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Mitsubishi Electric MELSERVO MR-J5W-B Series User Manual

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Mitsubishi Electric AC Servo System
MR-J5-B/MR-J5W-B
User's Manual
(Parameters)
-MR-J5-_B_
-MR-J5W_-_B_

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Summary of Contents for Mitsubishi Electric MELSERVO MR-J5W-B Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-B/MR-J5W-B User's Manual (Parameters) -MR-J5-_B_ -MR-J5W_-_B_...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...

  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 [Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)]......40 [Pr. PB20_Vibration suppression control 1 - Resonance frequency (VRF12)] ......40 [Pr.
  • Page 8 Extension setting servo parameters group ([Pr. PC_ _ ]) ........61 [Pr.
  • Page 9 [Pr. PD32_Master-slave operation - Slave-side speed limit adjusted value (VLL)] ..... . . 83 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) ........84 [Pr.
  • Page 10 [Pr. PF76_Belt tension irregular threshold (BTS)] ..........104 [Pr.
  • Page 11 CHAPTER 4 SERVO PARAMETER SETTING METHOD Engineering tool ............... 150 Controller .

  • Page 12: Chapter 1 Servo Parameter Details

    Settable servo parameters and values depend on the controller model, servo amplifier firmware version, and MR Configurator2 software version. For details, refer to the controller user's manual. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2 or by other means.

  • Page 13: Explanation Of Servo Parameters

    Explanation of servo parameters For how to interpret the servo parameter numbers, refer to "Interpreting servo parameter numbers" in User's Manual (Introduction). The following explains how to read the details of servo parameters. Item Explanation Indicates the servo parameter No., which Servo parameter No., symbols, and names are indicated as follows.

  • Page 14: Basic Setting Servo Parameters Group ([Pr. Pa

    Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Setting method Ver. 00003000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA01.1_Operation mode selection] Initial value Setting range Ver.

  • Page 15: [Pr. Pa02_Regenerative Option (**Reg)]

    [Pr. PA02_Regenerative option (**REG)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PA02.0-1_Regenerative option selection] Initial value Setting range Ver. Refer to the text Select a regenerative option. Incorrect setting may cause the regenerative option to burn.
  • Page 16 [Pr. PA02.4_Simple converter selection] Initial value Setting range Ver. Refer to the text When using the simple converter, set this servo parameter. The simple converter and external regenerative option can be used together. When using an external regenerative option, set the regenerative option to be used with [Pr.

  • Page 17: [Pr. Pa03_Absolute Position Detection System (*Abs)]

    [Pr. PA03_Absolute position detection system (*ABS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA03.0_Absolute position detection system selection] Initial value Setting range Ver. Refer to the text Set this servo parameter when using the absolute position detection system.

  • Page 18: [Pr. Pa04_Function Selection A-1 (*Aop1)]

    [Pr. PA04_Function selection A-1 (*AOP1)] Initial value Setting range Setting method Ver. 00002000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PA04.2_Servo forced stop selection] Initial value Setting range Ver. Refer to the text 0: Enabled (the forced stop input EM2 or EM1 is used) 1: Disabled (the forced stop input EM2 and EM1 are not used) [Pr.

  • Page 19: [Pr. Pa08_Auto Tuning Mode (Atu)]

    [Pr. PA08_Auto tuning mode (ATU)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA08.0_Gain adjustment mode selection] Initial value Setting range Ver. Refer to the text Select the gain adjustment mode.
  • Page 20 [Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting] Initial value Setting range Ver. Refer to the text Set the load to motor inertia ratio at quick tuning. If the load connected to the servo motor is larger than the load to motor inertia ratio set in the servo parameter, an overshoot may occur in positioning operation after quick tuning.

  • Page 21: [Pr. Pa09_Auto Tuning Response (Rsp)]

    [Pr. PA09_Auto tuning response (RSP)] Initial value Setting range Setting method Ver. Refer to the text Each axis Set the auto tuning response. Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] Low response 10.0 11.3 12.7 14.3 16.1 18.1 20.4...

  • Page 22: [Pr. Pa10_In-Position Range (Inp)]

    [Pr. PA10_In-position range (INP)] Initial value Setting range Setting method Ver. 25600 [pulse] 0 to 16777215 Each axis Set the in-position range in the command pulse unit. • Selecting an encoder for in-position range control [Pr. PA01.4 Fully closed loop operation mode In-position range unit selection] setting value 0 (semi closed loop control mode)
  • Page 23 The servo motor rotation direction is as follows. Forward rotation (CCW) Reverse rotation (CW) Forward rotation (CCW) Reverse rotation (CW) The positive and negative directions of the linear servo motor are as follows. Negative direction Negative direction Secondary side Positive direction Secondary side Table Positive direction...

  • Page 24: [Pr. Pa15_Encoder Output Pulses (*Enr)]

    [Pr. PA15_Encoder output pulses (*ENR)] Initial value Setting range Setting method Ver. 4000 [pulse/rev] 1 to 67108864 Each axis Set the encoder output pulses output from the servo amplifier, by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) Selecting "1"...

  • Page 25: [Pr. Pa17_Servo Motor Series Setting (**Msr)]

    [Pr. PA17_Servo motor series setting (**MSR)] Initial value Setting range Setting method Ver. 00000000h Refer to the text Each axis To select the linear servo motor to be used, set this servo parameter and [Pr. PA18.0-3 Servo motor type setting]. Set this at the same time with [Pr.

  • Page 26: [Pr. Pa18_Servo Motor Type Setting (**Mty)]

    [Pr. PA18_Servo motor type setting (**MTY)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA18.0-3_Servo motor type setting] Initial value Setting range Ver. 0000h Refer to the text When using a linear servo motor, select the linear servo motor to be used with [Pr.

  • Page 27: [Pr. Pa21_Function Selection A-3 (*Aop3)]

    [Pr. PA21_Function selection A-3 (*AOP3)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA21.0_One-touch tuning function selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When the servo parameter is set to "0", the one-touch tuning cannot be performed.

  • Page 28: [Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (Drat)]

    [Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. This servo parameter is enabled in the following conditions: • [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (automatic setting mode) •...

  • Page 29: [Pr. Pa24_Function Selection A-4 (Aop4)]

    [Pr. PA24_Function selection A-4 (AOP4)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA24.0_Vibration suppression mode selection] Initial value Setting range Ver. Refer to the text 0: Standard mode 1: 3 inertia mode 2: Low response mode...

  • Page 30: [Pr. Pa28_Function Selection A-6 (**Aop6)]

    [Pr. PA28_Function selection A-6 (**AOP6)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA28.4_Speed range limit selection] Initial value Setting range Ver. Refer to the text Select the speed to be used for the range restriction of the speed data.

  • Page 31: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB01.0_Filter tuning mode selection] Initial value Setting range Ver.

  • Page 32: [Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control Ii) (Vrft)]

    [Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection] Initial value Setting range Ver.

  • Page 33: [Pr. Pb06_Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2)]

    [Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)] Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis Set the load to motor inertia ratio or load to motor mass ratio. Setting a value different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.

  • Page 34: [Pr. Pb08_Position Control Gain

    [Pr. PB08_Position control gain (PG2)] Initial value Setting range Setting method Ver. 37.0 [rad/s] 1.0 to 2000.0 Each axis Set the gain of the position loop. Set this servo parameter when increasing the position responsiveness to level load disturbance. Increasing the setting value improves responsiveness to the load disturbance, but increasing the value too much raises the likelihood of vibration and noise.

  • Page 35: [Pr. Pb11_Speed Differential Compensation (Vdc)]

    [Pr. PB11_Speed differential compensation (VDC)] Initial value Setting range Setting method Ver. 0 to 1000 Each axis Set the differential compensation. The enabling conditions vary depending on the setting value in [Pr. PB24.1 PI-PID switching control selection]. [Pr. PB24.1] The enabling conditions for this servo parameter "0"...

  • Page 36: [Pr. Pb14_Notch Shape Selection 1 (Nhq1)]

    [Pr. PB14_Notch shape selection 1 (NHQ1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB14.1_Notch depth selection 1] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB...

  • Page 37: [Pr. Pb16_Notch Shape Selection 2 (Nhq2)]

    [Pr. PB16_Notch shape selection 2 (NHQ2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set forms of the machine resonance suppression filter 2. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.

  • Page 38: [Pr. Pb17_Shaft Resonance Suppression Filter (Nhf)]

    [Pr. PB17_Shaft resonance suppression filter (NHF)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr.
  • Page 39 Setting value Frequency [Hz] Disabled Disabled Disabled Disabled Disabled Disabled Disabled Disabled 4500 4000 3600 3272 3000 2769 2571 2400 2250 2117 2000 1894 1800 1714 1636 1565 1500 1440 1384 1333 1285 1241 1200 1161 1125 1090 1058 1028 1000 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
  • Page 40 Setting value Frequency [Hz] 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

  • Page 41: [Pr. Pb18_Low-Pass Filter Setting (Lpf)]

    Setting value Frequency [Hz] [Pr. PB17.2_Notch depth selection] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB [Pr. PB18_Low-pass filter setting (LPF)] Initial value Setting range Setting method Ver.

  • Page 42: [Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (Vrf11)]

    [Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)] Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 1 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection], this servo parameter will be set automatically.

  • Page 43: [Pr. Pb23_Low-Pass Filter Selection (Vfbf)]

    [Pr. PB23_Low-pass filter selection (VFBF)] Initial value Setting range Setting method Ver. 00001000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB23.0_Shaft resonance suppression filter selection] Initial value Setting range Ver. Refer to the text Select the shaft resonance suppression filter.

  • Page 44: [Pr. Pb24_Slight Vibration Suppression Control (*Mvs)]

    [Pr. PB24_Slight vibration suppression control (*MVS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB24.0_Slight vibration suppression control selection] Initial value Setting range Ver. Refer to the text Select the slight vibration suppression control.

  • Page 45: [Pr. Pb26_Gain Switching Function (*Cdp)]

    [Pr. PB26_Gain switching function (*CDP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the gain switching condition. Set the conditions to enable the following values: the gain switching values that have been set from [Pr. PB29 Gain switching - Load to motor inertia ratio/load to motor mass ratio] to [Pr.

  • Page 46: [Pr. Pb27_Gain Switching Condition (Cdl)]

    [Pr. PB26.4_Gain switching 2 selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Control command from the controller 2: The same condition as [Pr. PB26.0 Gain switching selection] When "1" is selected, the gain changes to "Gain after gain switching 2" by the control command from the controller. When "1"...

  • Page 47: [Pr. Pb29_Gain Switching - Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2B)]

    [Pr. PB29_Gain switching - Load to motor inertia ratio/load to motor mass ratio (GD2B)] Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis Set the load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled. The setting value of this servo parameter is enabled when [Pr.

  • Page 48: [Pr. Pb34_Gain Switching - Vibration Suppression Control 1 - Resonance Frequency (Vrf12B)]

    [Pr. PB34_Gain switching - Vibration suppression control 1 - Resonance frequency (VRF12B)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.

  • Page 49: [Pr. Pb45_Command Notch Filter (Cnhf)]

    [Pr. PB45_Command notch filter (CNHF)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set the command notch filter. [Pr. PB45.0-1_Command notch filter setting frequency selection] Initial value Setting range Ver.
  • Page 50 Setting value Frequency [Hz] 34.5 33.3 31.3 29.4 27.8 26.3 25.0 23.8 22.7 21.7 20.8 20.0 19.2 18.5 17.9 17.2 16.7 15.6 14.7 13.9 13.2 12.5 11.9 11.4 10.9 10.4 4.31 4.17 3.91 3.68 3.47 3.29 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
  • Page 51 Setting value Frequency [Hz] 3.13 2.98 2.84 2.72 2.60 2.50 2.40 2.31 2.23 2.08 1.95 1.84 1.74 1.64 1.56 1.49 1.42 1.36 1.30 1.25 1.20 1.16 1.12 [Pr. PB45.2_Notch depth selection] Initial value Setting range Ver. Refer to the text Refer to the following table for details.

  • Page 52: [Pr. Pb46_Machine Resonance Suppression Filter 3 (Nh3)]

    [Pr. PB46_Machine resonance suppression filter 3 (NH3)] Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis Set the notch frequency of the machine resonance suppression filter 3. When [Pr. PB47.0 Machine resonance suppression filter 3 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.

  • Page 53: [Pr. Pb48_Machine Resonance Suppression Filter 4 (Nh4)]

    [Pr. PB48_Machine resonance suppression filter 4 (NH4)] Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis Set the notch frequency of the machine resonance suppression filter 4. When [Pr. PB49.0 Machine resonance suppression filter 4 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.

  • Page 54: [Pr. Pb50_Machine Resonance Suppression Filter 5 (Nh5)]

    [Pr. PB50_Machine resonance suppression filter 5 (NH5)] Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis Set the notch frequency of the machine resonance suppression filter 5. When [Pr. PB51.0 Machine resonance suppression filter 5 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.

  • Page 55: [Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (Vrf21)]

    [Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)] Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection], this servo parameter will be set automatically.

  • Page 56: [Pr. Pb56_Gain Switching - Vibration Suppression Control 2 - Vibration Frequency (Vrf21B)]

    [Pr. PB56_Gain switching - Vibration suppression control 2 - Vibration frequency (VRF21B)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.

  • Page 57: [Pr. Pb59_Gain Switching - Vibration Suppression Control 2 - Resonance Frequency Damping (Vrf24B)]

    [Pr. PB59_Gain switching - Vibration suppression control 2 - Resonance frequency damping (VRF24B)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...

  • Page 58: [Pr. Pb66_Gain Switching 2 Time Constant (Cdt2)]

    [Pr. PB66_Gain switching 2 time constant (CDT2)] Initial value Setting range Setting method Ver. 1 [ms] 0 to 100 Each axis Set the time constant until the gain switches from "gain at normal use" or "gain at switching" to "gain at switching 2" in response to the conditions set in [Pr.

  • Page 59: [Pr. Pb71_Gain Switching 2 - Vibration Suppression Control 1 - Vibration Frequency (Vrf11C)]

    [Pr. PB71_Gain switching 2 - Vibration suppression control 1 - Vibration frequency (VRF11C)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the vibration frequency of vibration suppression control 1 for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.

  • Page 60: [Pr. Pb74_Gain Switching 2 - Vibration Suppression Control 1 - Resonance Frequency Damping (Vrf14C)]

    [Pr. PB74_Gain switching 2 - Vibration suppression control 1 - Resonance frequency damping (VRF14C)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...

  • Page 61: [Pr. Pb77_Gain Switching 2 - Vibration Suppression Control 2 - Vibration Frequency Damping (Vrf23C)]

    [Pr. PB77_Gain switching 2 - Vibration suppression control 2 - Vibration frequency damping (VRF23C)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...

  • Page 62: [Pr. Pb81_Command Filter (*Cfil)]

    [Pr. PB81_Command filter (*CFIL)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB81.4_Position command smoothing filter] Initial value Setting range Ver. Refer to the text This function can be used only in position control mode.

  • Page 63: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC01_Excessive error alarm trigger level (ERZ)] Initial value Setting range Setting method Ver. 0 [rev], [mm] 0 to 1000 Each axis Set an excessive error alarm trigger level. If using a rotary servo motor or direct drive motor, set the level in units of rev. If 200 rev or higher is set, the value will be clamped to 200 rev.
  • Page 64 [Pr. PC03.1_Encoder output pulse setting selection] Initial value Setting range Ver. Refer to the text Select the encoder output pulse setting. This servo parameter cannot be set for C-axis. If this servo parameter is set to "0" while [Pr. PC03.2 Encoder selection for encoder output pulse] is set to "1", [AL. 037 Parameter error] occurs.
  • Page 65 • When [Pr. PC03.2] = "1" (load-side encoder) Setting value of [Pr. PC03.1] When in the fully closed loop control mode When the scale measurement function is enabled "0" (output pulse setting) [AL. 037] occurs. "1" (dividing ratio setting) Set the dividing ratio relative to the resolution per servo Set the dividing ratio relative to the travel distance of the motor revolution with [Pr.

  • Page 66: [Pr. Pc04_Function Selection C-1 (**Cop1)]

    [Pr. PC04_Function selection C-1 (**COP1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC04.3_Encoder cable communication method selection] Initial value Setting range Ver. Refer to the text 0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential output type encoder, set "0".

  • Page 67: [Pr. Pc06_Function Selection C-3 (*Cop3)]

    [Pr. PC06_Function selection C-3 (*COP3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC06.3_Excessive error alarm trigger level/excessive error warning trigger level - Unit selection] Initial value Setting range Ver.

  • Page 68: [Pr. Pc09_Analog Monitor 1 Output (Mod1)]

    [Pr. PC09_Analog monitor 1 output (MOD1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC09.0-1_Analog monitor 1 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be output to analog monitor 1.

  • Page 69: [Pr. Pc10_Analog Monitor 2 Output (Mod2)]

    If [Pr. PA03.0 Absolute position detection system selection] is set to "0" (disabled) while a direct drive motor manufactured by Mitsubishi Electric is connected and a value of "1" is set, [AL. 037] will occur. [Pr. PC17.1_Linear encoder multipoint Z-phase input function selection]...

  • Page 70: [Pr. Pc18_Function Selection C-5 (*Cop5)]

    [Pr. PC18_Function selection C-5 (*COP5)] Initial value Setting range Setting method Ver. 00000000h 00000000h to 00001100h Common Refer to the relevant detail No. [Pr. PC18.3_[AL. 0E9 Main circuit off warning] selection] Initial value Setting range Ver. 0h to 1h 0: Detect using the ready-on command and servo-on command 1: Detect using only the servo-on command [Pr.

  • Page 71: [Pr. Pc20_Function Selection C-7 (*Cop7)]

    [Pr. PC20_Function selection C-7 (*COP7)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC20.2_Undervoltage alarm selection] Initial value Setting range Ver. Refer to the text Select the alarm or warning that occurs when the bus voltage drops to the undervoltage alarm trigger level. 0: [AL.

  • Page 72: [Pr. Pc21_Alarm History Clear (*Bps)]

    [Pr. PC21_Alarm history clear (*BPS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC21.0_Alarm clear history selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When "1"...

  • Page 73: [Pr. Pc26_Function Selection C-8 (**Cop8)]

    [Pr. PC26_Function selection C-8 (**COP8)] Initial value Setting range Setting method Ver. 00000050h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC26.3_Load-side encoder cable communication method selection] Initial value Setting range Ver. Refer to the text 0: Two-wire type 1: Four-wire type When using a load-side encoder that is A/B/Z-phase differential output type, set "0".

  • Page 74: [Pr. Pc29_Function Selection C-B (*Copb)]

    [Pr. PC29_Function selection C-B (*COPB)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC29.0_[AL. 0E2.2 Servo motor temperature warning 2] selection] Initial value Setting range Ver.

  • Page 75: [Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (Rsup1)]

    [Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] Initial value Setting range Setting method Ver. 0 [0.0001 rev], [0.01 mm] -25000 to 25000 Each axis Set the compensation amount of the vertical axis freefall prevention function. Set the compensation amount in either the servo motor rotation amount unit or linear servo motor travel distance unit. When a positive value is set, the compensation is performed to the command address increasing direction.

  • Page 76: [Pr. Pc86_Servo Amplifier Replacement Data 3 (Svdt3)]

    [Pr. PC86_Servo amplifier replacement data 3 (SVDT3)] Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically.

  • Page 77: [Pr. Pc91_Servo Amplifier Replacement Data 8 (Svdt8)]

    [Pr. PC91_Servo amplifier replacement data 8 (SVDT8)] Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically.

  • Page 78: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD02_Input signal automatic ON selection 2 (*DIA2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD02.0_Input signal automatic ON selection 1] Initial value Setting range Ver.

  • Page 79: [Pr. Pd07_Output Device Selection 1 (*Do1)]

    [Pr. PD07_Output device selection 1 (*DO1)] Initial value Setting range Setting method Ver. 00000005h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.

  • Page 80: [Pr. Pd08_Output Device Selection 2 (*Do2)]

    [Pr. PD08_Output device selection 2 (*DO2)] Initial value Setting range Setting method Ver. 00000004h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.

  • Page 81: [Pr. Pd09_Output Device Selection 3 (*Do3)]

    [Pr. PD09_Output device selection 3 (*DO3)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.

  • Page 82: [Pr. Pd11_Input Filter Setting (*Dif)]

    [Pr. PD11_Input filter setting (*DIF)] Initial value Setting range Setting method Ver. 00000007h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PD11.0_Input signal filter selection] Initial value Setting range Ver. Refer to the text Setting value Filtering time [ms] No filter...

  • Page 83: [Pr. Pd13_Function Selection D-2 (*Dop2)]

    [Pr. PD13_Function selection D-2 (*DOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD13.2_INP output signal ON condition selection] Initial value Setting range Ver. Refer to the text Select a condition for outputting INP (In-position).

  • Page 84: [Pr. Pd15_Driver Communication Setting (*Idcs)]

    [Pr. PD15_Driver communication setting (*IDCS)] Initial value Setting range Setting method Ver. 00000000h 00000000h to 00000011h Each axis Refer to the relevant detail No. [Pr. PD15.0_Master axis operation selection] Initial value Setting range Ver. 0h to 1h 0: Disabled (master-slave operation function is not used) 1: Enabled (set this servo amplifier for the master axis) To set the servo amplifier for the slave axis, set "0".

  • Page 85: [Pr. Pd30_Master-Slave Operation - Slave-Side Torque Command Coefficient (Tls)]

    [Pr. PD30_Master-slave operation - Slave-side torque command coefficient (TLS)] Initial value Setting range Setting method Ver. 0 [%] 0 to 500 Each axis For the torque command value received from the master axis, set the coefficient to reflect to the internal torque command. This servo parameter is enabled when the servo amplifier is set as the slave axis (when [Pr.

  • Page 86: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE01_Fully closed loop control function selection 1 (**FCT1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr.

  • Page 87: [Pr. Pe03_Fully Closed Loop Control Function Selection 2 (*Fct2)]

    [Pr. PE03_Fully closed loop control function selection 2 (*FCT2)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PE03.0_Fully closed loop control error - Detection function selection] Initial value Setting range Ver.

  • Page 88: [Pr. Pe04_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Numerator (**Fbn)]

    [Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)] Initial value Setting range Setting method Ver. 1 to 4294967295 Each axis If using the fully closed loop control, set the electronic gear numerator to the servo motor encoder pulses. Set the electronic gear so that the number of the servo motor encoder pulses per servo motor revolution is converted into load-side encoder resolution.

  • Page 89: [Pr. Pe10_Fully Closed Loop Function Selection 3 (Fct3)]

    [Pr. PE10_Fully closed loop function selection 3 (FCT3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PE10.1_Fully closed loop control - Position deviation error detection level - Unit selection] Initial value Setting range...

  • Page 90: [Pr. Pe44_Lost Motion Compensation Positive-Side Compensation Value Selection (Lmcp)]

    [Pr. PE44_Lost motion compensation positive-side compensation value selection (LMCP)] Initial value Setting range Setting method Ver. 0 [0.01 %] 0 to 30000 Each axis Set the lost motion compensation for when negative speed switches to positive speed in increments of 0.01 % in relation to the rated torque as 100 %.

  • Page 91: [Pr. Pe48_Lost Motion Compensation Function Selection (*Lmop)]

    [Pr. PE48_Lost motion compensation function selection (*LMOP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. This function is enabled in the position control mode. [Pr. PE48.0_Lost motion compensation type selection] Initial value Setting range Ver.

  • Page 92: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) [Pr. PF02_Function selection F-2 (*FOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PF02.0_Target alarm selection of the other axis error warning] Initial value Setting range Ver.

  • Page 93: [Pr. Pf06_Function Selection F-5 (*Fop5)]

    [Pr. PF06_Function selection F-5 (*FOP5)] Initial value Setting range Setting method Ver. 00000013h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF06.0_Electronic dynamic brake selection] Initial value Setting range Ver. Refer to the text Enable or disable the electronic dynamic brake.

  • Page 94: [Pr. Pf18_Sto Diagnosis Error Detection Time (**Stod)]

    [Pr. PF18_STO diagnosis error detection time (**STOD)] Initial value Setting range Setting method Ver. 10 [s] 0 to 60 Common Set the time from when the error of the STO input or STO circuit is detected until the occurrence of [AL. 068.1 STO signal mismatch error].

  • Page 95: [Pr. Pf21_Drive Recorder Switching Time Setting (Drt)]

    [Pr. PF21_Drive recorder switching time setting (DRT)] Initial value Setting range Setting method Ver. 0 [s] -1 to 32767 Common Set the drive recorder switching time. When communication is shut off during the use of a graph function, the function will be switched to the drive recorder function after the time set in this servo parameter has passed.

  • Page 96: [Pr. Pf25_Semi-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive Detection Time) (Cvat)]

    [Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time) (CVAT)] Initial value Setting range Setting method Ver. 200 [ms] 30 to 500 Common Set the time until the occurrence of [AL. 010.1 Voltage drop in the control circuit power]. To comply with SEMI-F47 standard, it is not required to change the time from the initial value (200 ms).

  • Page 97: [Pr. Pf34_Machine Diagnosis Function Selection (*Mfp)]

    [Pr. PF34_Machine diagnosis function selection (*MFP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF34.0_Friction failure prediction warning selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled (automatic threshold setting) 2: Enabled (manual threshold setting)
  • Page 98 [Pr. PF34.5_Static friction failure prediction warning selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Automatic threshold setting 2: Manual threshold setting 3: Threshold reset When "2" is set, if the static friction exceeds the set threshold, [AL. 0F7.5 Friction failure prediction warning] will occur. When "3"...

  • Page 99: [Pr. Pf40_Machine Failure Prediction Servo Parameter (Mfpp)]

    [Pr. PF40_Machine failure prediction servo parameter (MFPP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF40.0_Friction failure prediction - Threshold multiplication] Initial value Setting range Ver.
  • Page 100 [Pr. PF40.4_Static friction failure prediction - Threshold multiplication] Initial value Setting range Ver. 0h to Fh Set a multiplying factor for calculating the threshold used in the static friction failure prediction function. Setting a small threshold multiplication for static friction failure prediction will decrease the threshold used for static friction failure prediction.

  • Page 101: [Pr. Pf41_Failure Prediction - Servo Motor Total Travel Distance (Fpmt)]

    [Pr. PF41_Failure prediction - Servo motor total travel distance (FPMT)] Initial value Setting range Setting method Ver. 0 [10 rev], [m] 0 to 4294967295 Each axis Set a servo motor total travel distance required for determining the threshold used in the friction failure prediction function and the servo motor total travel distance failure prediction function.

  • Page 102: [Pr. Pf46_Vibration Failure Prediction - Standard Deviation (Vsd)]

    [Pr. PF46_Vibration failure prediction - Standard deviation (VSD)] Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis Set the vibration level standard deviation during servo motor operation. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (enabled (manual threshold setting)).

  • Page 103: [Pr. Pf66_Gear Setting For Backlash Estimation (Blg)]

    [Pr. PF63.2_Servo amplifier replacement data save selection] Initial value Setting range Ver. Refer to the text Whether or not to store the servo amplifier replacement data can be set for equipment which uses an absolute position detection system with a servo motor with a batteryless absolute position encoder. 0: Disabled ([AL.

  • Page 104: [Pr. Pf67_Backlash Nominal Value (Bln)]

    [Pr. PF67_Backlash nominal value (BLN)] Initial value Setting range Setting method Ver. 0 [0.01 degree] 0 to 3600000 Each axis To set the threshold for gear failure prediction, a backlash nominal value must be set. Input a backlash value presented by the manufacturer of the gear connected to the servo motor.

  • Page 105: [Pr. Pf71_Belt Failure Prediction Function Selection (Bfp)]

    [Pr. PF71_Belt failure prediction function selection (BFP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF71.0_Belt tension deterioration prediction function selection] Initial value Setting range Ver.

  • Page 106: [Pr. Pf74_Static Friction During Installation (Ssf)]

    [Pr. PF74_Static friction during installation (SSF)] Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis Set a static friction for when the belt is attached to the equipment. Set the static friction with any of the following values estimated by the friction estimation function depending on the value of [Pr.

  • Page 107: [Pr. Pf80_Drive Recorder - Operation Condition Selection (Drmc)]

    [Pr. PF80_Drive recorder - Operation condition selection (DRMC)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF80.0_Drive recorder - Operation mode selection] Initial value Setting range Ver.

  • Page 108: [Pr. Pf81_Drive Recorder - Sampling Operation Selection (Drms)]

    [Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF81.0_Drive recorder - Sampling start selection] Initial value Setting range Ver.

  • Page 109: [Pr. Pf82_Drive Recorder - Trigger Operation Selection (Drtm)]

    [Pr. PF82_Drive recorder - Trigger operation selection (DRTM)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF82.0_Drive recorder - Trigger mode selection] Initial value Setting range Ver.
  • Page 110 [Pr. PF82.2_Drive recorder - Trigger operation selection 1] Initial value Setting range Ver. Refer to the text Select whether sampling starts when the signal output for the drive recorder channel set in [Pr. PF84.0-1 Drive recorder - Trigger channel selection 1] exceeds or falls below the set trigger level. When [Pr.

  • Page 111: [Pr. Pf83_Drive Recorder - Trigger Operation Axis Common Selection (**Drtax)]

    [Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PF83.0_Drive recorder - Trigger axis common selection] Initial value Setting range Ver.

  • Page 112: [Pr. Pf84_Drive Recorder - Trigger Channel Selection (Drtc)]

    [Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] Initial value Setting range Setting method Ver. 005A8101h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF84.0-1_Drive recorder - Trigger channel selection 1] Initial value Setting range Ver.

  • Page 113: [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (Drtl1)]

    [Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] Initial value Setting range Setting method Ver. -2147483648 to 2147483647 Each axis Set the trigger level of trigger channel No. 1 of the drive recorder in decimal. Set the value considering the decimal point. For example, if setting a torque of 100.0 [%] for the trigger level, set this servo parameter to "1000"...

  • Page 114: [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (Drac1)]

    [Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] Initial value Setting range Setting method Ver. 00020201h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection] Initial value Setting range Ver.
  • Page 115 Setting value Data type Unit Category Servo motor speed + 0.1 r/min 32-bit data Command pulse frequency + kpulse/s Command pulse frequency (speed unit) + 0.1 r/min Droop pulses (1 pulse unit) + pulse Speed command + 0.1 r/min Position within one-revolution + pulse Load-side encoder information 1 + pulse...

  • Page 116: [Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (Drac2)]

    [Pr. PF88_Drive recorder - Analog channel setting 2 (DRAC2)] Initial value Setting range Setting method Ver. 02040003h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF88.0-2_Drive recorder - Analog channel 3 selection] Initial value Setting range Ver.

  • Page 117: [Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (Drac3)]

    [Pr. PF89_Drive recorder - Analog channel setting 3 (DRAC3)] Initial value Setting range Setting method Ver. 00090205h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF89.0-2_Drive recorder - Analog channel 5 selection] Initial value Setting range Ver.

  • Page 118: [Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (Drdc1)]

    [Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)] Initial value Setting range Setting method Ver. 001F0000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] Initial value Setting range Ver.
  • Page 119 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position completion 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2...

  • Page 120: [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (Drdc2)]

    [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)] Initial value Setting range Setting method Ver. 80058010h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF92.0-3_Drive recorder - Digital channel 3 selection] Initial value Setting range Ver.

  • Page 121: [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (Drdc4)]

    [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)] Initial value Setting range Setting method Ver. 801D8015h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF94.0-3_Drive recorder - Digital channel 7 selection] Initial value Setting range Ver.

  • Page 122: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) [Pr. PL01_Function selection L-1 (**LIT1)] Initial value Setting range Setting method Ver. 00000301h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr.

  • Page 123: [Pr. Pl03_Linear Encoder Resolution Setting - Denominator (**Lid)]

    [Pr. PL03_Linear encoder resolution setting - Denominator (**LID)] Initial value Setting range Setting method Ver. 1000 [μm] 1 to 65535 Each axis Set the linear encoder resolution with [Pr. PL02] and [Pr. PL03]. Set a denominator in [Pr. PL03]. This servo parameter is enabled for linear servo motors. [Pr.

  • Page 124: [Pr. Pl05_Position Deviation Error Detection Level (Lb1)]

    [Pr. PL05_Position deviation error detection level (LB1)] Initial value Setting range Setting method Ver. 0 [mm], [0.01 rev] 0 to 1000 Each axis Set a position deviation error detection level of the servo control error detection. When the difference between a model feedback position and actual feedback position is larger than the setting value, [AL. 042.1 Servo control error based on position deviation] will occur.

  • Page 125: [Pr. Pl08_Function Selection L-3 (*Lit3)]

    [Pr. PL08_Function selection L-3 (*LIT3)] Initial value Setting range Setting method Ver. 00001010h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr. PL08.0_Magnetic pole detection method selection] Initial value Setting range Ver.

  • Page 126: [Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (Ltsts)]

    [Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4" (minute position detection method).
  • Page 127 [Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection] Initial value Setting range Ver. Refer to the text Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used for the minute position detection method.
  • Page 128 [Pr. PL18_Magnetic pole detection - Minute position detection method - Identification signal amplitude (IDLV)] Initial value Setting range Setting method Ver. 0 [%] 0 to 200 Each axis Set an identification signal amplitude to be used in the minute position detection method. This servo parameter is enabled when [Pr.

  • Page 129: Chapter 2 Lists Of Servo Parameter Supported Modes

    LISTS OF SERVO PARAMETER SUPPORTED MODES Structure The following shows the meaning of each abbreviation used in the lists. "" indicates the modes that can be used, and "" indicates the modes that cannot be used or modes that are not used even if set. Mode List abbreviation Meaning...

  • Page 130: Lists Of Supported Control Modes

    Lists of supported control modes Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC PA01 PA01.1         ...

  • Page 131: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC        PB01 PB01.0       ...
  • Page 132 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC        PB45 PB45.0-1 PB45.2               ...

  • Page 133: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC         PC01       ...

  • Page 134: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC PD02 PD02.0-7              ...

  • Page 135: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC        PE01 PE01.0      ...

  • Page 136: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC PF02 PF02.0             ...

  • Page 137: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard P_SSC S_SSC T_SSC        PF81 PF81.0 PF82 PF82.0              ...

  • Page 138: Chapter 3 Lists Of Servo Parameter Initial Values

    LISTS OF SERVO PARAMETER INITIAL VALUES Basic setting servo parameters group ([Pr. PA_ _ ]) Initial value PA01 00003000h PA02 00000000h PA03 00000000h PA04 00002000h PA05 10000 PA06 PA07 PA08 00000001h PA09 PA10 25600 PA11 1000.0 PA12 1000.0 PA13 00000000h PA14 PA15 4000...
  • Page 139 Initial value PA46 00000000h PA47 00000000h PA48 00000000h 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.1 Basic setting servo parameters group ([Pr. PA_ _ ])

  • Page 140: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Initial value PB01 00000000h PB02 00000000h PB03 36000 PB04 PB05 PB06 7.00 PB07 15.0 PB08 37.0 PB09 PB10 33.7 PB11 PB12 PB13 4500 PB14 00000000h PB15 4500 PB16 00000000h PB17 00000000h PB18 3141 PB19...
  • Page 141 Initial value PB49 00000000h PB50 4500 PB51 00000000h PB52 100.0 PB53 100.0 PB54 0.00 PB55 0.00 PB56 PB57 PB58 0.00 PB59 0.00 PB60 PB61 PB62 00000000h PB63 00000000h PB64 00000000h PB65 PB66 PB67 7.00 PB68 PB69 PB70 PB71 PB72 PB73 0.00 PB74 0.00...

  • Page 142: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Initial value PC01 PC02 PC03 00000000h PC04 00000000h PC05 00000000h PC06 00000000h PC07 PC08 PC09 00000000h PC10 00000001h PC11 PC12 PC13 PC14 PC15 PC16 00000000h PC17 00000000h PC18 00000000h PC19 00000000h PC20 00000000h PC21...
  • Page 143 Initial value PC49 00000000h PC50 00000000h PC51 00000000h PC52 00000000h PC53 00000000h PC54 00000000h PC55 00000000h PC56 00000000h PC57 00000000h PC58 00000000h PC59 00000000h PC60 00000000h PC61 00000000h PC62 00000000h PC63 00000000h PC64 00000000h PC65 50.00 PC66 PC67 00C00000h PC68 00000000h PC69 PC70...

  • Page 144: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Initial value PD01 00000000h PD02 00000000h PD03 00000020h PD04 00000021h PD05 00000022h PD06 00000000h PD07 00000005h PD08 00000004h PD09 00000003h PD10 00000000h PD11 00000007h PD12 00000000h PD13 00000000h PD14 00000000h PD15 00000000h PD16 00000000h...
  • Page 145 Initial value PD51 00000000h PD52 00000000h PD53 00000000h PD54 00000000h PD55 00000000h PD56 00000000h PD57 00000000h PD58 00000000h PD59 00000000h PD60 00000000h PD61 00000000h PD62 00000000h PD63 00000000h PD64 00000000h PD65 00000000h PD66 00000000h PD67 00000000h PD68 00000000h PD69 00000000h PD70 00000000h PD71...

  • Page 146: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Initial value PE01 00000000h PE02 00000000h PE03 00000003h PE04 PE05 PE06 PE07 PE08 PE09 00000000h PE10 00000000h PE11 00000000h PE12 00000000h PE13 00000000h PE14 00000111h PE15 PE16 00000000h PE17 00000100h PE18 00000000h PE19...
  • Page 147 Initial value PE49 PE50 PE51 PE52 00000000h PE53 PE54 00000000h PE55 00000000h PE56 00000000h PE57 00000000h PE58 00000000h PE59 00000000h PE60 00000000h PE61 0.000 PE62 0.000 PE63 0.000 PE64 0.000 PE65 PE66 PE67 PE68 00000000h PE69 00000000h PE70 0.00 PE71 PE72 1.0000 PE73...

  • Page 148: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Initial value PF01 00000000h PF02 00000000h PF03 00000000h PF04 PF05 00000000h PF06 00000013h PF07 00000000h PF08 00000000h PF09 00000000h PF10 00000000h PF11 00000000h PF12 2000 PF13 00000000h PF14 PF15 00000000h PF16 00000000h PF17...
  • Page 149 Initial value PF49 PF50 PF51 00000000h PF52 00000000h PF53 PF54 PF55 PF56 PF57 00000000h PF58 00000000h PF59 00000000h PF60 00000000h PF61 00000000h PF62 00000000h PF63 00000000h PF64 PF65 00000000h PF66 00000000h PF67 PF68 PF69 PF70 PF71 00000000h PF72 PF73 PF74 PF75 PF76 PF77...

  • Page 150: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) Initial value PL01 00000301h PL02 1000 PL03 1000 PL04 00000003h PL05 PL06 PL07 PL08 00001010h PL09 PL10 PL11 PL12 PL13 00000000h PL14 00000000h PL15 PL16 PL17 00000000h PL18 PL19 PL20 PL21 PL22 PL23...
  • Page 151 Initial value PL49 00000000h PL50 PL51 PL52 PL53 PL54 00000000h PL55 00000000h PL56 00000000h PL57 00000000h PL58 00000000h PL59 00000000h PL60 00000000h PL61 00000000h PL62 00000000h PL63 00000000h PL64 00000000h PL65 00000000h PL66 00000000h PL67 00000000h PL68 00000000h PL69 00000000h PL70 00000000h PL71...

  • Page 152: Chapter 4 Servo Parameter Setting Method

    Engineering tool Servo parameters can be set using an engineering tool manufactured by Mitsubishi Electric such as MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
  • Page 153 MEMO 4 SERVO PARAMETER SETTING METHOD 4.2 Controller...

  • Page 154: Revisions

    First edition This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 155: Warranty

    We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

  • Page 156: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. IB(NA)-0300581ENG-A...
  • Page 158 IB(NA)-0300581ENG-A(2207)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

This manual is also suitable for:

Melservo mr-j5-b series

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