Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Manuals

• 3

  Safety Instructions
• 5

  About the Manual
• 6

  U.s. Customary Units
• 7

  Table of Contents

12

Chapter 1 Function

• 12

  Function Explanation

19

Chapter 2 Control Mode

• 19

  Control Mode [G] [WG]
  • 19

    Control Switching
  • 20

    Cyclic Synchronous Position Mode (Csp)
  • 22

    Cyclic Synchronous Velocity Mode (Csv)
  • 24

    Cyclic Synchronous Torque Mode (Cst)
  • 26

    Profile Position Mode (Pp)
  • 30

    Profile Velocity Mode (Pv)
  • 34

    Profile Torque Mode (Tq)
  • 37

    Continuous Operation to Torque Control Mode (Ct)
  • 42

    Homing Mode (Hm) and Homing
• 69

  Control Mode [A]
  • 69

    Control Switching
  • 69

    Position Control Mode (P)
  • 73

    Speed Control Mode (S)
  • 75

    Torque Control Mode (T)
  • 78

    Position/Speed Control Switching Mode (P/S)
  • 80

    Speed/Torque Control Switching Mode (S/T)
  • 82

    Torque/Position Control Switch Mode (T/P)

83

Chapter 3 Basic Function

• 83

  Outline of Servo Parameter and Object Dictionary
  • 83

    Servo Parameter
  • 85

    Object Dictionary [G] [WG]
• 86

  Rotation/Travel Direction Selection [G] [WG]
  • 87

    Setting Methods of Functions
• 90

  Rotation/Travel Direction Selection [A]
  • 91

    Setting Methods of Functions
• 92

  Stroke Limit Function [G] [WG]
  • 92

    Explanation of the Stroke Limit Signal Names
  • 93

    Setting Methods of Functions
  • 96

    Stop Method at Stroke Limit Detection
  • 97

    Servo Parameter List
• 98

  Stroke Limit Function [A]
  • 98

    Setting Methods of Functions
  • 99

    Stop Method at Stroke Limit Detection
  • 99

    Servo Parameter List
• 100

  Limit Switch Release Position Assessment Function [G] [WG]
  • 100

    Outline
  • 100

    Precautions
  • 100

    Setting Methods of Functions
• 101

  Command Unit Select Function [G] [WG]
  • 101

    Speed Command Unit Selection Function [G] [WG]
• 102

  Command Unit Select Function [A]
  • 102

    Torque Command Unit Selection Function
• 103

  Electronic Gear Function [G] [WG]
  • 103

    Setting Method
  • 104

    Setting Example
• 108

  Electronic Gear Function [A]
  • 108

    Setting Method
  • 109

    Setting Example
  • 111

    Electronic Gear Selection Function
• 112

  In-Position Range Setting
  • 113

    Setting Method [G] [WG]
  • 113

    Setting Method [A]
• 114

  Assigning I/O Devices
  • 115

    Setting Method [G] [WG]
  • 116

    Setting Method [A]
• 117

  Regenerative Option Selection
  • 117

    Regenerative Option
• 118

  Alarm Function
  • 118

    Operation Status at Alarm Occurrence [G] [WG]
  • 118

    Operation Status at Alarm Occurrence [A]
  • 119

    Operation Status at Warning Occurrence [G] [WG]
  • 119

    Operation Status at Warning Occurrence [A]
  • 120

    Returning from an Alarm [G] [WG]
  • 120

    Returning from an Alarm [A]
  • 120

    Returning from a Warning
  • 120

    Alarm History [G] [WG]
  • 122

    Alarm History [A]
  • 122

    Stop Method at Occurrence of Alarms/Warnings
  • 123

    Timing Chart at Alarm Occurrence
• 125

  Forced Stop Deceleration Function
  • 125

    Setting Method [G] [WG]
  • 126

    Setting Method [A]
  • 126

    Timing Chart [G] [WG]
  • 127

    Timing Chart [A]
• 128

  Electromagnetic Brake Interlock Function
  • 128

    Base Circuit Shut-Off Delay Time Function
  • 128

    Setting Method [G] [WG]
  • 129

    Setting Method [A]
  • 130

    Timing Chart
• 138

  Vertical Axis Freefall Prevention Function
  • 138

    Setting Method [G] [WG]
  • 138

    Setting Method [A]
  • 139

    Timing Chart [G] [WG]
  • 139

    Timing Chart [A]
• 140

  Acceleration/Deceleration Function
  • 140

    Acceleration/Deceleration Time Constant
  • 142

    S-Pattern Acceleration/Deceleration Time Constant [G] [WG]
  • 143

    S-Pattern Acceleration/Deceleration Time Constant [A]
  • 144

    Acceleration/Deceleration [G] [WG]
• 146

  Quick Stop [G] [WG]
  • 146

    Objects for Setting
  • 147

    Timing Chart
• 148

  Halt [G] [WG]
  • 148

    Objects for Setting
  • 148

    Timing Chart
• 149

  Command Pulse Train Monitoring Function [A]
  • 149

    Setting a Command Frequency Error Threshold
  • 149

    Setting PEN (Command Input Permission Signal)

• 3

  Safety Instructions
• 5

  About the Manual
• 6

  U.s. Customary Units
• 7

  Table of Contents

14

Chapter 1 Introduction

• 14

  Wiring Procedure
• 15

  Servo Amplifier/Motor Combinations
  • 15

    Rotary Servo Motor
  • 18

    Linear Servo Motor
  • 22

    Direct Drive Motor
• 24

  Wiring Check
  • 24

    Power Supply System Wiring
  • 26

    I/O Signal Wiring
• 27

  Surrounding Environment

28

Chapter 2 Installation

• 28

  Mounting Direction and Clearances
• 31

  Keeping out Foreign Materials
• 31

  Cable Stress
• 31

  Fan Unit Replacement Procedure
  • 31

    List of Applicable Fan Units
  • 32

    Fan Unit Removal Procedure
  • 33

    Fan Unit Installation Procedure
• 33

  Restrictions When Using this Product at an Altitude Exceeding 1000 M and up to 2000 M

34

Chapter 3 Signals and Wiring

• 35

  Example Power Circuit Connections
  • 36

    200 V Class
  • 40

    Using Servo Amplifier with DC Power Supply Input
• 42

  Example I/O Signal Connections
  • 42

    Mr-J5-_G
  • 45

    Mr-J5-_A
  • 53

    Mr-J5W_-_G
• 56

  Explanation of Power Supply System
  • 56

    Explanation of Signals
  • 58

    Power-On Procedure [G] [WG]
  • 59

    Power-On Procedure [A]
  • 60

    Wiring CNP1, CNP2, and CNP3
• 64

  Connectors and Pin Assignments
  • 64

    Precautions
  • 65

    Connectors and Pin Assignments [G]
  • 66

    Connectors and Pin Assignments [A]
  • 69

    Connectors and Pin Assignments [WG]
• 70

  Signal (Device) Explanation
  • 70

    Input Device
  • 78

    Output Device
  • 84

    Input Signal
  • 86

    Output Signal
  • 87

    Power Supply
• 88

  Interface
  • 88

    Internal Connection Diagram [G]
  • 89

    Internal Connection Diagram [A]
  • 92

    Internal Connection Diagram [WG]
  • 95

    Detailed Explanation of Interfaces
  • 99

    Source I/O Interface
• 101

  Servo Motor with an Electromagnetic Brake
  • 101

    Connection Diagram [G] [A]
• 103

  Grounding

• 3

  Safety Instructions
• 5

  About the Manual
• 5

  U.s. Customary Units
• 6

  Table of Contents

13

Chapter 1 Servo Parameter Details

• 13

  Explanation of Servo Parameters
• 14

  Basic Setting Servo Parameters Group ([Pr. PA
  • 14

    [Pr. Pa01_Operation Mode (**STY)]
  • 15

    [Pr. Pa02_Regenerative Option (**REG)]
  • 16

    [Pr. Pa03_Absolute Position Detection System (*ABS)]
  • 16

    [Pr. Pa04_Function Selection A-1 (*AOP1)]
  • 17

    [Pr. Pa05_Number of Command Input Pulses Per Revolution (*FBP)]
  • 17

    [Pr. Pa06_Electronic Gear - Numerator (CMX)]
  • 17

    [Pr. Pa07_Electronic Gear - Denominator (CDV)]
  • 18

    [Pr. Pa08_Auto Tuning Mode (ATU)]
  • 20

    [Pr. Pa09_Auto Tuning Response (RSP)]
  • 21

    [Pr. Pa10_In-Position Range (INP)]
  • 21

    [Pr. Pa11_Forward Rotation Torque Limit (TLP)]
  • 21

    [Pr. Pa12_Reverse Rotation Torque Limit (TLN)]
  • 22

    [Pr. Pa13_Command Pulse Input Form (*PLSS)]
  • 24

    [Pr. Pa14_Travel Direction Selection (*POL)]
  • 25

    [Pr. Pa15_Encoder Output Pulses (*ENR)]
  • 25

    [Pr. Pa16_Encoder Output Pulses 2 (*ENR2)]
  • 26

    [Pr. Pa17_Servo Motor Series Setting (**MSR)]
  • 27

    [Pr. Pa18_Servo Motor Type Setting (**MTY)]
  • 28

    [Pr. Pa19_Servo Parameter Writing Prohibited (*BLK)]
  • 29

    [Pr. Pa20_Tough Drive Setting (*TDS)]
  • 30

    [Pr. Pa21_Function Selection A-3 (*AOP3)]
  • 30

    [Pr. Pa22_Position Control Configuration Selection (**PCS)]
  • 31

    [Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (DRAT)]
  • 31

    [Pr. Pa24_Function Selection A-4 (AOP4)]
  • 31

    [Pr. Pa25_One-Touch Tuning - Overshoot Permissible Level (OTHOV)]
  • 32

    [Pr. Pa26_Function Selection A-5 (*AOP5)]
  • 32

    [Pr. Pa28_Function Selection A-6 (**AOP6)]
  • 32

    [Pr. Pa34_Quick Tuning - Permissible Travel Distance (QDIS)]
• 33

  Gain/Filter Setting Servo Parameters Group ([Pr. PB
  • 33

    [Pr. Pb01_Adaptive Tuning Mode (Adaptive Filter II) (FILT)]
  • 34

    [Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control II) (VRFT)]
  • 34

    [Pr. Pb03_Position Command Speed Adjustment Time Constant (Position Smoothing) (PST)]
  • 35

    [Pr. Pb04_Feed Forward Gain (FFC)]
  • 35

    [Pr. Pb06_Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2)]
  • 35

    [Pr. Pb07_Model Control Gain
  • 36

    [Pr. Pb08_Position Control Gain
  • 36

    [Pr. Pb09_Speed Control Gain (VG2)]
  • 36

    [Pr. Pb10_Speed Integral Compensation (VIC)]
  • 36

    [Pr. Pb11_Speed Differential Compensation (VDC)]
  • 36

    [Pr. Pb12_Overshoot Amount Compensation (OVA)]
  • 37

    [Pr. Pb13_Machine Resonance Suppression Filter 1 (NH1)]
  • 37

    [Pr. Pb14_Notch Shape Selection 1 (NHQ1)]
  • 37

    [Pr. Pb15_Machine Resonance Suppression Filter 2 (NH2)]
  • 38

    [Pr. Pb16_Notch Shape Selection 2 (NHQ2)]
  • 39

    [Pr. Pb17_Shaft Resonance Suppression Filter (NHF)]
  • 43

    [Pr. Pb18_Low-Pass Filter Setting (LPF)]
  • 43

    [Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (VRF11)]
  • 43

    [Pr. Pb20_Vibration Suppression Control 1 - Resonance Frequency (VRF12)]
  • 43

    [Pr. Pb21_Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13)]
  • 44

    [Pr. Pb22_Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14)]
  • 44

    [Pr. Pb23_Low-Pass Filter Selection (VFBF)]
  • 45

    [Pr. Pb24_Slight Vibration Suppression Control (*MVS)]
  • 45

    [Pr. Pb25_Function Selection B-1 (*BOP1)]
  • 46

    [Pr. Pb26_Gain Switching Function (*CDP)]
  • 47

    [Pr. Pb27_Gain Switching Condition (CDL)]
  • 47

    [Pr. Pb28_Gain Switching Time Constant (CDT)]
  • 47

    [Pr. Pb29_Load to Motor Inertia Ratio/Load to Motor Mass Ratio after Gain Switching (GD2B)]
  • 47

    [Pr. Pb30_Position Control Gain after Gain Switching (PG2B)]
  • 47

    [Pr. Pb31_Speed Control Gain after Gain Switching (VG2B)]
  • 47

    [Pr. Pb32_Speed Integral Compensation after Gain Switching (VICB)]
  • 48

    [Pr. Pb33_Vibration Suppression Control 1 - Vibration Frequency after Gain Switching (VRF11B)]
  • 48

    [Pr. Pb34_Vibration Suppression Control 1 - Resonance Frequency after Gain Switching (VRF12B)]
  • 48

    [Pr. Pb35_Vibration Suppression Control 1 - Vibration Frequency Damping after Gain Switching (VRF13B)]
  • 48

    [Pr. Pb36_Vibration Suppression Control 1 - Resonance Frequency Damping after Gain Switching (VRF14B)]
  • 49

    [Pr. Pb45_Command Notch Filter (CNHF)]
  • 52

    [Pr. Pb46_Machine Resonance Suppression Filter 3 (NH3)]
  • 52

    [Pr. Pb47_Notch Shape Selection 3 (NHQ3)]
  • 52

    [Pr. Pb48_Machine Resonance Suppression Filter 4 (NH4)]
  • 53

    [Pr. Pb49_Notch Shape Selection 4 (NHQ4)]
  • 53

    [Pr. Pb50_Machine Resonance Suppression Filter 5 (NH5)]
  • 54

    [Pr. Pb51_Notch Shape Selection 5 (NHQ5)]
  • 54

    [Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (VRF21)]
  • 55

    [Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (VRF22)]
  • 55

    [Pr. Pb54_Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23)]
  • 55

    [Pr. Pb55_Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24)]
  • 55

    [Pr. Pb56_Vibration Suppression Control 2 - Vibration Frequency after Gain Switching (VRF21B)]
  • 56

    [Pr. Pb57_Vibration Suppression Control 2 - Resonance Frequency after Gain Switching (VRF22B)]
  • 56

    [Pr. Pb58_Vibration Suppression Control 2 - Vibration Frequency Damping after Gain Switching (VRF23B)]
  • 56

    [Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping after Gain Switching (VRF24B)]
  • 56

    [Pr. Pb60_Model Control Gain after Gain Switching (PG1B)]
  • 57

    [Pr. Pb65_Gain Switching 2 Condition (CDL2)]
  • 57

    [Pr. Pb66_Gain Switching 2 Time Constant (CDT2)]
  • 57

    [Pr. Pb67_Gain Switching 2 - Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2C)]
  • 57

    [Pr. Pb68_Gain Switching 2 - Position Control Gain (PG2C)]
  • 57

    [Pr. Pb69_Gain Switching 2 - Speed Control Gain (VG2C)]
  • 57

    [Pr. Pb70_Gain Switching 2 - Speed Integral Compensation (VICC)]
  • 58

    [Pr. Pb71_Vibration Suppression Control 1 - Vibration Frequency after Gain Switching 2 (VRF11C)]
  • 58

    [Pr. Pb72_Vibration Suppression Control 1 - Resonance Frequency after Gain Switching 2 (VRF12C)]
  • 58

    [Pr. Pb73_Vibration Suppression Control 1 - Vibration Frequency Damping after Gain Switching 2 (VRF13C)]
  • 59

    [Pr. Pb74_Vibration Suppression Control 1 - Resonance Frequency Damping after Gain Switching 2 (VRF14C)]
  • 59

    [Pr. Pb75_Vibration Suppression Control 2 - Vibration Frequency after Gain Switching 2 (VRF21C)]
  • 59

    [Pr. Pb76_Vibration Suppression Control 2 - Resonance Frequency after Gain Switching 2 (VRF22C)]
  • 60

    [Pr. Pb77_Vibration Suppression Control 2 - Vibration Frequency Damping after Gain Switching 2 (VRF23C)]
  • 60

    [Pr. Pb78_Vibration Suppression Control 2 - Resonance Frequency Damping after Gain Switching 2 (VRF24C)]
  • 60

    [Pr. Pb79_Gain Switching 2 - Model Control Gain (PG1C)]
  • 61

    [Pr. Pb81_Command Filter (*CFIL)]
  • 61

    [Pr. Pb82_Position Command Smoothing Filtering Time Constant (PFT)]
• 62

  Extension Setting Servo Parameters Group ([Pr. PC
  • 62

    [Pr. Pc01_Speed Acceleration Time Constant (STA)]
  • 62

    [Pr. Pc02_Speed Deceleration Time Constant (STB)]
  • 63

    [Pr. PC03_S-Pattern Acceleration/Deceleration Time Constants (STC)]
  • 63

    [Pr. Pc04_Torque Command Time Constant (TQC)]
  • 64

    [Pr. Pc05_Internal Speed 1 (SC1)]
  • 64

    [Pr. Pc06_Internal Speed 2 (SC2)]
  • 64

    [Pr. Pc07_Internal Speed 3 (SC3)]
  • 64

    [Pr. Pc08_Internal Speed 4 (SC4)]
  • 64

    [Pr. Pc09_Internal Speed 5 (SC5)]
  • 64

    [Pr. Pc10_Internal Speed 6 (SC6)]
  • 65

    [Pr. Pc11_Internal Speed 7 (SC7)]
  • 65

    [Pr. Pc12_Analog Speed Command - Maximum Speed (VCM)]
  • 65

    [Pr. Pc13_Analog Torque Command Maximum Output (TLC)]
  • 66

    [Pr. Pc14_Analog Monitor 1 Output (MOD1)]
  • 67

    [Pr. Pc15_Analog Monitor 2 Output (MOD2)]
  • 67

    [Pr. Pc16_Electromagnetic Brake Sequence Output (MBR)]
  • 67

    [Pr. Pc17_Zero Speed (ZSP)]
  • 67

    [Pr. Pc18_Alarm History Clear (*BPS)]
  • 68

    [Pr. Pc19_Encoder Output Pulses Selection (*ENRS)]
  • 71

    [Pr. Pc22_Function Selection C-1 (**COP1)]
  • 72

    [Pr. Pc23_Function Selection C-2 (*COP2)]
  • 73

    [Pr. Pc24_Function Selection C-3 (*COP3)]
  • 74

    [Pr. Pc26_Function Selection C-5 (*COP5)]
  • 75

    [Pr. Pc27_Function Selection C-6 (*COP6)]
  • 75

    [Pr. Pc28_Function Selection C-7 (*COP7)]
  • 76

    [Pr. Pc29_Function Selection C-8 (*COP8)]
  • 76

    [Pr. Pc30_Speed Acceleration Time Constant 2 (STA2)]
  • 77

    [Pr. Pc31_Speed Deceleration Time Constant 2 (STB2)]
  • 77

    [Pr. Pc32_Command Input Pulse Multiplication Numerator 2 (CMX2)]
  • 77

    [Pr. Pc33_Command Input Pulse Multiplication Numerator 3 (CMX3)]
  • 77

    [Pr. Pc34_Command Input Pulse Multiplication Numerator 4 (CMX4)]
  • 77

    [Pr. Pc35_Internal Torque Limit 2 (TL2)]
  • 78

    [Pr. Pc36_Status Display Selection (*DMD)]
  • 80

    [Pr. Pc37_Analog Command Input 1 Offset (VCO)]
  • 80

    [Pr. Pc38_Analog Command Input 2 Offset (TPO)]
  • 81

    [Pr. Pc39_Analog Monitor 1 Offset (MO1)]
  • 81

    [Pr. Pc40_Analog Monitor 2 Offset (MO2)]
  • 81

    [Pr. Pc43_Excessive Error Alarm Trigger Level (ERZ)]
  • 81

    [Pr. Pc44_Function Selection C-9 (**COP9)]
  • 82

    [Pr. Pc45_Function Selection C-A (**COPA)]
  • 83

    [Pr. Pc50_Function Selection C-B (*COPB)]
  • 84

    [Pr. Pc51_Deceleration Time Constant at Forced Stop (RSBR)]
  • 84

    [Pr. Pc54_Vertical Axis Freefall Prevention Compensation Amount (RSUP1)]
  • 85

    [Pr. Pc60_Function Selection C-D (**COPD)]
  • 86

    [Pr. Pc73_Excessive Error Warning Trigger Level (ERW)]
  • 86

    [Pr. Pc90_Command Frequency Error Threshold (PLFT)]
• 87

  I/O Setting Servo Parameters Group ([Pr. PD
  • 87

    [Pr. Pd01_Input Signal Automatic on Selection 1 (*DIA1)]
  • 89

    [Pr. Pd03_Input Device Selection 1L (*DI1L)]
  • 90

    [Pr. Pd04_Input Device Selection 1H (*DI1H)]
  • 90

    [Pr. Pd05_Input Device Selection 2L (*DI2L)]
  • 90

    [Pr. Pd06_Input Device Selection 2H (*DI2H)]
  • 91

    [Pr. Pd07_Input Device Selection 3L (*DI3L)]
  • 91

    [Pr. Pd08_Input Device Selection 3H (*DI3H)]
  • 92

    [Pr. Pd09_Input Device Selection 4L (*DI4L)]
  • 92

    [Pr. Pd10_Input Device Selection 4H (*DI4H)]
  • 93

    [Pr. Pd11_Input Device Selection 5L (*DI5L)]
  • 93

    [Pr. Pd12_Input Device Selection 5H (*DI5H)]
  • 93

    [Pr. Pd13_Input Device Selection 6L (*DI6L)]
  • 94

    [Pr. Pd14_Input Device Selection 6H (*DI6H)]
  • 94

    [Pr. Pd17_Input Device Selection 8L (*DI8L)]
  • 94

    [Pr. Pd18_Input Device Selection 8H (*DI8H)]
  • 95

    [Pr. Pd19_Input Device Selection 9L (*DI9L)]
  • 95

    [Pr. Pd20_Input Device Selection 9H (*DI9H)]
  • 95

    [Pr. Pd21_Input Device Selection 10L (*DI10L)]
  • 96

    [Pr. Pd22_Input Device Selection 10H (*DI10H)]
  • 96

    [Pr. Pd23_Output Device Selection 1 (*DO1)]
  • 97

    [Pr. Pd24_Output Device Selection 2 (*DO2)]
  • 97

    [Pr. Pd25_Output Device Selection 3 (*DO3)]
  • 97

    [Pr. Pd26_Output Device Selection 4 (*DO4)]
  • 98

    [Pr. Pd28_Output Device Selection 6 (*DO6)]
  • 98

    [Pr. Pd29_Input Filter Setting (*DIF)]
  • 99

    [Pr. Pd30_Function Selection D-1 (*DOP1)]
  • 100

    [Pr. Pd31_Function Selection D-2 (*DOP2)]
  • 100

    [Pr. Pd32_Function Selection D-3 (*DOP3)]
  • 100

    [Pr. Pd33_Function Selection D-4 (*DOP4)]
  • 101

    [Pr. Pd34_Function Selection D-5 (*DOP5)]
  • 101

    [Pr. Pd43_Input Device Selection 11L (*DI11L)]
  • 102

    [Pr. Pd44_Input Device Selection 11H (*DI11H)]
  • 102

    [Pr. Pd45_Input Device Selection 12L (*DI12L)]
  • 102

    [Pr. Pd46_Input Device Selection 12H (*DI12H)]
  • 103

    [Pr. Pd47_Output Device Selection 7 (*DO7)]
  • 103

    [Pr. PD60_DI Pin Polarity Selection (*DIP)]
• 105

  Extension Setting 2 Servo Parameters Group ([Pr. PE
  • 105

    [Pr. Pe01_Fully Closed Loop Control Function Selection 1 (**FCT1)]
  • 106

    [Pr. Pe03_Fully Closed Loop Control Function Selection 2 (*FCT2)]
  • 107

    [Pr. Pe04_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Numerator (**FBN)]
  • 107

    [Pr. Pe05_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Denominator (**FBD)]
  • 107

    [Pr. Pe06_Fully Closed Loop Control - Speed Deviation Error Detection Level (BC1)]
  • 107

    [Pr. Pe07_Fully Closed Loop Control - Position Deviation Error Detection Level (BC2)]
  • 107

    [Pr. Pe08_Fully Closed Loop Dual Feedback Filter (DUF)]
  • 108

    [Pr. Pe10_Fully Closed Loop Function Selection 3 (FCT3)]
  • 108

    [Pr. Pe41_Function Selection E-3 (EOP3)]
  • 108

    [Pr. Pe44_Lost Motion Compensation Positive-Side Compensation Value Selection (LMCP)]
  • 109

    [Pr. Pe45_Lost Motion Compensation Negative-Side Compensation Value Selection (LMCN)]
  • 109

    [Pr. Pe46_Lost Motion Filter Setting (LMFLT)]
  • 109

    [Pr. Pe47_Unbalanced Torque Offset (TOF)]
  • 109

    [Pr. Pe48_Lost Motion Compensation Function Selection (*LMOP)]
  • 109

    [Pr. Pe49_Lost Motion Compensation Timing (LMCD)]
  • 110

    [Pr. Pe50_Lost Motion Compensation Non-Sensitive Band (LMCT)]
  • 110

    [Pr. Pe51_Load-Side Encoder Resolution Setting (**EDV2)]
• 111

  Extension Setting 3 Servo Parameters Group ([Pr. PF
  • 111

    [Pr. Pf02_Function Selection F-2 (*FOP2)]
  • 112

    [Pr. Pf09_Function Selection F-5 (*FOP5)]
  • 113

    [Pr. Pf15_Electronic Dynamic Brake Operating Time (DBT)]
  • 113

    [Pr. PF18_STO Diagnosis Error Detection Time (**STOD)]
  • 113

    [Pr. Pf21_Drive Recorder Switching Time Setting (DRT)]
  • 114

    [Pr. Pf23_Vibration Tough Drive - Oscillation Detection Level (OSCL1)]
  • 114

    [Pr. Pf24_Function Selection F-9 (*FOP9)]
  • 114

    [Pr. PF25_SEMI-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive Detection Time) (CVAT)]
  • 115

    [Pr. Pf31_Machine Diagnosis Function - Friction Judgment Speed (FRIC)]
  • 115

    [Pr. Pf32_Oscillation Detection Alarm Time (*VIBT)]
  • 115

    [Pr. Pf49_Friction Failure Prediction - Compensation Coefficient 1 (TSL)]
  • 116

    [Pr. Pf50_Friction Failure Prediction - Compensation Coefficient 2 (TIC)]
  • 116

    [Pr. Pf51_Machine Diagnosis Function Selection (*MFP)]
  • 118

    [Pr. Pf52_Machine Failure Prediction Servo Parameter (MFPP)]
  • 119

    [Pr. Pf53_Failure Prediction - Servo Motor Total Travel Distance (FPMT)]
  • 119

    [Pr. Pf54_Friction Failure Prediction - Average Characteristics (PAV)]
  • 119

    [Pr. Pf55_Friction Failure Prediction - Standard Deviation (PSD)]
  • 120

    [Pr. Pf56_Vibration Failure Prediction - Average Characteristics (VAV)]
  • 120

    [Pr. Pf57_Vibration Failure Prediction - Standard Deviation (VSD)]
  • 120

    [Pr. Pf58_Servo Motor Total Travel Distance Offset (TMO)]
  • 120

    [Pr. Pf66_Gear Setting for Backlash Estimation (BLG)]
  • 121

    [Pr. Pf67_Backlash Nominal Value (BLN)]
  • 121

    [Pr. Pf68_Backlash Threshold Multiplication (BLTT)]
  • 121

    [Pr. Pf69_Static Friction Failure Prediction - Average Characteristics (SPAV2)]
  • 121

    [Pr. Pf70_Static Friction Failure Prediction - Standard Deviation (SPSD2)]
  • 122

    [Pr. Pf71_Belt Failure Prediction Function Selection (BFP)]
  • 122

    [Pr. Pf72_Belt Tension on Installation (SBT)]
  • 122

    [Pr. Pf73_Belt Tension When Extended (ABT)]
  • 122

    [Pr. Pf74_Static Friction During Installation (SSF)]
  • 123

    [Pr. Pf75_Static Friction When Extended (ASF)]
  • 123

    [Pr. Pf76_Belt Tension Irregular Threshold (BTS)]
  • 124

    [Pr. Pf80_Drive Recorder - Operation Condition Selection (DRMC)]
  • 125

    [Pr. Pf81_Drive Recorder - Sampling Operation Selection (DRMS)]
  • 125

    [Pr. Pf82_Drive Recorder - Trigger Operation Selection (DRTM)]
  • 127

    [Pr. Pf84_Drive Recorder - Trigger Channel Selection (DRTC)]
  • 128

    [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (DRTL1)]
  • 128

    [Pr. Pf86_Drive Recorder - Trigger Level Setting 2 (DRTL2)]
  • 129

    [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (DRAC1)]
  • 131

    [Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (DRAC2)]
  • 131

    [Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (DRAC3)]
  • 132

    [Pr. Pf90_Drive Recorder - Analog Channel Setting 4 (DRAC4)]
  • 132

    [Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (DRDC1)]
  • 134

    [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (DRDC2)]
  • 134

    [Pr. Pf93_Drive Recorder - Digital Channel Setting 3 (DRDC3)]
  • 135

    [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (DRDC4)]
  • 135

    [Pr. Pf95_Drive Recorder - Clear History (*DRCLR)]
• 136

  Motor Extension Setting Servo Parameters Group ([Pr. PL
  • 136

    [Pr. Pl01_Function Selection L-1 (**LIT1)]
  • 136

    [Pr. Pl02_Linear Encoder Resolution Setting - Numerator (**LIM)]
  • 136

    [Pr. Pl03_Linear Encoder Resolution Setting - Denominator (**LID)]
  • 137

    [Pr. Pl04_Function Selection L-2 (*LIT2)]
  • 137

    [Pr. Pl05_Position Deviation Error Detection Level (LB1)]
  • 137

    [Pr. Pl06_Speed Deviation Error Detection Level (LB2)]
  • 138

    [Pr. Pl07_Torque Deviation Error Detection Level (LB3)]
  • 138

    [Pr. Pl08_Function Selection L-3 (*LIT3)]
  • 138

    [Pr. Pl09_Magnetic Pole Detection - Voltage Level (LPWM)]
  • 139

    [Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (LTSTS)]

• 3

  Safety Instructions
• 4

  Disposal of Waste
• 5

  About the Manual
• 5

  Cables Used for Wiring
• 6

  U.s. Customary Units
• 7

  Table of Contents

11

Chapter 1 Introduction

• 11

  Model Designation
• 12

  Rating Plate
• 13

  Environment
• 14

  Parts Identification
• 15

  Electromagnetic Brake
• 17

  Rotary Servo Motor Shaft Shapes
• 19

  Servo Motors with Functional Safety
• 19

  Instructions on Storage
• 19

  Instructions on Maintenance
• 19

  Instructions on Protection

20

Chapter 2 Installation

• 21

  Mounting Direction
• 22

  Load Mounting/Dismounting Precautions
• 23

  Permissible Load for the Shaft
• 23

  Protection from Oil and Water
• 24

  Cable
• 24

  Rotary Servo Motors with an Oil Seal
• 25

  Inspection Items
  • 25

    Periodic Inspection
• 25

  Parts with a Service Life
• 26

  Machine Accuracy
• 26

  Instructions on Swing Rotation
• 27

  Mounting Rotary Servo Motors

28

Chapter 3 Connectors Used for Rotary Servo Motor Wiring

• 28

  Selection of Connectors
• 30

  Wiring Connectors (Connector Configuration A)
• 31

  Wiring Connectors (Connector Configurations B/C/D/E)

36

Chapter 4 Connecting the Servo Amplifier and Rotary Servo Motor33

• 36

  Precautions for Wiring
• 37

  Wiring
  • 37

    HK-KT/HK-RT (1.0 Kw - 2.0 Kw) Serie
  • 52

    HK-ST/HK-RT (3.5 Kw - 7.0 Kw) Series
• 57

  Selection Example of Wires

60

Chapter 5 Wiring Option

• 60

  Cable/Connector Sets
  • 61

    Combinations of Cable/Connector Sets
  • 62

    Cable and Connector List
• 69

  Motor Cable/Connector Sets
  • 69

    Mr-Aepb2Cbl_M-_-_/Mr-Aep2Cbl_M
  • 73

    Mr-Aepb2J10Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L
  • 76

    Mr-Aepb2J20Cbl03M-_-L/Mr-Aep2J20Cbl03M-_-L
  • 79

    Mr-Aepb1Cbl_M-_-_/Mr-Aep1Cbl_M
• 82

  Encoder Cable
  • 82

    Mr-Aekcbl_M
  • 85

    Mr-Aenscbl_M
  • 88

    Mr-J3Enscbl_M
• 91

  Wires for Option Cables
  • 91

    Precautions for Option Cables
  • 92

    Mr-Aepb2Cbl_M-_-L/Mr-Aepb2Cbl_M-_-H
  • 93

    Mr-Aep2Cbl_M-_-L/Mr-Aep2Cbl_M-_-H
  • 94

    Mr-Aepb2J20Cbl03M-_-L/Mr-Aepb2J10Cbl03M-_-L
  • 95

    Mr-Aep2J20Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L
  • 96

    Mr-Aepb1Cbl_M-_-L/Mr-Aep1Cbl_M-_-L
  • 97

    Mr-Aepb1Cbl_M-_-H/Mr-Aep1Cbl_M-_-H
  • 98

    Mr-Aenscbl_M-L/Mr-Aenscbl_M-H
  • 99

    Mr-Aekcbl_M-L/Mr-Aekcbl_M-H
  • 100

    Mr-J3Enscbl_M-L/Mr-J3Enscbl_M-H
  • 101

    Shielding CN2, CN2A, CN2B, and CN2C Connectors
• 102

  Cable Flex Life

• 3

  Safety Instructions
• 4

  U.s. Customary Units
• 5

  Table of Contents

14

Chapter 1 Summary of Object Dictionary

• 14

  Structure

16

CHAPTER 2 General Objects

• 16

  Device Type (Obj. 1000H)]
  • 16

    [Device Type (Obj. 1000H: 00H)]
• 16

  Error Register (Obj. 1001H)]
  • 16

    [Error Register (Obj. 1001H: 00H)]
• 16

  Manufacturer Device Name (Obj. 1008H)]
• 17

  Manufacturer Hardware Version (Obj. 1009H)]
  • 17

    [Manufacturer Hardware Version (Obj. 1009H: 00H)]
• 17

  Manufacturer Software Version (Obj. 100Ah)]
  • 17

    [Manufacturer Software Version (Obj. 100Ah: 00H)]
• 17

  Store Parameters (Obj. 1010H)]
  • 17

    [Store Parameters (Obj. 1010H: 00H)]
• 18

  Restore Default Parameters (Obj. 1011H)]
  • 18

    [Restore Default Parameters (Obj. 1011H: 00H)]
  • 18

    [Restore All Default Parameters (Obj. 1011H: 01H)]
• 19

  Identity Object (Obj. 1018H)]
  • 19

    [Identity Object (Obj. 1018H: 00H)]
  • 19

    [Vendor ID (Obj. 1018H: 01H)]
  • 19

    [Product Code (Obj. 1018H: 02H)]
  • 19

    [Revision Number (Obj. 1018H: 03H)]
  • 19

    [Serial Number (Obj. 1018H: 04H)]
• 20

  Version Number (Obj. 67Feh)]
  • 20

    [Version Number (Obj. 67Feh: 00H)]

21

CHAPTER 3 PDO Mapping Objects

• 21

  1St Receive PDO Mapping (Obj. 1600H)]
  • 21

    [1St Receive PDO Mapping (Obj. 1600H: 00H)]
  • 22

    [Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
• 23

  2Nd Receive PDO Mapping (Obj. 1601H)]
  • 23

    [2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
  • 24

    [Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
• 25

  1St Transmit PDO Mapping (Obj. 1A00H)]
  • 25

    [1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
  • 26

    [Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
• 27

  2Nd Transmit PDO Mapping (Obj. 1A01H)]
  • 27

    [2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
  • 28

    [Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
• 29

  1St PDO Config (Obj. 1C00H)]
  • 29

    [1St PDO Config (Obj. 1C00H: 00H)]
  • 29

    [PDO Assignment (Obj. 1C00H: 01H)]
  • 29

    [PDO Enable (Obj. 1C00H: 02H)]
  • 29

    [Error Handling (Obj. 1C00H: 03H)]
  • 30

    [Memory Address (Obj. 1C00H: 04H)]
• 31

  2Nd PDO Config (Obj. 1C01H)]
  • 31

    [2Nd PDO Config (Obj. 1C01H: 00H)]
  • 31

    [PDO Assignment (Obj. 1C01H: 01H)]
  • 31

    [PDO Enable (Obj. 1C01H: 02H)]
  • 31

    [Error Handling (Obj. 1C01H: 03H)]
  • 32

    [Memory Address (Obj. 1C01H: 04H)]

33

CHAPTER 4 Sync Manager Communication Objects

• 33

  Watchdog Counter DL (Obj. 1D01H)]
  • 33

    [Watchdog Counter DL (Obj. 1D01H: 00H)]
  • 33

    [Watchdog Counter DL 1 (Obj. 1D01H: 01H)]
• 33

  Watchdog Counter UL (Obj. 1D02H)]
  • 33

    [Watchdog Counter UL (Obj. 1D02H: 00H)]

35

CHAPTER 5 Parameter Objects

• 35

  PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
• 35

  PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
• 35

  PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
• 35

  PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
• 35

  PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]

• 3

  Safety Instructions
• 4

  Disposal of Waste
• 5

  About the Manual
• 6

  U.s. Customary Units
• 7

  Table of Contents

10

Chapter 1 Specifications

• 10

  Outline
• 10

  Model Designation
• 12

  Servo Amplifier Standard Specifications
  • 12

    Mr-J5-_G-N1
  • 14

    Mr-J5W2-_G-N1
  • 15

    Mr-J5W3-_G-N1
  • 16

    Functional Safety
  • 16

    Environment
• 17

  Function Block Diagram
  • 17

    Mr-J5-_G-_N1
  • 18

    Mr-J5W_-_G-N1
• 19

  Configuration Including Peripheral Equipment

20

Chapter 2 Function

• 20

  Function List
• 28

  Security

29

Chapter 3 Structure

• 29

  Parts Identification
• 33

  Switch Setting and Display of the Servo Amplifier
  • 33

    Switches
  • 34

    7-Segment LED
  • 37

    CN1A/CN1B Connector LED
  • 38

    Status Leds
  • 39

    LED Behavior

40

Chapter 4 Startup

• 44

  Turning On Servo Amplifier for the First Time
  • 45

    Test Operation of the Servo Motor Alone in Test Operation Mode
  • 46

    Equipment Configuration Setting
  • 46

    Controller-Related Setting
  • 47

    Operation By Controller Command
• 48

  Instructions On Startup
• 48

  Troubleshooting at Startup
• 49

  Duplicate Setting
  • 49

    Duplication Using MR Configurator2
• 49

  Test Operation
  • 49

    Execution Method
  • 50

    Test Operation Mode
  • 50

    Motor Driving By Test Operation
  • 53

    Motor-Less Operation
  • 54

    Output Signal (DO) Forced Output
• 55

  Servo Amplifier Setting Initialization
  • 55

    Initialization Procedure By MR Mode Change

56

Chapter 5 Maintenance, Inspection and Parts Replacement

• 56

  Inspection Items
  • 56

    Periodic Inspection
• 57

  Parts with a Service Life
• 58

  Replacing Fan Unit