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MELSERVO-J5 MR-J5-G Series
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Manuals
Manuals and User Guides for Mitsubishi Electric MELSERVO-J5 MR-J5-G Series. We have
16
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series manuals available for free PDF download: User Manual
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (478 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 64.74 MB
Table of Contents
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
19
Linear Servo Motor
23
Direct Drive Motor
25
Wiring Check
25
Power Supply System Wiring
27
I/O Signal Wiring
28
Surrounding Environment
29
Chapter 2 Installation
29
Mounting Direction and Clearances
33
Keeping out Foreign Materials
33
Cable Stress
33
Fan Unit Replacement Procedure
33
List of Applicable Fan Units
34
Fan Unit Removal Procedure
35
Fan Unit Installation Procedure
35
Restrictions When Using this Product at an Altitude Exceeding 1000 M and up to 2000 M
36
Chapter 3 Signals and Wiring
37
Example Power Circuit Connections
38
200 V Class
42
400 V Class
43
Using Servo Amplifier with DC Power Supply Input
45
Example I/O Signal Connections
45
Mr-J5-_G
48
Mr-J5-_A
56
Mr-J5W_-_G
59
Explanation of Power Supply System
59
Explanation of Signals
61
Power-On Procedure [G] [WG]
62
Power-On Procedure [A]
63
Wiring CNP1, CNP2, and CNP3
67
Connectors and Pin Assignments
67
Precautions
68
Connectors and Pin Assignments [G]
69
Connectors and Pin Assignments [A]
72
Connectors and Pin Assignments [WG]
73
Signal (Device) Explanation
73
Input Device
81
Output Device
87
Input Signal
89
Output Signal
90
Power Supply
91
Interface
91
Internal Connection Diagram [G]
92
Internal Connection Diagram [A]
95
Internal Connection Diagram [WG]
98
Detailed Explanation of Interfaces
102
Source I/O Interface
104
Servo Motor with an Electromagnetic Brake
104
Connection Diagram [G] [A]
106
Grounding
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Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (442 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 43.32 MB
Table of Contents
3
Safety Instructions
5
About the Manual
6
Object Units
6
U.s. Customary Units
7
Table of Contents
13
Chapter 1 Function
13
Function Explanation
21
Chapter 2 Control Mode
21
Control Mode [G] [WG]
21
Control Switching
22
Cyclic Synchronous Position Mode (Csp)
24
Cyclic Synchronous Velocity Mode (Csv)
26
Cyclic Synchronous Torque Mode (Cst)
28
Profile Position Mode (Pp)
32
Profile Velocity Mode (Pv)
36
Profile Torque Mode (Tq)
39
Continuous Operation to Torque Control Mode (Ct)
44
Homing Mode (Hm) and Homing
71
Control Mode [A]
71
Control Switching
71
Position Control Mode (P)
75
Speed Control Mode (S)
77
Torque Control Mode (T)
80
Position/Speed Control Switching Mode (P/S)
82
Speed/Torque Control Switching Mode (S/T)
84
Torque/Position Control Switch Mode (T/P)
85
Chapter 3 Basic Function
85
Outline of Servo Parameter and Object Dictionary
85
Servo Parameter
87
Object Dictionary [G] [WG]
88
Rotation/Travel Direction Selection [G] [WG]
89
Setting Methods of Functions
92
Rotation/Travel Direction Selection [A]
93
Setting Methods of Functions
94
Stroke Limit Function [G] [WG]
94
Explanation of the Stroke Limit Signal Names
95
Setting Methods of Functions
98
Stop Method at Stroke Limit Detection
99
Servo Parameter List
100
Stroke Limit Function [A]
100
Setting Methods of Functions
101
Stop Method at Stroke Limit Detection
101
Servo Parameter List
102
Limit Switch Release Position Assessment Function [G] [WG]
102
Outline
102
Precautions
102
Setting Methods of Functions
103
Command Unit Select Function [G] [WG]
103
Position Command Unit Selection Function
105
Speed Command Unit Selection Function
106
Command Unit Select Function [A]
106
Torque Command Unit Selection Function
107
Electronic Gear Function [G] [WG]
107
Setting Method
108
Setting Example
113
Electronic Gear Function [A]
113
Setting Method
114
Setting Example
116
Electronic Gear Selection Function
117
In-Position Range Setting
118
Setting Method [G] [WG]
118
Setting Method [A]
119
Assigning I/O Devices
120
Setting Method [G] [WG]
121
Setting Method [A]
122
Regenerative Option Selection
122
Regenerative Option
123
Alarm Function
123
Operation Status at Alarm Occurrence [G] [WG]
123
Operation Status at Alarm Occurrence [A]
124
Operation Status at Warning Occurrence [G] [WG]
124
Operation Status at Warning Occurrence [A]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (226 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 11.09 MB
Table of Contents
3
Safety Instructions
5
About the Manual
5
U.s. Customary Units
6
Table of Contents
15
Chapter 1 Servo Parameter Details
16
Explanation of Servo Parameters
17
Basic Setting Servo Parameters Group ([Pr. PA
17
[Pr. Pa01_Operation Mode (**STY)]
18
[Pr. Pa02_Regenerative Option (**REG)]
19
[Pr. Pa03_Absolute Position Detection System (*ABS)]
20
[Pr. Pa04_Function Selection A-1 (*AOP1)]
20
[Pr. Pa06_Electronic Gear - Numerator (*CMX)]
20
[Pr. Pa07_Electronic Gear - Denominator (*CDV)]
21
[Pr. Pa08_Auto Tuning Mode (ATU)]
23
[Pr. Pa09_Auto Tuning Response (RSP)]
24
[Pr. Pa10_In-Position Range (INP)]
24
[Pr. Pa11_Forward Rotation Torque Limit (TLP)]
25
[Pr. Pa12_Reverse Rotation Torque Limit (TLN)]
26
[Pr. Pa14_Travel Direction Selection (*POL)]
27
[Pr. Pa15_Encoder Output Pulses (*ENR)]
27
[Pr. Pa16_Encoder Output Pulses 2 (*ENR2)]
27
[Pr. Pa17_Servo Motor Series Setting (**MSR)]
28
[Pr. Pa18_Servo Motor Type Setting (**MTY)]
29
[Pr. Pa19_Servo Parameter Writing Prohibited (*BLK)]
30
[Pr. Pa20_Tough Drive Setting (*TDS)]
30
[Pr. Pa21_Function Selection A-3 (*AOP3)]
31
[Pr. Pa22_Position Control Configuration Selection (**PCS)]
31
[Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (DRAT)]
32
[Pr. Pa24_Function Selection A-4 (AOP4)]
32
[Pr. Pa25_One-Touch Tuning - Overshoot Permissible Level (OTHOV)]
32
[Pr. Pa26_Function Selection A-5 (*AOP5)]
33
[Pr. Pa28_Function Selection A-6 (**AOP6)]
33
[Pr. Pa34_Quick Tuning - Permissible Travel Distance (QDIS)]
34
Gain/Filter Setting Servo Parameters Group ([Pr. PB
34
[Pr. Pb01_Adaptive Tuning Mode (Adaptive Filter II) (FILT)]
35
[Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control II) (VRFT)]
35
[Pr. Pb03_Torque Feedback Loop Gain (TFBGN)]
35
[Pr. Pb04_Feed Forward Gain (FFC)]
36
[Pr. Pb06_Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2)]
36
[Pr. Pb07_Model Control Gain
37
[Pr. Pb08_Position Control Gain
37
[Pr. Pb09_Speed Control Gain (VG2)]
37
[Pr. Pb10_Speed Integral Compensation (VIC)]
37
[Pr. Pb11_Speed Differential Compensation (VDC)]
38
[Pr. Pb12_Overshoot Amount Compensation (OVA)]
38
[Pr. Pb13_Machine Resonance Suppression Filter 1 (NH1)]
38
[Pr. Pb14_Notch Shape Selection 1 (NHQ1)]
38
[Pr. Pb15_Machine Resonance Suppression Filter 2 (NH2)]
39
[Pr. Pb16_Notch Shape Selection 2 (NHQ2)]
40
[Pr. Pb17_Shaft Resonance Suppression Filter (NHF)]
43
[Pr. Pb18_Low-Pass Filter Setting (LPF)]
44
[Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (VRF11)]
44
[Pr. Pb20_Vibration Suppression Control 1 - Resonance Frequency (VRF12)]
44
[Pr. Pb21_Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13)]
44
[Pr. Pb22_Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14)]
45
[Pr. Pb23_Low-Pass Filter Selection (VFBF)]
46
[Pr. Pb24_Slight Vibration Suppression Control (*MVS)]
46
[Pr. Pb25_Function Selection B-1 (*BOP1)]
47
[Pr. Pb26_Gain Switching Function (*CDP)]
48
[Pr. Pb27_Gain Switching Condition (CDL)]
48
[Pr. Pb28_Gain Switching Time Constant (CDT)]
48
[Pr. Pb29_Load to Motor Inertia Ratio/Load to Motor Mass Ratio after Gain Switching (GD2B)]
48
[Pr. Pb30_Position Control Gain after Gain Switching (PG2B)]
48
[Pr. Pb31_Speed Control Gain after Gain Switching (VG2B)]
49
[Pr. Pb32_Speed Integral Compensation after Gain Switching (VICB)]
49
[Pr. Pb33_Vibration Suppression Control 1 - Vibration Frequency after Gain Switching (VRF11B)]
49
[Pr. Pb34_Vibration Suppression Control 1 - Resonance Frequency after Gain Switching (VRF12B)]
49
[Pr. Pb35_Vibration Suppression Control 1 - Vibration Frequency Damping after Gain Switching (VRF13B)]
50
[Pr. Pb36_Vibration Suppression Control 1 - Resonance Frequency Damping after Gain Switching (VRF14B)]
50
[Pr. Pb45_Command Notch Filter (CNHF)]
53
[Pr. Pb46_Machine Resonance Suppression Filter 3 (NH3)]
53
[Pr. Pb47_Notch Shape Selection 3 (NHQ3)]
54
[Pr. Pb48_Machine Resonance Suppression Filter 4 (NH4)]
54
[Pr. Pb49_Notch Shape Selection 4 (NHQ4)]
55
[Pr. Pb50_Machine Resonance Suppression Filter 5 (NH5)]
55
[Pr. Pb51_Notch Shape Selection 5 (NHQ5)]
56
[Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (VRF21)]
56
[Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (VRF22)]
56
[Pr. Pb54_Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23)]
56
[Pr. Pb55_Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24)]
57
[Pr. Pb56_Vibration Suppression Control 2 - Vibration Frequency after Gain Switching (VRF21B)]
57
[Pr. Pb57_Vibration Suppression Control 2 - Resonance Frequency after Gain Switching (VRF22B)]
57
[Pr. Pb58_Vibration Suppression Control 2 - Vibration Frequency Damping after Gain Switching (VRF23B)]
58
[Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping after Gain Switching (VRF24B)]
58
[Pr. Pb60_Model Control Gain after Gain Switching (PG1B)]
58
[Pr. Pb65_Gain Switching 2 Condition (CDL2)]
58
[Pr. Pb66_Gain Switching 2 Time Constant (CDT2)]
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Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (390 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 37.02 MB
Table of Contents
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)
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (150 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 11.1 MB
Table of Contents
3
Safety Instructions
5
About the Manual
5
U.s. Customary Units
6
Table of Contents
18
Chapter 1 Summary of Object Dictionary
18
Structure
19
Object Units
20
Using Appropriate Object Numbers
21
CHAPTER 2 General Objects
21
Device Type (Obj. 1000H)]
21
[Device Type (Obj. 1000H: 00H)]
21
Error Register (Obj. 1001H)]
21
[Error Register (Obj. 1001H: 00H)]
21
Manufacturer Device Name (Obj. 1008H)]
21
[Manufacturer Device Name (Obj. 1008H: 00H)]
22
Manufacturer Hardware Version (Obj. 1009H)]
22
[Manufacturer Hardware Version (Obj. 1009H: 00H)]
22
Manufacturer Software Version (Obj. 100Ah)]
22
[Manufacturer Software Version (Obj. 100Ah: 00H)]
22
Store Parameters (Obj. 1010H)]
22
[Store Parameters (Obj. 1010H: 00H)]
22
[Save All Parameters (Obj. 1010H: 01H)]
23
Restore Default Parameters (Obj. 1011H)]
23
[Restore Default Parameters (Obj. 1011H: 00H)]
23
[Restore All Default Parameters (Obj. 1011H: 01H)]
24
Identity Object (Obj. 1018H)]
24
[Identity Object (Obj. 1018H: 00H)]
24
[Vendor ID (Obj. 1018H: 01H)]
24
[Product Code (Obj. 1018H: 02H)]
24
[Revision Number (Obj. 1018H: 03H)]
24
[Serial Number (Obj. 1018H: 04H)]
25
Error Settings (Obj. 10F1H)]
25
[Error Settings (Obj. 10F1H: 00H)]
25
[Local Error Reaction (Obj. 10F1H: 01H)]
25
[Sync Error Counter Limit (Obj. 10F1H: 02H)]
26
Version Number (Obj. 67Feh)]
26
[Version Number (Obj. 67Feh: 00H)]
27
CHAPTER 3 PDO Mapping Objects
27
1St Receive PDO Mapping (Obj. 1600H)]
27
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
28
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
29
2Nd Receive PDO Mapping (Obj. 1601H)]
29
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
30
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
31
3Rd Receive PDO Mapping (Obj. 1602H)]
31
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
31
4Th Receive PDO Mapping (Obj. 1603H)]
31
[4Th Receive PDO Mapping (Obj. 1603H: 00H)]
31
1St Transmit PDO Mapping (Obj. 1A00H)]
31
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
32
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
33
2Nd Transmit PDO Mapping (Obj. 1A01H)]
33
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
34
[Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
35
3Rd Transmit PDO Mapping (Obj. 1A02H)]
35
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
35
4Th Transmit PDO Mapping (Obj. 1A03H)]
35
[4Th Transmit PDO Mapping (Obj. 1A03H: 00H)]
36
CHAPTER 4 Sync Manager Communication Objects
36
Sync Manager Communication Type (Obj. 1C00H)]
36
[Sync Manager Communication Type (Obj. 1C00H: 00H)]
36
[Sync Manager 0 (Obj. 1C00H: 01H)]
36
[Sync Manager 1 (Obj. 1C00H: 02H)]
36
[Sync Manager 2 (Obj. 1C00H: 03H)]
36
[Sync Manager 3 (Obj. 1C00H: 04H)]
37
Sync Manager Rxpdo Assign (Obj. 1C12H)]
37
[Sync Manager Rxpdo Assign (Obj. 1C12H: 00H)]
37
[Assigned PDO 001 (Obj. 1C12H: 01H)]
37
[Assigned PDO 002 (Obj. 1C12H: 02H)]
37
[Assigned PDO 003 (Obj. 1C12H: 03H)]
37
[Assigned PDO 004 (Obj. 1C12H: 04H)]
38
Sync Manager Txpdo Assign (Obj. 1C13H)]
38
[Sync Manager Txpdo Assign (Obj. 1C13H: 00H)]
38
[Assigned PDO 001 (Obj. 1C13H: 01H)]
38
[Assigned PDO 002 (Obj. 1C13H: 02H)]
38
[Assigned PDO 003 (Obj. 1C13H: 03H)]
38
[Assigned PDO 004 (Obj. 1C13H: 04H)]
39
SM Output Parameter (Obj. 1C32H)]
39
[SM Output Parameter (Obj. 1C32H: 00H)]
39
[Synchronization Type (Obj. 1C32H: 01H)]
39
[Cycle Time (Obj. 1C32H: 02H)]
40
[Synchronization Types Supported (Obj. 1C32H: 04H)]
40
[Minimum Cycle Time (Obj. 1C32H: 05H)]
40
[Calc and Copy Time (Obj. 1C32H: 06H)]
41
[Delay Time (Obj. 1C32H: 09H)]
41
[Cycle Time too Small (Obj. 1C32H: 0Ch)]
41
SM Input Parameter (Obj. 1C33H)]
41
[SM Input Parameter (Obj. 1C33H: 00H)]
41
[Synchronization Type (Obj. 1C33H: 01H)]
42
[Cycle Time (Obj. 1C33H: 02H)]
42
[Synchronization Types Supported (Obj. 1C33H: 04H)]
43
[Minimum Cycle Time (Obj. 1C33H: 05H)]
43
[Calc and Copy Time (Obj. 1C33H: 06H)]
43
[Delay Time (Obj. 1C33H: 09H)]
43
[Cycle Time too Small (Obj. 1C33H: 0Ch)]
44
CHAPTER 5 Parameter Objects
44
PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
44
PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
44
PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
44
PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
44
PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]
44
PF01 (Obj. 2281H)] - [PF99 (Obj. 22E3H)]
44
PL01 (Obj. 2401H)] - [PL72 (Obj. 2448H)]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (446 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 57.47 MB
Table of Contents
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
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (136 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 10.69 MB
Table of Contents
3
Safety Instructions
5
About the Manual
5
U.s. Customary Units
6
Table of Contents
18
Chapter 1 Summary of Object Dictionary
18
Structure
18
Object Units
19
Using Appropriate Object Numbers
20
CHAPTER 2 General Objects
20
Device Type (Obj. 1000H)]
20
[Device Type (Obj. 1000H: 00H)]
20
Error Register (Obj. 1001H)]
20
[Error Register (Obj. 1001H: 00H)]
20
Manufacturer Device Name (Obj. 1008H)]
20
[Manufacturer Device Name (Obj. 1008H: 00H)]
21
Manufacturer Hardware Version (Obj. 1009H)]
21
[Manufacturer Hardware Version (Obj. 1009H: 00H)]
21
Manufacturer Software Version (Obj. 100Ah)]
21
[Manufacturer Software Version (Obj. 100Ah: 00H)]
21
Store Parameters (Obj. 1010H)]
21
[Store Parameters (Obj. 1010H: 00H)]
21
[Save All Parameters (Obj. 1010H: 01H)]
22
Restore Default Parameters (Obj. 1011H)]
22
[Restore Default Parameters (Obj. 1011H: 00H)]
22
[Restore All Default Parameters (Obj. 1011H: 01H)]
23
Identity Object (Obj. 1018H)]
23
[Identity Object (Obj. 1018H: 00H)]
23
[Vendor ID (Obj. 1018H: 01H)]
23
[Product Code (Obj. 1018H: 02H)]
23
[Revision Number (Obj. 1018H: 03H)]
23
[Serial Number (Obj. 1018H: 04H)]
24
Error Settings (Obj. 10F1H)]
24
[Error Settings (Obj. 10F1H: 00H)]
24
[Local Error Reaction (Obj. 10F1H: 01H)]
24
[Sync Error Counter Limit (Obj. 10F1H: 02H)]
25
Version Number (Obj. 67Feh)]
25
[Version Number (Obj. 67Feh: 00H)]
26
CHAPTER 3 PDO Mapping Objects
26
1St Receive PDO Mapping (Obj. 1600H)]
26
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
27
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
28
2Nd Receive PDO Mapping (Obj. 1601H)]
28
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
29
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
30
3Rd Receive PDO Mapping (Obj. 1602H)]
30
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
30
4Th Receive PDO Mapping (Obj. 1603H)]
30
[4Th Receive PDO Mapping (Obj. 1603H: 00H)]
30
1St Transmit PDO Mapping (Obj. 1A00H)]
30
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
31
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
32
2Nd Transmit PDO Mapping (Obj. 1A01H)]
32
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
33
[Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
34
3Rd Transmit PDO Mapping (Obj. 1A02H)]
34
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
34
4Th Transmit PDO Mapping (Obj. 1A03H)]
34
[4Th Transmit PDO Mapping (Obj. 1A03H: 00H)]
35
CHAPTER 4 Sync Manager Communication Objects
35
Sync Manager Communication Type (Obj. 1C00H)]
35
[Sync Manager Communication Type (Obj. 1C00H: 00H)]
35
[Sync Manager 0 (Obj. 1C00H: 01H)]
35
[Sync Manager 1 (Obj. 1C00H: 02H)]
35
[Sync Manager 2 (Obj. 1C00H: 03H)]
35
[Sync Manager 3 (Obj. 1C00H: 04H)]
36
Sync Manager Rxpdo Assign (Obj. 1C12H)]
36
[Sync Manager Rxpdo Assign (Obj. 1C12H: 00H)]
36
[Assigned PDO 001 (Obj. 1C12H: 01H)]
36
[Assigned PDO 002 (Obj. 1C12H: 02H)]
36
[Assigned PDO 003 (Obj. 1C12H: 03H)]
36
[Assigned PDO 004 (Obj. 1C12H: 04H)]
37
Sync Manager Txpdo Assign (Obj. 1C13H)]
37
[Sync Manager Txpdo Assign (Obj. 1C13H: 00H)]
37
[Assigned PDO 001 (Obj. 1C13H: 01H)]
37
[Assigned PDO 002 (Obj. 1C13H: 02H)]
37
[Assigned PDO 003 (Obj. 1C13H: 03H)]
37
[Assigned PDO 004 (Obj. 1C13H: 04H)]
38
SM Output Parameter (Obj. 1C32H)]
38
[SM Output Parameter (Obj. 1C32H: 00H)]
38
[Synchronization Type (Obj. 1C32H: 01H)]
38
[Cycle Time (Obj. 1C32H: 02H)]
39
[Synchronization Types Supported (Obj. 1C32H: 04H)]
39
[Minimum Cycle Time (Obj. 1C32H: 05H)]
39
[Calc and Copy Time (Obj. 1C32H: 06H)]
40
[Delay Time (Obj. 1C32H: 09H)]
40
[Cycle Time too Small (Obj. 1C32H: 0Ch)]
40
SM Input Parameter (Obj. 1C33H)]
40
[SM Input Parameter (Obj. 1C33H: 00H)]
40
[Synchronization Type (Obj. 1C33H: 01H)]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (180 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 10.86 MB
Table of Contents
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)]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (148 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Amplifier
| Size: 8.24 MB
Table of Contents
3
Safety Instructions
4
U.s. Customary Units
5
Table of Contents
11
Chapter 1 Detailed Lists of Servo Parameters
11
Structure
12
Basic Setting Servo Parameters Group ([Pr. PA
12
[Pr. Pa01_Operation Mode (**STY)]
12
[Pr. Pa02_Regenerative Option (**REG)]
13
[Pr. Pa03_Absolute Position Detection System (*ABS)]
14
[Pr. Pa04_Function Selection A-1 (*AOP1)]
14
[Pr. Pa06_Electronic Gear - Numerator (*CMX)]
14
[Pr. Pa07_Electronic Gear - Denominator (*CDV)]
15
[Pr. Pa08_Auto Tuning Mode (ATU)]
17
[Pr. Pa09_Auto Tuning Response (RSP)]
18
[Pr. Pa10_In-Position Range (INP)]
18
[Pr. Pa11_Forward Rotation Torque Limit (TLP)]
19
[Pr. Pa12_Reverse Rotation Torque Limit (TLN)]
20
[Pr. Pa14_Travel Direction Selection (*POL)]
21
[Pr. Pa15_Encoder Output Pulses (*ENR)]
21
[Pr. Pa16_Encoder Output Pulses 2 (*ENR2)]
21
[Pr. Pa17_Servo Motor Series Setting (**MSR)]
22
[Pr. Pa18_Servo Motor Type Setting (**MTY)]
23
[Pr. Pa19_Servo Parameter Writing Prohibited (*BLK)]
24
[Pr. Pa20_Tough Drive Setting (*TDS)]
24
[Pr. Pa21_Function Selection A-3 (*AOP3)]
25
[Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (DRAT)]
25
[Pr. Pa24_Function Selection A-4 (*AOP4)]
25
[Pr. Pa25_One-Touch Tuning - Overshoot Permissible Level (OTHOV)]
26
[Pr. Pa26_Function Selection A-5 (*AOP5)]
26
[Pr. Pa28_Function Selection A-6 (**AOP6)]
26
[Pr. Pa34_Quick Tuning - Permissible Travel Distance (QDIS)]
27
Gain/Filter Setting Servo Parameters Group ([Pr. PB
27
[Pr. Pb01_Adaptive Tuning Mode (Adaptive Filter II) (FILT)]
28
[Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control II) (VRFT)]
28
[Pr. Pb04_Feed Forward Gain (FFC)]
28
[Pr. Pb06_Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2)]
29
[Pr. Pb07_Model Control Gain
29
[Pr. Pb08_Position Control Gain
29
[Pr. Pb09_Speed Control Gain (VG2)]
30
[Pr. Pb10_Speed Integral Compensation (VIC)]
30
[Pr. Pb11_Speed Differential Compensation (VDC)]
30
[Pr. Pb12_Overshoot Amount Compensation (OVA)]
30
[Pr. Pb13_Machine Resonance Suppression Filter 1 (NH1)]
31
[Pr. Pb14_Notch Shape Selection 1 (NHQ1)]
31
[Pr. Pb15_Machine Resonance Suppression Filter 2 (NH2)]
32
[Pr. Pb16_Notch Shape Selection 2 (NHQ2)]
33
[Pr. Pb17_Shaft Resonance Suppression Filter (NHF)]
36
[Pr. Pb18_Low-Pass Filter Setting (LPF)]
37
[Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (VRF11)]
37
[Pr. Pb20_Vibration Suppression Control 1 - Resonance Frequency (VRF12)]
37
[Pr. Pb21_Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13)]
37
[Pr. Pb22_Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14)]
38
[Pr. Pb23_Low-Pass Filter Selection (VFBF)]
39
[Pr. Pb24_Slight Vibration Suppression Control (*MVS)]
39
[Pr. Pb25_Function Selection B-1 (*BOP1)]
40
[Pr. Pb26_Gain Switching Function (*CDP)]
41
[Pr. Pb27_Gain Switching Condition (CDL)]
41
[Pr. Pb28_Gain Switching Time Constant (CDT)]
41
[Pr. Pb29_Load to Motor Inertia Ratio/Load to Motor Mass Ratio After Gain Switching (GD2B)]
41
[Pr. Pb30_Position Control Gain After Gain Switching (PG2B)]
41
[Pr. Pb31_Speed Control Gain After Gain Switching (VG2B)]
42
[Pr. Pb32_Speed Integral Compensation After Gain Switching (VICB)]
42
[Pr. Pb33_Vibration Suppression Control 1 - Vibration Frequency After Gain Switching (VRF11B)]
42
[Pr. Pb34_Vibration Suppression Control 1 - Resonance Frequency After Gain Switching (VRF12B)]
42
[Pr. Pb35_Vibration Suppression Control 1 - Vibration Frequency Damping After Gain Switching (VRF13B)]
43
[Pr. Pb36_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching (VRF14B)]
43
[Pr. Pb45_Command Notch Filter (CNHF)]
46
[Pr. Pb46_Machine Resonance Suppression Filter 3 (NH3)]
46
[Pr. Pb47_Notch Shape Selection 3 (NHQ3)]
47
[Pr. Pb48_Machine Resonance Suppression Filter 4 (NH4)]
47
[Pr. Pb49_Notch Shape Selection 4 (NHQ4)]
48
[Pr. Pb50_Machine Resonance Suppression Filter 5 (NH5)]
48
[Pr. Pb51_Notch Shape Selection 5 (NHQ5)]
49
[Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (VRF21)]
49
[Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (VRF22)]
49
[Pr. Pb54_Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23)]
49
[Pr. Pb55_Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24)]
50
[Pr. Pb56_Vibration Suppression Control 2 - Vibration Frequency After Gain Switching (VRF21B)]
50
[Pr. Pb57_Vibration Suppression Control 2 - Resonance Frequency After Gain Switching (VRF22B)]
50
[Pr. Pb58_Vibration Suppression Control 2 - Vibration Frequency Damping After Gain Switching (VRF23B)]
51
[Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching (VRF24B)]
51
[Pr. Pb60_Model Control Gain After Gain Switching (PG1B)]
52
[Pr. Pb65_Gain Switching 2 Condition (CDL2)]
52
[Pr. Pb66_Gain Switching 2 Time Constant (CDT2)]
52
[Pr. Pb67_Gain Switching 2 - Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2C)]
52
[Pr. Pb68_Position Control Gain After Gain Switching 2 (PG2C)]
52
[Pr. Pb69_Speed Control Gain After Gain Switching 2 (VG2C)]
52
[Pr. Pb70_Gain Switching 2 - Speed Integral Compensation (VICC)]
53
[Pr. Pb71_Vibration Suppression Control 1 - Vibration Frequency After Gain Switching 2 (VRF11C)]
53
[Pr. Pb72_Vibration Suppression Control 1 - Resonance Frequency After Gain Switching 2 (VRF12C)]
53
[Pr. Pb73_Vibration Suppression Control 1 - Vibration Frequency Damping After Gain Switching 2 (VRF13C)]
54
[Pr. Pb74_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching 2 (VRF14C)]
54
[Pr. Pb75_Vibration Suppression Control 2 - Vibration Frequency After Gain Switching 2 (VRF21C)]
54
[Pr. Pb76_Vibration Suppression Control 2 - Resonance Frequency After Gain Switching 2 (VRF22C)]
55
[Pr. Pb77_Vibration Suppression Control 2 - Vibration Frequency Damping After Gain Switching 2 (VRF23C)]
55
[Pr. Pb78_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching 2 (VRF24C)]
55
[Pr. Pb79_Model Control Gain After Gain Switching 2 (PG1C)]
56
Extension Setting Servo Parameters Group ([Pr. PC
56
[Pr. Pc01_Excessive Error Alarm Level (ERZ)]
56
[Pr. Pc02_Electromagnetic Brake Sequence Output (MBR)]
56
[Pr. Pc03_Encoder Output Pulses Selection (*ENRS)]
57
[Pr. Pc04_Function Selection C-1 (**COP1)]
58
[Pr. Pc05_Function Selection C-2 (**COP2)]
58
[Pr. Pc06_Function Selection C-3 (*COP3)]
59
[Pr. Pc07_Zero Speed (ZSP)]
59
[Pr. Pc08_Overspeed Alarm Detection Level (OSL)]
59
[Pr. Pc09_Analog Monitor 1 Output (MOD1)]
60
[Pr. Pc10_Analog Monitor 2 Output (MOD2)]
60
[Pr. Pc11_Analog Monitor 1 Offset (MO1)]
60
[Pr. Pc12_Analog Monitor 2 Offset (MO2)]
60
[Pr. Pc16_Function Selection C-3A (*COP3A)]
61
[Pr. Pc17_Function Selection C-4 (**COP4)]
61
[Pr. Pc19_Function Selection C-6 (*COP6)]
62
[Pr. Pc20_Function Selection C-7 (*COP7)]
63
[Pr. Pc21_Alarm History Clear (*BPS)]
63
[Pr. Pc24_Forced Stop Deceleration Time Constant (RSBR)]
64
[Pr. Pc26_Function Selection C-8 (**COP8)]
64
[Pr. Pc27_Function Selection C-9 (**COP9)]
65
[Pr. Pc29_Function Selection C-B (*COPB)]
66
[Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (RSUP1)]
66
[Pr. Pc38_Excessive Error Warning Level (ERW)]
66
[Pr. Pc67_Following Error Output Level (FEW)]
67
[Pr. Pc69_Following Error Output Filtering Time (FEWF)]
67
[Pr. Pc76_Function Selection C-E (*COPE)]
68
I/O Setting Servo Parameters Group ([Pr. PD
68
[Pr. Pd01_Input Signal Automatic On Selection 1 (*DIA1)]
69
[Pr. Pd03_Input Device Selection 1 (*DI1)]
69
[Pr. Pd04_Input Device Selection 2 (*DI2)]
70
[Pr. Pd05_Input Device Selection 3 (*DI3)]
70
[Pr. Pd07_Output Device Selection 1 (*DO1)]
71
[Pr. Pd08_Output Device Selection 2 (*DO2)]
72
[Pr. Pd09_Output Device Selection 3 (*DO3)]
72
[Pr. Pd11_Input Filter Setting (*DIF)]
73
[Pr. Pd12_Function Selection D-1 (*DOP1)]
73
[Pr. Pd13_Function Selection D-2 (*DOP2)]
74
[Pr. Pd14_Function Selection D-3 (*DOP3)]
74
[Pr. Pd41_Function Selection D-4 (*DOP4)]
75
Extension Setting 2 Servo Parameters Group ([Pr. PE
75
[Pr. Pe41_Function Selection E-3 (EOP3)]
75
[Pr. Pe44_Lost Motion Compensation Positive-Side Compensation Value Selection (LMCP)]
75
[Pr. Pe45_Lost Motion Compensation Negative-Side Compensation Value Selection (LMCN)]
76
[Pr. Pe46_Lost Motion Filter Setting (LMFLT)]
76
[Pr. Pe47_Unbalanced Torque Offset (TOF)]
76
[Pr. Pe48_Lost Motion Compensation Function Selection (*LMOP)]
76
[Pr. Pe49_Lost Motion Compensation Timing (LMCD)]
76
[Pr. Pe50_Lost Motion Compensation Non-Sensitive Band (LMCT)]
77
Extension Setting 3 Servo Parameters Group ([Pr. PF
77
[Pr. Pf02_Function Selection F-2 (*FOP2)]
78
[Pr. Pf06_Function Selection F-5 (*FOP5)]
78
[Pr. Pf12_Electronic Dynamic Brake Operating Time (DBT)]
79
[Pr. PF18_STO Diagnosis Error Detection Time (**STOD)]
79
[Pr. Pf19_Friction Failure Prediction - Compensation Coefficient 1 (TSL)]
79
[Pr. Pf20_Friction Failure Prediction - Compensation Coefficient 2 (TIC)]
80
[Pr. Pf21_Drive Recorder Switching Time Setting (DRT)]
80
[Pr. Pf23_Vibration Tough Drive - Oscillation Detection Level (OSCL1)]
80
[Pr. Pf24_Function Selection F-9 (*FOP9)]
81
[Pr. PF25_SEMI-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive - Detection Time) (CVAT)]
81
[Pr. Pf31_Machine Diagnosis Function - Friction Judgment Speed (FRIC)]
81
[Pr. Pf32_Oscillation Detection Alarm Time (*VIBT)]
82
[Pr. Pf34_Machine Diagnosis Function Selection (*MFP)]
83
[Pr. Pf40_Machine Failure Prediction Servo Parameter (MFPP)]
84
[Pr. Pf41_Failure Prediction - Servo Motor Total Travel Distance (FPMT)]
84
[Pr. Pf42_Friction Failure Prediction - Average Characteristics (PAV)]
85
[Pr. Pf43_Friction Failure Prediction - Standard Deviation (PSD)]
85
[Pr. Pf45_Vibration Failure Prediction - Average Characteristic (VAV)]
86
[Pr. Pf46_Vibration Failure Prediction - Standard Deviation (VSD)]
86
[Pr. Pf47_Servo Motor Total Travel Distance Offset (TMO)]
86
[Pr. Pf66_Gear Ratio Setting for Backlash Estimation (BLG)]
86
[Pr. Pf67_Backlash Nominal Value (BLN)]
87
[Pr. Pf68_Backlash Threshold Multiplication (BLTT)]
87
[Pr. Pf69_Static Friction Failure Prediction - Average Characteristics (SPAV2)]
87
[Pr. Pf70_Static Friction Failure Prediction - Standard Deviation (SPSD2)]
88
[Pr. Pf71_Belt Failure Prediction Function Selection (BFP)]
88
[Pr. Pf72_Belt Tension On Installation (SBT)]
88
[Pr. Pf73_Belt Tension When Extended (ABT)]
88
[Pr. Pf74_Static Friction During Installation (SSF)]
89
[Pr. Pf75_Static Friction When Extended (ASF)]
89
[Pr. Pf76_Belt Tension Irregular Threshold (BTS)]
90
[Pr. Pf80_Drive Recorder - Operation Condition Selection (DRMC)]
91
[Pr. Pf81_Drive Recorder - Sampling Operation Selection (DRMS)]
91
[Pr. Pf82_Drive Recorder - Trigger Operation Selection (DRTM)]
93
[Pr. Pf83_Drive Recorder - Trigger Operation Axis Common Selection (**DRTAX)]
93
[Pr. Pf84_Drive Recorder - Trigger Channel Selection (DRTC)]
94
[Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (DRTL1)]
94
[Pr. Pf86_Drive Recorder - Trigger Level Setting 2 (DRTL2)]
95
[Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (DRAC1)]
96
[Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (DRAC2)]
97
[Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (DRAC3)]
97
[Pr. Pf90_Drive Recorder - Analog Channel Setting 4 (DRAC4)]
98
[Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (DRDC1)]
99
[Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (DRDC2)]
99
[Pr. Pf93_Drive Recorder - Digital Channel Setting 3 (DRDC3)]
100
[Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (DRDC4)]
100
[Pr. Pf95_Drive Recorder - Clear History (*DRCLR)]
101
Motor Extension Setting Servo Parameters Group ([Pr. PL
101
[Pr. Pl01_Function Selection L-1 (**LIT1)]
101
[Pr. Pl02_Linear Encoder Resolution Setting - Numerator (**LIM)]
101
[Pr. Pl03_Linear Encoder Resolution Setting - Denominator (**LID)]
102
[Pr. Pl04_Function Selection L-2 (*LIT2)]
102
[Pr. Pl05_Position Deviation Error Detection Level (LB1)]
102
[Pr. Pl06_Speed Deviation Error Detection Level (LB2)]
103
[Pr. Pl07_Torque Deviation Error Detection Level (LB3)]
103
[Pr. Pl08_Function Selection L-3 (*LIT3)]
103
[Pr. Pl09_Magnetic Pole Detection - Voltage Level (LPWM)]
104
[Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (LTSTS)]
105
Pr. Pl18_Magnetic Pole Detection - Minute Position Detection Method - Identification Signal Amplitude (IDLV
106
Positioning Control Setting Servo Parameter Group ([Pr. PT
106
[Pr. Pt05_Homing Speed (ZRF)]
106
[Pr. Pt06_Creep Speed (CRF)]
106
[Pr. Pt07_Home Position Shift Distance (ZST)]
106
[Pr. Pt08_Homing Position Data (ZPS)]
107
[Pr. Pt09_Travel Distance After Proximity Dog (DCT)]
107
[Pr. Pt10_Stopper Type Homing - Stopping Time (ZTM)]
107
[Pr. Pt11_Stopper Type Homing - Torque Limit Value (ZTT)]
107
[Pr. Pt15_Software Position Limit + (LMP)]
108
[Pr. Pt17_Software Position Limit - (LMN)]
108
[Pr. Pt29_Function Selection T-3 (*TOP3)]
108
[Pr. Pt41_Function Selection T-8 (TOP8)]
109
[Pr. Pt45_Homing Method (HMM)]
110
[Pr. Pt55_Function Selection T-10 (*TOP10)]
110
[Pr. Pt56_Homing Acceleration Time Constant (HMA)]
110
[Pr. Pt57_Homing Deceleration Time Constant (HMB)]
110
[Pr. Pt67_Speed Limit (VLMT)]
111
[Pr. Pt68_Function Selection T-11 (**TOP11)]
112
Network Setting Servo Parameter Group ([Pr. PN
112
[Pr. Pn02_Communication Error - Detection Time (CERT)]
112
[Pr. Pn05_Communication Error - Detection Frequency Setting (CERI)]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (226 pages)
AC Servo System Rotary Servo Motor
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 57.18 MB
Table of Contents
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
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (216 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 20.6 MB
Table of Contents
3
About the Manual
4
U.s. Customary Units
5
Table of Contents
9
Chapter 1 Servo Amplifier Troubleshooting
9
Outline
11
List of Alarm No./Warning no
11
Explanation of the List
26
Handling Methods for Alarms/Warnings
26
[AL. 010_Undervoltage]
27
[AL. 011_Switch Setting Error]
28
[AL. 012_Memory Error 1 (RAM)]
29
[AL. 013_CPU Error]
30
[AL. 014_Control Process Error]
31
[AL. 016_Encoder Initial Communication Error 1]
33
[AL. 017_Board Error]
35
[AL. 019_Memory Error 3]
36
[AL. 01A_Servo Motor Combination Error]
38
[AL. 01E_Encoder Initial Communication Error 2]
39
[AL. 01F_Encoder Initial Communication Error 3]
40
[AL. 020_Encoder Normal Communication Error 1]
42
[AL. 021_Encoder Normal Communication Error 2]
43
[AL. 024_Main Circuit Error]
44
[AL. 025_Absolute Position Erased]
47
[AL. 027_Initial Magnetic Pole Detection Error]
49
[AL. 028_Linear Encoder Error 2]
50
[AL. 02A_Linear Encoder Error 1]
51
[AL. 02B_Encoder Counter Error]
52
[AL. 030_Regenerative Error]
53
[AL. 031_Overspeed]
54
[AL. 032_Overcurrent]
56
[AL. 033_Overvoltage]
57
[AL. 035_Command Frequency Error]
58
[AL. 037_Parameter Error]
59
[AL. 03A_Inrush Current Suppression Circuit Error]
60
[AL. 042_Servo Control Error]
63
[AL. 045_Main Circuit Device Overheat]
64
[AL. 046_Servo Motor Overheat]
66
[AL. 047_Cooling Fan Error]
67
[AL. 050_Overload 1]
69
[AL. 051_Overload 2]
70
[AL. 052_Excessive Error]
72
[AL. 054_Oscillation Detection]
73
[AL. 056_Forced Stop Error]
74
[AL. 063_STO Timing Error]
75
[AL. 066_Encoder Initial Communication Error (Safety Sub-Function)]
76
[AL. 067_Encoder Normal Communication Error 1 (Safety Sub-Function)]
77
[AL. 068_STO Diagnosis Error]
78
[AL. 069_Command Error]
80
[AL. 070_Load-Side Encoder Initial Communication Error 1]
83
[AL. 071_Load-Side Encoder Normal Communication Error 1]
85
[AL. 072_Load-Side Encoder Normal Communication Error 2]
86
[AL. 076_Load-Side Encoder Error]
87
[AL. 086_Network Communication Error]
88
[AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL. 88888_Watchdog 1]
89
[AL. 08A_Serial Communication Time-Out Error]
90
[AL. 08E_Serial Communication Error]
91
[AL. 090_Homing Incomplete Warning]
92
[AL. 091_Servo Amplifier Overheat Warning]
93
[AL. 092_Battery Cable Disconnection Warning]
94
[AL. 093_ABS Data Transfer Warning]
95
[AL. 095_STO Warning]
96
[AL. 096_Home Position Setting Warning]
97
[AL. 098_Software Position Limit Warning]
98
[AL. 099_Stroke Limit Warning]
100
[AL. 09B_Excessive Error Warning]
101
[AL. 09E_Network Warning]
103
[AL. 09F_Battery Warning]
104
[AL. 0E0_Excessive Regeneration Warning]
105
[AL. 0E1_Overload Warning 1]
107
[AL. 0E2_Servo Motor Overheat Warning]
108
[AL. 0E3_Absolute Position Counter Warning]
109
[AL. 0E5_ABS Time-Out Warning]
110
[AL. 0E6_Servo Forced Stop Warning]
111
[AL. 0E8_Cooling Fan Speed Reduction Warning]
112
[AL. 0E9_Main Circuit off Warning]
113
[AL. 0EA_ABS Servo-On Warning]
114
[AL. 0Eb_The Other Axis Error Warning]
115
[AL. 0Ec_Overload Warning 2]
116
[AL. 0Ed_Output Watt Excess Warning]
117
[AL. 0F0_Tough Drive Warning]
118
[AL. 0F2_Drive Recorder Warning]
119
[AL. 0F3_Oscillation Detection Warning]
120
[AL. 0F4_Positioning Warning]
121
[AL. 0F7_Machine Diagnosis Warning]
123
[AL. 118_Encoder Diagnosis]
124
[AL. 119_Memory Error 4]
125
[AL. 11A_Servo Motor Constant Error]
126
[AL. 130_Regenerative Error 2]
127
[AL. 139_Open-Phase Error]
128
[AL. 168_STO Function Error]
129
[AL. 17A_Load-Side Linear Encoder Error 1]
130
[AL. 188_Watchdog 2]
131
[AL. 19E_Network Warning 2]
132
[AL. 1E9_Open Phase Warning]
133
[AL. 1F8_Memory Warning 1]
134
[AL. 510_Voltage Diagnosis Error (Safety Sub-Function)]
135
[AL. 512_Memory Error 1 (RAM) (Safety Sub-Function)]
136
[AL. 514_Control Process Error (Safety Sub-Function)]
137
[AL. 515_Memory Error 2 (ROM) (Safety Sub-Function)]
138
[AL. 516_Encoder Initial Communication Error 1 (Safety Sub-Function)]
139
[AL. 517_Board Error (Safety Sub-Function)]
140
[AL. 518_Synchronous Control Error (Safety Sub-Function)]
141
[AL. 519_Memory Error 3 (Flash-ROM) (Safety Sub-Function)]
143
[AL. 520_Encoder Normal Communication Diagnosis Error 1 (Safety Sub-Function)]
143
[AL. 521_Encoder Normal Communication Diagnosis Error 2 (Safety Sub-Function)]
144
[AL. 522_Encoder Normal Communication Diagnosis Error 3 (Safety Sub-Function)]
145
[AL. 523_Encoder Normal Communication Diagnosis Error 4 (Safety Sub-Function)]
146
[AL. 524_Encoder Normal Communication Diagnosis Error 5 (Safety Sub-Function)]
147
[AL. 525_Encoder Normal Communication Diagnosis Error 6 (Safety Sub-Function)]
148
[AL. 526_Encoder Normal Communication Diagnosis Error 7 (Safety Sub-Function)]
149
[AL. 527_Encoder Normal Communication Diagnosis Error 8 (Safety Sub-Function)]
150
[AL. 528_Encoder Normal Communication Diagnosis Error 9 (Safety Sub-Function)]
151
[AL. 529_Encoder Data Error (Safety Sub-Function)]
152
[AL. 52A_Position Feedback Error (Safety Sub-Function)]
153
[AL. 52B_Encoder Thermal Error (Safety Sub-Function)]
154
[AL. 52C_ Encoder Normal Communication Error 10 (Safety Sub-Function)]
155
[AL. 537_Parameter Setting Range Error (Safety Sub-Function)]
156
[AL. 53A_Parameter Verification Error (Safety Sub-Function)]
157
[AL. 540_Internal Diagnosis Error 1 (Safety Sub-Function)]
158
[AL. 541_Internal Diagnosis Error 2 (Safety Sub-Function)]
159
[AL. 542_Internal Diagnosis Error 3 (Safety Sub-Function)]
160
[AL. 543_Internal Diagnosis Error 4 (Safety Sub-Function)]
161
[AL. 544_Temperature Diagnosis Error (Safety Sub-Function)]
162
[AL. 545_Internal Diagnosis Error 5 (Safety Sub-Function)]
163
[AL. 546_Internal Diagnosis Error 6 (Safety Sub-Function)]
164
[AL. 547_Internal Diagnosis Error 7 (Safety Sub-Function)]
165
[AL. 549_Internal Diagnosis Error 8 (Safety Sub-Function)]
166
[AL. 54A_Internal Diagnosis Error 9 (Safety Sub-Function)]
167
[AL. 54D_Internal Diagnosis Error 10 (Safety Sub-Function)]
168
[AL. 54F_Safety Software Error (Safety Sub-Function)]
169
[AL. 550_Internal Diagnosis Error 11 (Safety Sub-Function)]
170
[AL. 551_Internal Diagnosis Error 12 (Safety Sub-Function)]
171
[AL. 552_Internal Diagnosis Error 13 (Safety Sub-Function)]
172
[AL. 554_Input Device Internal Diagnosis Error (Safety Sub-Function)]
173
[AL. 555_Output Device Diagnosis Error 1 (Safety Sub-Function)]
174
[AL. 556_Output Device Diagnosis Error 2 (Safety Sub-Function)]
175
[AL. 557_Input Device Mismatch Detection (Safety Sub-Function)]
176
[AL. 560_Stop Error (Safety Sub-Function)]
178
[AL. 561_Safety Speed Monitor Error 1 (Safety Sub-Function)]
180
[AL. 562_Safety Speed Monitor Error 2 (Safety Sub-Function)]
182
[AL. 563_Deceleration Monitor Error (Safety Sub-Function)]
184
[AL. 564_Increment Monitor Error (Safety Sub-Function)]
185
[AL. 565_Direction Monitor Error (Safety Sub-Function)]
187
[AL. 568_Torque Monitor Error 1 (Safety Sub-Function)]
189
[AL. 569_Torque Monitor Error 2 (Safety Sub-Function)]
191
[AL. 580_Safety Communication Setting Error (Safety Sub-Function)]
192
[AL. 581_Safety Communication Error 1 (Safety Sub-Function)]
194
[AL. 582_Safety Communication Error 2 (Safety Sub-Function)]
195
[AL. 583_Safety Communication Error 3 (Safety Sub-Function)]
196
[AL. 595_STO Command off Warning (Safety Sub-Function)]
197
[AL. 596_SS1 Time-Out Warning (Safety Sub-Function)]
198
[AL. 59D_Internal Diagnosis Error (Safety Sub-Function)]
199
[AL. 5E1_Test Mode Setting Mismatch Warning (Safety Sub-Function)]
200
[AL. 5E2_Safety Communication Warning (Safety Sub-Function)]
201
[AL. 5E6_SS1 Command off Warning (Safety Sub-Function)]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (104 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 8.05 MB
Table of Contents
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)]
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (120 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Amplifier
| Size: 9.92 MB
Table of Contents
3
Safety Instructions
4
Disposal of Waste
4
About the Manual
6
U.s. Customary Units
7
Table of Contents
11
Chapter 1 Specifications
11
Outline
11
Model Designation
13
Servo Amplifier/Motor Combinations
14
Servo Amplifier Standard Specifications
14
Mr-J5-_G-N1
16
Mr-J5W2-_G-N1
17
Mr-J5W3-_G-N1
18
Functional Safety
19
Environment
20
Function Block Diagram
20
Mr-J5-_G-_N1
21
Mr-J5W_-_G-N1
22
Configuration Including Peripheral Equipment
23
Special Specifications
23
Servo Amplifiers Without the Dynamic Brake (-ED/-RU)
24
Chapter 2 Function
24
Function List
33
Security
34
Chapter 3 Structure
34
Parts Identification
38
Switch Setting and Display of the Servo Amplifier
38
Switches
39
7-Segment LED
42
CN1A/CN1B Connector LED
43
Status Leds
44
LED Display
45
Chapter 4 Startup
49
Turning on Servo Amplifier for the First Time
50
Test Operation of the Servo Motor Alone in Test Operation Mode
51
Equipment Configuration Setting
51
Controller-Related Setting
52
Operation by Controller Command
53
Instructions on Startup
53
Troubleshooting at Startup
54
Duplicate Setting
54
Duplication Using MR Configurator2
54
Test Operation
54
Execution Method
55
Test Operation Mode
55
Motor Driving by Test Operation
58
Motor-Less Operation
59
Output Signal (DO) Forced Output
60
Servo Amplifier Setting Initialization
60
Initialization Procedure by MR Mode Change
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (106 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Servo Drives
| Size: 9.29 MB
Table of Contents
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
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (66 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Servo Drives
| Size: 8.34 MB
Table of Contents
3
Safety Instructions
4
Cables Used for Wiring
4
Customary Units
4
Disposal of Waste
5
Table of Contents
7
Chapter 1 Introduction
7
Rating Plate
7
Environment
8
Parts Identification
8
Instructions On Storage
8
Design Instructions
8
Instructions On Maintenance
9
Chapter 2 Installation
10
Equipment Configuration
11
Mounting Direction
11
Load Mounting/Dismounting Precautions
11
Permissible Load for the Rotor
12
Protection From Oil and Water
12
Inspection Items
12
Periodic Inspection
13
Parts Having Life
13
Machine Accuracy
14
Flange Size
14
Restrictions When Using This Product at Altitude Exceeding 1000 M and Up to 2000 M
14
Magnetic Shielding
15
Chapter 3 Connectors Used for Direct Drive Motor Wiring
15
Selection of Connectors
16
Wiring Connectors (Connector Configurations A/B/C/D/E)
18
Chapter 4 Connector Dimensions
23
Chapter 5 Connection of Servo Amplifier and Direct Drive Motor
24
Precautions for Wiring
24
Direct Drive Motor Power Cable Wiring Diagram
25
Selection Example of Wires
26
CHAPTER 6 Wiring Option
26
Connector Set
27
Combinations of Connector Sets
29
Connector List
30
Encoder Connector Set
31
Combinations of Encoder Cables
32
Fabrication of the Encoder Cable
37
Shield Procedure of CN2, CN2A, CN2B, and CN2C Side Connectors
38
Absolute Position Storage Unit MR-BTAS01
39
Chapter 7 Tm-Rfm Series
39
Model Designation
40
Combinations of Servo Amplifier and Direct Drive Motor
40
1-Axis Servo Amplifier
40
Multi-Axis Servo Amplifier
41
Specification List
41
TM-RFM Series
44
Torque Characteristics
45
Dimensions
45
Tm-Rfm002C20, Tm-Rfm004C20, Tm-Rfm006C20
46
Tm-Rfm006E20, Tm-Rfm012E20, Tm-Rfm018E20
47
Tm-Rfm012G20, Tm-Rfm048G20, Tm-Rfm072G20
48
Tm-Rfm040J10, Tm-Rfm120J10