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

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Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (148 pages)

AC Servo System

Brand: Mitsubishi Electric | Category: Amplifier | Size: 8.24 MB

SAFETY INSTRUCTIONS 3

U.S. CUSTOMARY UNITS 4

Table Of Contents 5

CHAPTER 1 DETAILED LISTS OF SERVO PARAMETERS 11

Structure 11

Basic Setting Servo Parameters Group ([Pr. PA 12

[Pr. PA01_Operation Mode (**STY)] 12

[Pr. PA02_Regenerative Option (**REG)] 12

[Pr. PA03_Absolute Position Detection System (*ABS)] 13

[Pr. PA04_Function Selection A-1 (*AOP1)] 14

[Pr. PA06_Electronic Gear - Numerator (*CMX)] 14

[Pr. PA07_Electronic Gear - Denominator (*CDV)] 14

[Pr. PA08_Auto Tuning Mode (ATU)] 15

[Pr. PA09_Auto Tuning Response (RSP)] 17

[Pr. PA10_In-position Range (INP)] 18

[Pr. PA11_Forward Rotation Torque Limit (TLP)] 18

[Pr. PA12_Reverse Rotation Torque Limit (TLN)] 19

[Pr. PA14_Travel Direction Selection (*POL)] 20

[Pr. PA15_Encoder Output Pulses (*ENR)] 21

[Pr. PA16_Encoder Output Pulses 2 (*ENR2)] 21

[Pr. PA17_Servo Motor Series Setting (**MSR)] 21

[Pr. PA18_Servo Motor Type Setting (**MTY)] 22

[Pr. PA19_Servo Parameter Writing Prohibited (*BLK)] 23

[Pr. PA20_Tough Drive Setting (*TDS)] 24

[Pr. PA21_Function Selection A-3 (*AOP3)] 24

[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)] 25

[Pr. PA26_Function Selection A-5 (*AOP5)] 26

[Pr. PA28_Function Selection A-6 (**AOP6)] 26

[Pr. PA34_Quick Tuning - Permissible Travel Distance (QDIS)] 26

Gain/filter Setting Servo Parameters Group ([Pr. PB 27

[Pr. PB01_Adaptive Tuning Mode (adaptive Filter II) (FILT)] 27

[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)] 28

[Pr. PB07_Model Control Gain 29

[Pr. PB08_Position Control Gain 29

[Pr. PB09_Speed Control Gain (VG2)] 29

[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)] 30

[Pr. PB14_Notch Shape Selection 1 (NHQ1)] 31

[Pr. PB15_Machine Resonance Suppression Filter 2 (NH2)] 31

[Pr. PB16_Notch Shape Selection 2 (NHQ2)] 32

[Pr. PB17_Shaft Resonance Suppression Filter (NHF)] 33

[Pr. PB18_Low-pass Filter Setting (LPF)] 36

[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)] 37

[Pr. PB23_Low-pass Filter Selection (VFBF)] 38

[Pr. PB24_Slight Vibration Suppression Control (*MVS)] 39

[Pr. PB25_Function Selection B-1 (*BOP1)] 39

[Pr. PB26_Gain Switching Function (*CDP)] 40

[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. 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)] 42

[Pr. PB36_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching (VRF14B)] 43

[Pr. PB45_Command Notch Filter (CNHF)] 43

[Pr. PB46_Machine Resonance Suppression Filter 3 (NH3)] 46

[Pr. PB47_Notch Shape Selection 3 (NHQ3)] 46

[Pr. PB48_Machine Resonance Suppression Filter 4 (NH4)] 47

[Pr. PB49_Notch Shape Selection 4 (NHQ4)] 47

[Pr. PB50_Machine Resonance Suppression Filter 5 (NH5)] 48

[Pr. PB51_Notch Shape Selection 5 (NHQ5)] 48

[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)] 49

[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)] 50

[Pr. PB59_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching (VRF24B)] 51

[Pr. PB60_Model Control Gain After Gain Switching (PG1B)] 51

[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. 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)] 53

[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)] 54

[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)] 55

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)] 56

[Pr. PC04_Function Selection C-1 (**COP1)] 57

[Pr. PC05_Function Selection C-2 (**COP2)] 58

[Pr. PC06_Function Selection C-3 (*COP3)] 58

[Pr. PC07_Zero Speed (ZSP)] 59

[Pr. PC08_Overspeed Alarm Detection Level (OSL)] 59

[Pr. PC09_Analog Monitor 1 Output (MOD1)] 59

[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)] 60

[Pr. PC17_Function Selection C-4 (**COP4)] 61

[Pr. PC19_Function Selection C-6 (*COP6)] 61

[Pr. PC20_Function Selection C-7 (*COP7)] 62

[Pr. PC21_Alarm History Clear (*BPS)] 63

[Pr. PC24_Forced Stop Deceleration Time Constant (RSBR)] 63

[Pr. PC26_Function Selection C-8 (**COP8)] 64

[Pr. PC27_Function Selection C-9 (**COP9)] 64

[Pr. PC29_Function Selection C-B (*COPB)] 65

[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)] 66

[Pr. PC69_Following Error Output Filtering Time (FEWF)] 67

[Pr. PC76_Function Selection C-E (*COPE)] 67

I/O Setting Servo Parameters Group ([Pr. PD 68

[Pr. PD01_Input Signal Automatic On Selection 1 (*DIA1)] 68

[Pr. PD03_Input Device Selection 1 (*DI1)] 69

[Pr. PD04_Input Device Selection 2 (*DI2)] 69

[Pr. PD05_Input Device Selection 3 (*DI3)] 70

[Pr. PD07_Output Device Selection 1 (*DO1)] 70

[Pr. PD08_Output Device Selection 2 (*DO2)] 71

[Pr. PD09_Output Device Selection 3 (*DO3)] 72

[Pr. PD11_Input Filter Setting (*DIF)] 72

[Pr. PD12_Function Selection D-1 (*DOP1)] 73

[Pr. PD13_Function Selection D-2 (*DOP2)] 73

[Pr. PD14_Function Selection D-3 (*DOP3)] 74

[Pr. PD41_Function Selection D-4 (*DOP4)] 74

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)] 75

[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

Extension Setting 3 Servo Parameters Group ([Pr. PF 77

[Pr. PF02_Function Selection F-2 (*FOP2)] 77

[Pr. PF06_Function Selection F-5 (*FOP5)] 78

[Pr. PF12_Electronic Dynamic Brake Operating Time (DBT)] 78

[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)] 79

[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)] 80

[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)] 81

[Pr. PF34_Machine Diagnosis Function Selection (*MFP)] 82

[Pr. PF40_Machine Failure Prediction Servo Parameter (MFPP)] 83

[Pr. PF41_Failure Prediction - Servo Motor Total Travel Distance (FPMT)] 84

[Pr. PF42_Friction Failure Prediction - Average Characteristics (PAV)] 84

[Pr. PF43_Friction Failure Prediction - Standard Deviation (PSD)] 85

[Pr. PF45_Vibration Failure Prediction - Average Characteristic (VAV)] 85

[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)] 86

[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)] 87

[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)] 88

[Pr. PF75_Static Friction When Extended (ASF)] 89

[Pr. PF76_Belt Tension Irregular Threshold (BTS)] 89

[Pr. PF80_Drive Recorder - Operation Condition Selection (DRMC)] 90

[Pr. PF81_Drive Recorder - Sampling Operation Selection (DRMS)] 91

[Pr. PF82_Drive Recorder - Trigger Operation Selection (DRTM)] 91

[Pr. PF83_Drive Recorder - Trigger Operation Axis Common Selection (**DRTAX)] 93

[Pr. PF84_Drive Recorder - Trigger Channel Selection (DRTC)] 93

[Pr. PF85_Drive Recorder - Trigger Level Setting 1 (DRTL1)] 94

[Pr. PF86_Drive Recorder - Trigger Level Setting 2 (DRTL2)] 94

[Pr. PF87_Drive Recorder - Analog Channel Setting 1 (DRAC1)] 95

[Pr. PF88_Drive Recorder - Analog Channel Setting 2 (DRAC2)] 96

[Pr. PF89_Drive Recorder - Analog Channel Setting 3 (DRAC3)] 97

[Pr. PF90_Drive Recorder - Analog Channel Setting 4 (DRAC4)] 97

[Pr. PF91_Drive Recorder - Digital Channel Setting 1 (DRDC1)] 98

[Pr. PF92_Drive Recorder - Digital Channel Setting 2 (DRDC2)] 99

[Pr. PF93_Drive Recorder - Digital Channel Setting 3 (DRDC3)] 99

[Pr. PF94_Drive Recorder - Digital Channel Setting 4 (DRDC4)] 100

[Pr. PF95_Drive Recorder - Clear History (*DRCLR)] 100

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)] 101

[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)] 102

[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)] 103

[Pr. PL17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (LTSTS)] 104

Pr. PL18_Magnetic Pole Detection - Minute Position Detection Method - Identification Signal Amplitude (IDLV 105

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. 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)] 107

[Pr. PT17_Software Position Limit - (LMN)] 108

[Pr. PT29_Function Selection T-3 (*TOP3)] 108

[Pr. PT41_Function Selection T-8 (TOP8)] 108

[Pr. PT45_Homing Method (HMM)] 109

[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)] 110

[Pr. PT68_Function Selection T-11 (**TOP11)] 111

Network Setting Servo Parameter Group ([Pr. PN 112

[Pr. PN02_Communication Error - Detection Time (CERT)] 112

[Pr. PN05_Communication Error - Detection Frequency Setting (CERI)] 112

CHAPTER 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 113

Structure 113

Lists Of Supported Control Modes 113

Basic Setting Servo Parameters Group ([Pr. PA 113

Gain/filter Setting Servo Parameters Group ([Pr. PB 115

Extension Setting Servo Parameters Group ([Pr. PC 117

I/O Setting Servo Parameters Group ([Pr. PD 118

Extension Setting 2 Servo Parameters Group ([Pr. PE 118

Extension Setting 3 Servo Parameters Group ([Pr. PF 119

Motor Extension Setting Servo Parameters Group ([Pr. PL 120

Positioning Control Setting Servo Parameter Group ([Pr. PT 121

CHAPTER 3 LISTS OF SERVO PARAMETER INITIAL VALUE 122

Extension Setting 3 Servo Parameters Group ([Pr. PF 130

Motor Extension Setting Servo Parameters Group ([Pr. PL 132

Positioning Control Setting Servo Parameter Group ([Pr. PT 133

Network Setting Servo Parameter Group ([Pr. PN 135

CHAPTER 4 Servo Parameter Setting Method 137

Engineering Tool 137

Object Dictionary 137

CHAPTER 5 Detailed List Of The Network Parameters 139

Network Basic Parameters 139

[Pr. NPA01_IP Address Setting] 139

[Pr. NPA02_IP Address] 140

[Pr. NPA04_Subnet Mask] 140

[Pr. NPA08_Host Name] 141

CHAPTER 6 Network Parameter Setting Method 142

REVISIONS 144

WARRANTY 145

TRADEMARKS 146

Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (104 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 8.05 MB

SAFETY INSTRUCTIONS 3

U.S. CUSTOMARY UNITS 4

Table Of Contents 5

CHAPTER 1 SUMMARY OF OBJECT DICTIONARY 14

Structure 14

CHAPTER 2 General Objects 16

Device Type (Obj. 1000h)] 16

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

Error Register (Obj. 1001h)] 16

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

Restore Default Parameters (Obj. 1011h)] 18

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

[Restore All Default Parameters (Obj. 1011h: 01h)] 18

Identity Object (Obj. 1018h)] 19

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

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

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

Version Number (Obj. 67FEh)] 20

[Version Number (Obj. 67FEh: 00h)] 20

CHAPTER 3 PDO Mapping Objects 21

1st Receive PDO Mapping (Obj. 1600h)] 21

[1st Receive PDO Mapping (Obj. 1600h: 00h)] 21

[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)] 22

2nd Receive PDO Mapping (Obj. 1601h)] 23

[2nd Receive PDO Mapping (Obj. 1601h: 00h)] 23

[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)] 24

1st Transmit PDO Mapping (Obj. 1A00h)] 25

[1st Transmit PDO Mapping (Obj. 1A00h: 00h)] 25

[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] 26

2nd Transmit PDO Mapping (Obj. 1A01h)] 27

[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)] 27

[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)] 28

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

[Memory Address (Obj. 1C00h: 04h)] 30

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

[Memory Address (Obj. 1C01h: 04h)] 32

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

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

CHAPTER 6 Alarm Objects 37

Alarm History Newest (Obj. 2A00h)] 37

[Alarm History Newest (Obj. 2A00h: 00h)] 37

[Alarm No. (Obj. 2A00h: 01h)] 37

[Alarm Time (second) (Obj. 2A00h: 04h)] 38

[Alarm Time (nanosecond) (Obj. 2A00h: 05h)] 38

[Alarm Time (time Zone) (Obj. 2A00h: 06h)] 38

[Alarm Time (summer Time) (Obj. 2A00h: 07h)] 38

Alarm History _1 (Obj. 2A01h)] - [Alarm History _15 (Obj. 2A0Fh)] 39

Clear Alarm History (Obj. 2A40h)] 39

[Clear Alarm History (Obj. 2A40h: 00h)] 39

Current Alarm (Obj. 2A41h)] 39

Parameter Error List (Obj. 2A45h)] 40

[Parameter Error List (Obj. 2A45h: 00h)] 40

[Parameter Error List 1 (Obj. 2A45h: 01h)] - [Parameter Error List 254 (Obj. 2A45h: FEh)] 40

Reset Alarm (Obj. 2A46h)] 40

Drive Recorder History Newest (Obj. 2A70h)] 41

[Drive Recorder History Newest (Obj. 2A70h: 00h)] 41

[Drive Recorder History Index (Obj. 2A70h: 01h)] 41

[Drive Recorder History Alarm Number (Obj. 2A70h: 02h)] 41

[Drive Recorder History Time (second) (Obj. 2A70h: 04h)] 42

[Drive Recorder History Time (nanosecond) (Obj. 2A70h: 05h)] 42

[Drive Recorder History (time Zone) (Obj. 2A70h: 06h)] 42

[Drive Recorder History (summer Time) (Obj. 2A70h: 07h)] 42

Drive Recorder History_1 (Obj. 2A71h)] - [Drive Recorder History_15 (Obj. 2A7Fh)] 43

CHAPTER 7 Monitor Objects 44

Cumulative Feedback Pulses (Obj. 2B01h)] 44

[Cumulative Feedback Pulses (Obj. 2B01h: 00h)] 44

Servo Motor Speed (Obj. 2B02h)] 44

Command Pulse Frequency (Obj. 2B05h)] 45

[Command Pulse Frequency (Obj. 2B05h: 00h)] 45

Regenerative Load Ratio (Obj. 2B08h)] 45

[Regenerative Load Ratio (Obj. 2B08h: 00h)] 45

Within One-revolution Position (Obj. 2B0Ch)] 46

[Within One-revolution Position (Obj. 2B0Ch: 00h)] 46

ABS Counter (Obj. 2B0Dh)] 46

[ABS Counter (Obj. 2B0Dh: 00h)] 46

Load-side Encoder Information 1 Z-phase Counter (Obj. 2B12h)] 47

[Load-side Encoder Information 1 Z-phase Counter (Obj. 2B12h: 00h)] 47

Load-side Encoder Information 2 (Obj. 2B13h)] 47

[Load-side Encoder Information 2 (Obj. 2B13h: 00h)] 47

Motor-side Cumu. Feedback Pulses (before Gear) (Obj. 2B18h)] 48

[Motor-side Cumu. Feedback Pulses (before Gear) (Obj. 2B18h: 00h)] 48

Electrical Angle (Obj. 2B19h)] 48

[Electrical Angle (Obj. 2B19h: 00h)] 48

Oscillation Detection Frequency (Obj. 2B27h)] 49

[Oscillation Detection Frequency (Obj. 2B27h: 00h)] 49

Number Of Tough Drive Operations (Obj. 2B28h)] 49

[Number Of Tough Drive Operations (Obj. 2B28h: 00h)] 49

Error Excessive Alarm Margin (Obj. 2B3Fh)] 50

[Error Excessive Alarm Margin (Obj. 2B3Fh: 00h)] 50

Overload Alarm Margin (Obj. 2B40h)] 50

[Overload Alarm Margin (Obj. 2B40h: 00h)] 50

Unit Power Consumption 2 (Obj. 2B43h)] 51

[Unit Power Consumption 2 (Obj. 2B43h: 00h)] 51

CHAPTER 8 Manufacturer Specific Control Object 52

Drive Recorder Status (Obj. 2C02h)] 52

[Drive Recorder Status (Obj. 2C02h: 00h)] 52

Clear Drive Recorder History (Obj. 2C03h)] 52

Dynamic Relay ON/OFF Number (Obj. 2C1Ah)] 53

[Dynamic Relay ON/OFF Number (Obj. 2C1Ah: 00h)] 53

Machine Diagnostic Status (Obj. 2C20h)] 53

[Machine Diagnostic Status (Obj. 2C20h: 00h)] 53

Coulomb Friction Torque In Positive Direction (Obj. 2C21h)] 54

[Coulomb Friction Torque In Positive Direction (Obj. 2C21h: 00h)] 54

Friction Torque At Rated Speed In Positive Direction (Obj. 2C22h)] 54

[Friction Torque At Rated Speed In Positive Direction (Obj. 2C22h: 00h)] 54

Oscillation Frequency During Motor Stop (Obj. 2C25h)] 55

[Oscillation Frequency During Motor Stop (Obj. 2C25h: 00h)] 55

Vibration Level During Motor Stop (Obj. 2C26h)] 55

Fault Prediction Status (Obj. 2C29h)] 56

Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah)] 57

Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh)] 58

Static Frictionbased Fault Prediction Upper Threshold (obj. 2C33h)] 59

Supported Control DI (Obj. 2D00h)] 60

Supported Control DI 5 (Obj. 2D00h: 05h)] 61

Supported Control DI 10 (Obj. 2D00h: 0Ah)] 62

Control DI 4 (Obj. 2D04h)] 63

Control DI 8 (Obj. 2D08h)] 64

Supported Status DO 1 (Obj. 2D10h: 01h)] 65

Supported Status DO 6 (Obj. 2D10h: 06h)] 66

Status DO 1 (Obj. 2D11h)] 67

Status DO 5 (Obj. 2D15h)] 68

Status DO 9 (Obj. 2D19h)] 69

One-touch Tuning Mode (Obj. 2D50h)] 70

[One-touch Tuning Mode (Obj. 2D50h: 00h)] 70

One-touch Tuning Status (Obj. 2D51h)] 70

[One-touch Tuning Status (Obj. 2D51h: 00h)] 70

One-touch Tuning Stop (Obj. 2D52h)] 71

[One-touch Tuning Stop (Obj. 2D52h: 00h)] 71

One-touch Tuning Clear (Obj. 2D53h)] 71

[One-touch Tuning Clear (Obj. 2D53h: 00h)] 71

One-touch Tuning Error Code (Obj. 2D54h)] 72

[One-touch Tuning Error Code (Obj. 2D54h: 00h)] 72

CHAPTER 9 PDS Control Objects 73

Controlword (Obj. 6040h)] 73

[Controlword (Obj. 6040h: 00h)] 73

Statusword (Obj. 6041h)] 75

[Statusword (Obj. 6041h: 00h)] 75

Quick Stop Option Code (Obj. 605Ah)] 76

[Quick Stop Option Code (Obj. 605Ah: 00h)] 76

Halt Option Code (Obj. 605Dh)] 77

[Halt Option Code (Obj. 605Dh: 00h)] 77

Modes Of Operation (Obj. 6060h)] 77

[Modes Of Operation (Obj. 6060h: 00h)] 77

Modes Of Operation Display (Obj. 6061h)] 78

[Modes Of Operation Display (Obj. 6061h: 00h)] 78

Supported Drive Modes (Obj. 6502h)] 78

[Supported Drive Modes (Obj. 6502h: 00h)] 78

CHAPTER 10 Position Control Function Objects 79

[Position Actual Internal Value (Obj. 6063h: 00h)] 79

Position Actual Value (Obj. 6064h)] 79

[Position Actual Value (Obj. 6064h: 00h)] 79

Positioning Option Code (Obj. 60F2h)] 80

[Positioning Option Code (Obj. 60F2h: 00h)] 80

Following Error Actual Value (Obj. 60F4h)] 80

[Following Error Actual Value (Obj. 60F4h: 00h)] 80

CHAPTER 11 Profile Velocity Mode Objects 81

[Velocity Demand Value (Obj. 606Bh: 00h)] 81

Velocity Actual Value (Obj. 606Ch)] 81

[Velocity Actual Value (Obj. 606Ch: 00h)] 81

CHAPTER 12 Profile Torque Mode Objects 83

Target Torque (Obj. 6071h)] 83

[Target Torque (Obj. 6071h: 00h)] 83

Max Torque (Obj. 6072h)] 83

Torque Slope (Obj. 6087h)] 84

[Torque Slope (Obj. 6087h: 00h)] 84

Torque Profile Type (Obj. 6088h)] 84

[Torque Profile Type (Obj. 6088h: 00h)] 84

Negative Torque Limit Value (Obj. 60E1h)] 85

[Negative Torque Limit Value (Obj. 60E1h: 00h)] 85

CHAPTER 13 Profile Position Mode Objects 86

Target Position (Obj. 607Ah)] 86

[Target Position (Obj. 607Ah: 00h)] 86

Position Range Limit (Obj. 607Bh)] 86

Software Position Limit (Obj. 607Dh)] 87

[Software Position Limit (Obj. 607Dh: 00h)] 87

[Min Position Limit (Obj. 607Dh: 01h)] 87

[Max Position Limit (Obj. 607Dh: 02h)] 87

Max Motor Speed (Obj. 6080h)] 88

[Max Motor Speed (Obj. 6080h: 00h)] 88

Profile Velocity (Obj. 6081h)] 88

[Profile Velocity (Obj. 6081h: 00h)] 88

Quick Stop Deceleration (Obj. 6085h)] 89

[Quick Stop Deceleration (Obj. 6085h: 00h)] 89

CHAPTER 14 Homing Mode Objects 90

Home Offset (Obj. 607Ch)] 90

[Home Offset (Obj. 607Ch: 00h)] 90

Homing Method (Obj. 6098h)] 90

[Speed During Search For Zero (Obj. 6099h: 02h)] 91

Homing Acceleration (Obj. 609Ah)] 91

[Homing Acceleration (Obj. 609Ah: 00h)] 91

Supported Homing Method (Obj. 60E3h)] 91

[1st Supported Homing Method (Obj. 60E3h: 01h)] - [39th Supported Homing Method (Obj. 60E3h: 27h)] 92

CHAPTER 15 Factor Group Objects 93

Polarity (Obj. 607Eh)] 93

[Polarity (Obj. 607Eh: 00h)] 93

Position Encoder Resolution (Obj. 608Fh)] 94

[Position Encoder Resolution (Obj. 608Fh: 00h)] 94

[Encoder Increments (Obj. 608Fh: 01h)] 94

[Motor Revolutions (Obj. 608Fh: 02h)] 94

Gear Ratio (Obj. 6091h)] 95

[Gear Ratio (Obj. 6091h: 00h)] 95

[Motor Revolutions (Obj. 6091h: 01h)] 95

[Shaft Revolutions (Obj. 6091h: 02h)] 95

Feed Constant (Obj. 6092h)] 96

[Feed Constant (Obj. 6092h: 00h)] 96

[Feed (Obj. 6092h: 01h)] 96

[Shaft Revolutions (Obj. 6092h: 02h)] 96

SI Unit Velocity (Obj. 60A9h)] 97

[SI Unit Velocity (Obj. 60A9h: 00h)] 97

SI Unit Acceleration (Obj. 60AAh)] 97

[SI Unit Acceleration (Obj. 60AAh: 00h)] 97

CHAPTER 16 Optional Application FE Objects 98

Digital Inputs (Obj. 60FDh)] 98

[Digital Inputs (Obj. 60FDh: 00h)] 98

REVISIONS 100

WARRANTY 101

TRADEMARKS 102

Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual (80 pages)

Linear Servo Motor

Brand: Mitsubishi Electric | Category: Engine | Size: 13.16 MB

SAFETY INSTRUCTIONS 3

DISPOSAL OF WASTE 4

Handling Of Linear Servo Motor 5

Cables Used For Wiring 7

U.S. CUSTOMARY UNITS 7

Table Of Contents 8

CHAPTER 1 Handling Of Linear Servo Motor 10

Design Instructions 10

Instructions On Installation Operation 12

Instructions On Storage 14

Storage Method 15

Instructions For Disposal 15

CHAPTER 2 INSPECTION 16

Inspections On Primary Side (coil) 16

Inspections On Secondary Side (magnet) 17

Inspections Of Linear Encoder 17

CHAPTER 3 REPLACEMENT OF LINEAR SERVO MOTOR IN THE ABSOLUTE POSI- TION DETECTION SYSTEM 18

Replacement Of Primary Side (coil) Or Secondary Side (magnet) 18

Replacement Of Linear Encoder 18

CHAPTER 4 CONNECTION OF SERVO AMPLIFIER AND LINEAR SERVO MOTOR 20

Precautions For Wiring 21

Power Supply Cable Wiring Diagrams 21

LM-H3/LM-U2/LM-K2 Series 21

LM-F Series 23

Selection Example Of Wires 24

CHAPTER 5 Linear Servo Motor 25

Rating Plate 25

Environment 27

LM-H3 Series 28

Model Designation 28

Combinations Of Servo Amplifiers And Linear Servo Motors 29

LM-H3 Series Specification List 30

Thrust Characteristics 31

Installation 33

LM-H3 Series Primary Side (coil) Dimensions 36

LM-H3 Series Secondary Side (magnet) Dimensions 37

LM-U2 Series 39

Model Designation 39

Combinations Of Servo Amplifiers And Linear Servo Motors 41

LM-U2 Series Specification List 42

Thrust Characteristics 44

Installation 45

LM-U2 Series Primary Side (coil) Dimensions 48

LM-U2 Series Secondary Side (magnet) Dimensions 51

LM-F Series 53

Model Designation 53

Combinations Of Servo Amplifiers And Linear Servo Motors 54

LM-F Series Specification List 54

Thrust Characteristics 55

Installation 56

Liquid Cooling 59

LM-F Series Primary Side (coil) Dimensions 60

LM-F Series Secondary Side (magnet) Dimensions 61

LM-K2 Series 62

LM-K2 Series Specification List 64

LM-K2 Series Primary Side (coil) Dimensions 71

LM-K2 Series Secondary Side (magnet) Dimensions 73

REVISIONS 76

WARRANTY 77

TRADEMARKS 78

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

SAFETY INSTRUCTIONS 3

DISPOSAL OF WASTE 4

CABLES USED FOR WIRING 4

CUSTOMARY UNITS 4

Table Of Contents 5

CHAPTER 1 INTRODUCTION 7

Rating Plate 7

Environment 7

Parts Identification 8

Instructions On Storage 8

Design Instructions 8

Instructions On Maintenance 8

CHAPTER 2 INSTALLATION 9

Equipment Configuration 10

Mounting Direction 11

Load Mounting/dismounting Precautions 11

Permissible Load For The Rotor 11

Protection From Oil And Water 12

Inspection Items 12

Periodic Inspection 12

Parts Having Life 13

Machine Accuracy 13

Flange Size 14

Restrictions When Using This Product At Altitude Exceeding 1000 M And Up To 2000 M 14

Magnetic Shielding 14

CHAPTER 3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING 15

Selection Of Connectors 15

Wiring Connectors (connector Configurations A/B/C/D/E) 16

CHAPTER 4 CONNECTOR DIMENSIONS 18

CHAPTER 5 CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR 23

Precautions For Wiring 24

Direct Drive Motor Power Cable Wiring Diagram 24

Selection Example Of Wires 25

CHAPTER 6 Wiring Option 26

Connector Set 26

Combinations Of Connector Sets 27

Connector List 29

Encoder Connector Set 30

Combinations Of Encoder Cables 31

Fabrication Of The Encoder Cable 32

Shield Procedure Of CN2, CN2A, CN2B, And CN2C Side Connectors 37

Absolute Position Storage Unit MR-BTAS01 38

CHAPTER 7 TM-RFM SERIES 39

Model Designation 39

Combinations Of Servo Amplifier And Direct Drive Motor 40

1-axis Servo Amplifier 40

Multi-axis Servo Amplifier 40

Specification List 41

TM-RFM Series 41

Torque Characteristics 44

Dimensions 45

TM-RFM002C20, TM-RFM004C20, TM-RFM006C20 45

TM-RFM006E20, TM-RFM012E20, TM-RFM018E20 46

TM-RFM012G20, TM-RFM048G20, TM-RFM072G20 47

TM-RFM040J10, TM-RFM120J10 48

CHAPTER 8 TM-RG2M SERIES/TM-RU2M SERIES 49

TM-RG2M Series/RU2M Series 51

Installation Method 53

TM-RG2M002C30 54

TM-RG2M004E30 54

TM-RG2M009G30 55

TM-RU2M002C30 55

TM-RU2M004E30 56

TM-RU2M009G30 56

CHAPTER 9 COMPLIANCE WITH EACH REGION 57

Compliance With CE Marking 57

CE Marking 57

For Compliance 57

Compliance With UL/CSA Standard 58

CHAPTER 10 APPENDIX 60

Fabrication Of The Encoder Cable 60

REVISIONS 62

WARRANTY 63

TRADEMARKS 64

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