErrRst_Done VAR_GLOBAL Ob_ErrRst_Busy VAR_GLOBAL Ob_ErrRst_ComAb VAR_GLOBAL Ob_ErrRst_Err VAR_GLOBAL Ob_ErrRst_ErrNo Word [Unsigned]/Bit string [16-bit] VAR_GLOBAL Ib_ErrRst_Cmd_M VAR_GLOBAL Id_ErrRst_Opt_M Double word [Signed] VAR_GLOBAL Ob_ErrRst_Done_M VAR_GLOBAL Ob_ErrRst_Busy_M VAR_GLOBAL Ob_ErrRst_ComAb_M VAR_GLOBAL Ob_ErrRst_Err_M VAR_GLOBAL Ob_ErrRst_ErrNo_M Word [Unsigned]/Bit string [16-bit]...
  • Page 108 Label used for drive control and safety control Label name Data type Class Allocation (device/label) Cm_STOC VAR_GLOBAL Cm_SS1C VAR_GLOBAL Cm_SS2C VAR_GLOBAL Cm_SDIPC VAR_GLOBAL Cm_SDINC VAR_GLOBAL Cm_SLS1C VAR_GLOBAL Cm_SLS2C VAR_GLOBAL Cm_SLS3C VAR_GLOBAL Cm_SLS4C VAR_GLOBAL Cm_SLIC VAR_GLOBAL Cm_SLT1C VAR_GLOBAL Cm_SLT2C VAR_GLOBAL Cm_SLT3C VAR_GLOBAL Cm_SLT4C VAR_GLOBAL...

  • Page 109: Revisions

    First edition This document 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 document.

  • Page 110: Trademarks

    TRADEMARKS The company names, system names and product names mentioned in this document are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as '™' or '®' are not specified in this document.
  • Page 112 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN www.MitsubishiElectric.com Printed 4 2024 All trademarks acknowledged. L(NA)08937ENG-A 2404(MEE)

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