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Mitsubishi Electric MR-J5D-G-N1 User Manual
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Mitsubishi Electric MR-J5D-G-N1 User Manual

Mitsubishi Electric MR-J5D-G-N1 User Manual

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Mitsubishi Electric AC Servo System
MR-J5D-G-N1
User's Manual
(Introduction)
-MR-J5D_-_G_-_N1

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Summary of Contents for Mitsubishi Electric MR-J5D-G-N1

  • Page 1 Mitsubishi Electric AC Servo System MR-J5D-G-N1 User's Manual (Introduction) -MR-J5D_-_G_-_N1...

  • 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: Disposal Of Waste

    Please dispose of this product, battery (primary battery), and other options according to your local laws and regulations. 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: •...
  • Page 5 *1 For details of parameters, read chapter 7 and chapter 8 of this manual first. Page 72 SERVO PARAMETERS Page 111 NETWORK PARAMETERS Page 114 FUNCTIONAL SAFETY PARAMETERS Manual name Manual No. MR-J5D-G-N1 User's Manual (Introduction) IB(NA)-0300543ENG MR-J5D User's Manual (Hardware) IB(NA)-0300548ENG MR-CV Power Regeneration Converter Unit User's Manual IB(NA)-0300553ENG...

  • Page 6: U.s. Customary Units

    Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr.

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE .
  • Page 8 Test operation mode ..............55 Motor driving by test operation .
  • Page 9 [Pr. PE53_Maximum torque limit 1 (TLMX1)] ........... 77 Positioning control setting servo parameters group ([Pr.
  • Page 10 [Pr. NPA12_For manufacturer setting]............111 User authentication parameters.
  • Page 11 [Pr. PSB10_For manufacturer setting]............116 [Pr.

  • Page 12: Chapter 1 Specifications

    SPECIFICATIONS Outline MR-J5D_-_G_-N1 are EtherCAT drive units. EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff Automation GmbH. MR-J5D2-_G_-N1 and MR-J5D3-_G_-N1 drive units can drive two or three servo motors with one drive unit. The footprint of MR-J5D2-_G_-N1 and MR-J5D3-_G_-N1 drive units is considerably smaller than that of two or three MR-J5D1-_G_-N1 drive units.

  • Page 13: Drive Unit/Motor Combinations

    Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. ■MR-J5D_-_G_-_N1 M R - J 5 D 1 1 0 0 G Special specification Series Symbol Special specification Number of axes None Standard Number...

  • Page 14: 1.4 Drive Unit Standard Specifications

    Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive...

  • Page 15: Mr-J5D2-_G_-N1

    Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection...

  • Page 16: Mr-J5D3-_G_-N1

    MR-J5D3-_G_-N1 400 V class Model: MR-J5D3-_-N1 100G4 200G4 Output Voltage 3-phase 0 V AC to 480 V AC Rated current (each axis) [A] Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit. Control circuit power Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz...

  • Page 17: Positioning Mode

    Positioning mode Point table method (CP) Item Description Command interface Object dictionary Operation specifications Positioning by specifying the point table number (255 points) System Signed absolute value command method Position command input Absolute value command method Setting in the point table Setting range of feed length for one point: -2147483648 to 2147483647 [μm], -214748.3648 to 214748.3647 [inch],...

  • Page 18: Functional Safety

    Functional safety Drive unit specifications Item Specifications Safety Satisfied standards EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 performance Mean time to dangerous failure MTTFd ≥ 100 [years] (750a) (MTTFd) Diagnostic coverage (DC) DC = Medium, 96.5 [%] Probability of dangerous Failure per...

  • Page 19: Environment

    List of safety sub-function compatible units Drive unit Function Servo motor type Safety sub-function (IEC/EN 61800-5-2) achieving method SS1-t SS1-r SS2-t, (wiring SS2-r destination)         MR-J5D1- DI/O Servo motor with Cat. Cat. Cat. _G_-N1 connection functional safety...

  • Page 20: Function Block Diagram

    Function block diagram The following shows the function block diagram of this drive unit. MR-J5D1-_G_-N1 400 V class Servo motor Drive unit Dynamic brake circuit From L+ of converter unit Current From L- of converter detector unit MCCB To the main circuit power Power supply input supply of the Cooling fan converter...

  • Page 21: Mr-J5D2-_G_-N1/Mr-J5D3-_G_-N1

    MR-J5D2-_G_-N1/MR-J5D3-_G_-N1 400 V class The following is an example using MR-J5D3-_G_-N1. Drive unit A-axis TRM (A) servo motor MCCB From L+ of converter unit To the main circuit power supply Current A-axis Power supply input of the converter unit detector output From L- of converter unit Dynamic brake circuit A Cooling fan A-axis STO circuit...

  • Page 22: Configuration Including Peripheral Equipment

    Configuration including peripheral equipment • To prevent a malfunction, do not connect these connectors to any network other than the specified network. • Equipment other than the converter unit, drive unit and servo motor is optional or a recommended product. The following is an example using MR-J5D1-100G4-N1 and MR-CV11K4.

  • Page 23: Special Specifications

    Special specifications Drive units without the dynamic brake (-ED) Summary This section describes the drive units without the dynamic brake. Items not described in this section are the same as the MR- J5D_-_G_-N1. Specifications The built-in dynamic brakes of the drive units are removed. Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power supply shut-off.

  • Page 24: Chapter 2 Function

    FUNCTION Restrictions on the MR-J5_-_G_ Category Detailed functions Network communication cycle restrictions (minimum) MR-J5D1-_G_-N1 MR-J5D2-_G_-N1 MR-J5D3-_G_-N1 Control mode Profile position mode (pp) 250 μs 500 μs 500 μs Profile velocity mode (pv) 250 μs Not used Not used Profile torque mode (tq) 250 μs Not used Not used...
  • Page 25 Drive motor Functions Detailed functions Description Ver. Detailed explanation Servo motor Linear servo motor Using the linear servo motor and linear encoder  enables the linear servo system to be configured.  Direct drive motor Using this function enables the direct drive servo system to be configured to drive the direct drive motor.
  • Page 26 Operation function Functions Detailed functions Description Ver. Detailed explanation Stop function Quick Stop This function stops the servo motor with a Refer to "Quick stop" in the following specified method and switches to the servo-off manual. status. MR-J5 User's Manual (Function) Halt This function stops the servo motor while the Refer to "Halt"...
  • Page 27 Control function Functions Detailed functions Description Ver. Detailed explanation Vibration Advanced vibration This function suppresses vibration and residual Refer to "Advanced vibration suppression suppression suppression control II vibration at an arm end. control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance This function decreases the gain of the specific Refer to "Machine resonance...
  • Page 28 Adjustment function Functions Detailed functions Description Ver. Detailed explanation Automatic Quick tuning This function automatically adjusts the gain at Refer to "Quick tuning" in the following adjustment servo-on in a short time without acceleration/ manual. deceleration operation of the servo motor. MR-J5 User's Manual (Adjustment) Response without overshoot is possible, saving gain adjustment time.
  • Page 29 I/O, monitor Functions Detailed functions Description Ver. Detailed explanation DI/DO Input signal selection (device This function assigns input devices such as LSP Refer to "Assigning I/O devices" in the selection) (Forward rotation stroke end) to certain pins of following manual. the connector.
  • Page 30 Engineering tool Functions Detailed functions Description Ver. Detailed explanation Page 41 STARTUP Setup software MR Configurator2 This function performs settings (such as servo parameter settings), test operation, and monitoring with a personal computer. *1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.
  • Page 31 Functional safety Functions Detailed functions Description Ver. Detailed explanation Safety sub-function STO (Safe torque off) This drive unit supports the STO function for Refer to "USING STO FUNCTION" in the (When functional safety functional safety as per IEC/EN 61800-5-2. This following manual.
  • Page 32 Diagnostics Functions Detailed functions Description Ver. Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo Refer to "Drive recorder" in the following status and records the state transition before manual. and after an alarm for a fixed period of time. The MR-J5 User's Manual (Function) recorded data can be checked by the Waveform-Display button on the drive recorder...

  • Page 33: Security

    Security To completely prevent unauthorized access to the system from external devices, the user also must take safety measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access. 2 FUNCTION 2.3 Security...

  • Page 34: Chapter 3 Structure

    STRUCTURE Parts identification MR-J5D_-_G_-N1 • MR-J5D1-_G_-N1 The diagram shows MR-J5D1-100G4-N1. Inside of the display cover (11) (13) (15) Front (12) (14) Right side CN1A CN1A L-ER CN1B CN1B L-ER (22) SFTY (16) (23) Side Inside of the cover Bottom (10) (21) (17) (20) 3 STRUCTURE...
  • Page 35 • MR-J5D2-_G_-N1/MR-J5D3-_G_-N1 The diagram shows MR-J5D3-100G4-N1. Inside of the display cover (11) (13) (15) (12) (14) Front Right side CN1A CN1A L-ER CN1B CN1B L-ER (22) SFTY (16) (23) Side Inside of the cover Bottom (10) (21) (17) (18) (19) Name Application Detailed explanation Display section...
  • Page 36 Name Application Detailed explanation (15) Functional safety I/O signal connector Connect an external safety relay to use the STO function. When Refer to "USING STO (CN8) using other safety-sub functions, refer to "FUNCTIONAL SAFETY" FUNCTION" and "USING in the following manual. FUNCTIONAL SAFETY"...

  • Page 37: Switch Setting And Display Of The Drive Unit

    Switch setting and display of the drive unit Switching to the test operation mode and configuring network setting can be done with switches on the drive unit. The network communication status and alarm status can also be checked on the display (3-digit, 7-segment LED) of the drive unit. Switches If a metal screw driver contacts with the conductive areas, the switches may malfunction.

  • Page 38: 7-Segment Led

    Test operation select switch (SW3-1) Turning "ON (up)" the test operation select switch enables the test operation mode. In the test operation mode, functions such as JOG operation, positioning operation, and machine analyzer are available using MR Configurator2. Page 54 Test operation Disabling control axis switches (SW3-2, SW3-3, and SW3-4) Turning "ON (up)"...
  • Page 39 Alarm display When an alarm/warning occurs, the alarm status is displayed after the network connection status. This is an example of the alarm display for when [AL. 032.2 Overcurrent] is occurring. ■1-axis drive unit Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s...
  • Page 40 When the network is not connected The network connection status is displayed for each axis. 1-axis drive unit 2-axis drive unit 3-axis drive unit C-axis network status B-axis network status B-axis network status Network status A-axis network status A-axis network status The 7-segment LED display during cyclic communication is as follows.

  • Page 41: Status Leds

    Other status displays Display Status Description Test operation mode Indicates that the test operation mode is set. CPU error Indicates that a CPU watchdog error has occurred.  This is for manufacturer setting. Initialization in progress Indicates that initialization of settings such as parameters is in progress. Status LEDs The LED states (RUN MS/ERR NS) indicate the network status of the drive unit.

  • Page 42: Led Display

    LED display RUN MS (RUN LED), ERR NS (ERROR LED), and Link/Activity operate in compliance with the EtherCAT standard (ETG.1300 EtherCAT Indicator and Labeling Specification). LED status definitions The following shows LED status definitions. LED status Definition The LED is lit steady. The LED is unlit.

  • Page 43: Chapter 4 Startup

    STARTUP • MR-J5D_-_G_-N1 drive units can only be set with MR Configurator2 version 1.125F or later. • Before starting operation, check each servo parameter. Depending on the machine, an unexpected operation may occur. When using a linear servo motor, the terms below have the following meanings. •...
  • Page 44 Start MR Configurator2 and create a new project. For the connection setting, select USB. Select the drive unit model. For a multi-axis drive unit, select an axis to be connected. 4 STARTUP...
  • Page 45 Selecting "Parameter" from the project tree opens the "Parameter Setting" screen. Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings. 4 STARTUP...
  • Page 46 After changing the servo parameter, click "Selected Items Write" or "Axis Writing". Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset. 4 STARTUP...
  • Page 47 ■For EoE communication Connection via a controller is available on drive units with firmware version C4 or later being used with MR Configurator2 with software version 1.130L or later. Connect the drive unit with the EtherCAT controller and the EtherCAT controller with the personal computer using an Ethernet cable between each equipment.
  • Page 48 Select "EtherCAT" for the connection network. Only "UDP" can be selected for the protocol. Set the time-out and retry as required. Set the drive unit and its IP address for the servo amplifier configuration. The axis number can be set as desired.
  • Page 49 Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings. After changing the servo parameter, click "Selected Items Write" or "Axis Writing". 4 STARTUP...
  • Page 50 Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset. 4 STARTUP...

  • Page 51: Turning On Drive Unit For The First Time

    Turning on drive unit for the first time • For the controller settings, refer to the relevant controller manual. • For the gain adjustment, refer to the following manual. MR-J5 User's Manual (Adjustment) When turning on the drive unit for the first time, follow the steps below. Procedure Description Reference...

  • Page 52: Test Operation Of The Servo Motor Alone In Test Operation Mode

    Test operation of the servo motor alone in test operation mode • If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2). Check that the drive unit and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly.

  • Page 53: Equipment Configuration Setting

    To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at first and check the operation status. After the test operation is complete, turn off the power and "OFF (down)"...

  • Page 54: Operation By Controller Command

    Set each servo parameter that is necessary for the operation using controller commands. Item Description Reference Command unit selection function This function enables the unit of speed command Refer to "Command unit selection function" in the to be selected. following manual. MR-J5 User's Manual (Function) The initial setting for the unit of speed command is pulses/s.

  • Page 55: Instructions On Startup

    Instructions on startup Instructions for power-on • When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm.

  • Page 56: Duplicate Setting

    Duplicate setting Drive unit parameters for which setting has been completed can be copied to another drive unit. Use this function when replacing the drive unit of equipment with another drive unit during operation, and when starting up multiple devices with the same configuration.

  • Page 57: Test Operation Mode

    Test operation mode Setting the drive unit to the test operation mode enables the test operation while the personal computer and drive unit are connected via a USB cable. Turn off the power. Turn "ON (up)" the test operation select switch (SW3-1). When performing test operation with multiple MR-J5D_-_G_ connected to one power regeneration converter unit, turn "ON (up)"...

  • Page 58: Motor Driving By Test Operation

    Motor driving by test operation JOG operation The JOG operation can be performed when there is no command from the controller. The motor can be operated at the specified speed. Operate the motor using the JOG Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed and acceleration/deceleration time constants for JOG operation.
  • Page 59 Positioning operation Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR Configurator2. ■Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr.
  • Page 60 Program operation Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2. Open the Program Operation screen of MR Configurator2. Item Screen operation Program display...
  • Page 61 Single-step Feed This function enables test operation in accordance with the point table. Configure the settings of the point table operation in advance. For the point table operation, refer to "POSITIONING MODE (POINT TABLE METHOD) (CP)" in the following manual. MR-J5 User's Manual (Function) Item Screen operation...

  • Page 62: Motor-Less Operation

    Motor-less operation • The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode or direct drive motor control mode. Without connecting a servo motor to the drive unit, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running.

  • Page 63: Output Signal (Do) Forced Output

    Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2. Each output signal can be turned on/off by clicking the ON/OFF button next to its name.

  • Page 64: Drive Unit Setting Initialization

    Drive unit setting initialization Drive unit settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2). However, information related to the drive unit, including power-on cumulative time and the number of relays on/off, is not initialized.

  • Page 65: Chapter 5 Maintenance, Inspection And Parts Replacement

    MAINTENANCE, INSPECTION AND PARTS REPLACEMENT Inspection items Precautions • Do not disassemble, repair, or modify the product. • For repair and parts replacement, contact your local sales office. • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the drive unit. Periodic inspection Perform the following inspections.

  • Page 66: Replacing Fan Unit

    Replacing fan unit The internal circuits of the drive unit may be damaged by static electricity. Take the following precautions. • Ensure that the work bench and your body are grounded. • Do not directly touch conductive areas such as the connector pins and electrical parts. The fan unit is composed of a cooling fan and its cover.

  • Page 67: Chapter 6 Compliance With Global Standards

    COMPLIANCE WITH GLOBAL STANDARDS Converter units and drive units refer to servo amplifiers in this chapter. This chapter provides information common among AC servo amplifiers. Information that is not applicable to MR-J5 servo amplifier/other equipment combinations is also included. Compliance with global standards For compliance with the standards of Europe/UK, United States/Canada, and South Korea, refer to the following manual.

  • Page 68: Purpose

    Purpose To enable safer transportation of lithium metal batteries. Handling during transportation This section describes how to handle lithium metal batteries in transportation. The batteries alone transported by air are classified as UN3090, and the batteries packed with or contained in equipment transported by air are classified as UN3091. Lithium metal batteries are classified as SP188 when transported by sea as non-dangerous goods.

  • Page 69: Package At Our Shipment

    For maritime or air transportation, the lithium battery mark (Figure 1) is required also for the outer package containing several packages of Mitsubishi Electric cells or batteries. When the content of a package must be handled as dangerous goods (Class 9), the package must comply with UN specification packaging requirements.

  • Page 70: Symbol For The New Eu Battery Directive

    • This mark is valid only in EU. This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused.

  • Page 71: Compliance With China Compulsory Certification (Ccc)

    Some products are required to comply with China Compulsory Certification (hereinafter referred to as CCC) if exported, distributed, or sold to China. An outline of CCC is explained in this section. Mitsubishi Electric servo products are not subject to CCC.

  • Page 72: Compliance With The China Rohs Directive

    Compliance with the China RoHS directive Outline The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法...
  • Page 73 Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive.

  • Page 74: Chapter 7 Servo Parameters

    SERVO PARAMETERS Refer to the following manual for the parameters not described in this chapter. MR-J5-G/MR-J5W-G User's Manual (Parameters) 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.

  • Page 75: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB03_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PB82_Position command smoothing filtering time constant (PFT)] Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 100.0 Each axis Set the position command smoothing filtering time constant.

  • Page 76: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC42_Function selection C-10 (COP10)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC42.0_Forward/Reverse rotation torque limit 2 selection] Initial value Setting range Ver.

  • Page 77: [Pr. Pc44_Reverse Rotation Torque Limit 2 (Tln2)]

    [Pr. PC44_Reverse rotation torque limit 2 (TLN2)] Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration, or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration.

  • Page 78: [Pr. Pc73_Speed Reached 2 - Output Filtering Time (Sa2F)]

    [Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 65535 Each axis This servo parameter sets the time until the speed reached 2 output turns on. If the state where the error between the speed command and the servo motor speed is within [Pr. PC72 Speed reached 2 - Output range] continues for the setting value of this servo parameter or longer, bit 10 (Target velocity reached) of [Statusword (Obj.

  • Page 79: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD15_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PD22_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PD23_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr.
  • Page 80 Positioning control setting servo parameters group ([Pr. PT_ _ ]) [Pr. PT01_Command mode selection (**CTY)] Initial value Setting range Setting method Ver. 00000300h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT01.1_Speed/acceleration/deceleration unit selection] Initial value Setting range Ver.
  • Page 81 [Pr. PT01.2_Unit for position data] Initial value Setting range Ver. Refer to the text 0: mm 1: inch 2: degree 3: pulse If this servo parameter is changed, perform homing. The compatible control modes and firmware versions are as follows. Control mode Setting value *1*2...
  • Page 82 Network setting servo parameters group ([Pr. PN_ _ ]) [Pr. PN02_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PN03_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PN05_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr.
  • Page 83 [Pr. PN18_Counter level for communication error detection (CERN)] Initial value Setting range Setting method Ver. 0 to 32767 Common Set the threshold until [AL. 086.1 Network receive data error (Network communication error 1)] is detected. When "0" is set, this parameter is disabled. If the PDO data is not updated with Sync0, the internal error counter will be added by 3 at a time.
  • Page 84 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) [Pr. PV23_Speed unit conversion - Electronic gear - Numerator (*VCMX)] Initial value Setting range Setting method Ver. 1 to 1024 Each axis Set the electric gear numerator for converting the speed (command unit/s) into a value in speed units. This function is enabled when [Pr.
  • Page 85 Lists of supported control modes 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 86 Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD               PA01 PA01.0  ...
  • Page 87 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PB01 PB01.0                ...
  • Page 88 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD               PB45 PB45.0-1           ...
  • Page 89 Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PC01                 ...
  • Page 90 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD                PC71           ...
  • Page 91 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PE01 PE01.0               ...
  • Page 92 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD               PF02 PF02.0 ...
  • Page 93 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PF80 PF80.0                         ...
  • Page 94 Positioning control setting servo parameters group ([Pr. PT_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD               PT01 PT01.1 ...
  • Page 95 Positioning extension setting servo parameters group ([Pr. PV_ _ Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PV01                 ...
  • Page 96 7.10 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...
  • Page 97 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 98 Initial value 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 PB75 PB76 PB77 0.00 PB78 0.00...
  • Page 99 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 100 Initial value 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 PC71 PC72 20.00 PC73 PC74 10.0...
  • Page 101 I/O setting servo parameters group ([Pr. PD_ _ ]) Initial value PD01 00000000h PD02 00000000h PD03 0000000Ah PD04 0000000Bh PD05 00000022h PD06 00000000h PD07 00000005h PD08 00000004h PD09 00000003h PD10 00000000h PD11 00000007h PD12 00000101h PD13 00000000h PD14 00000000h PD15 00000000h PD16 00000000h...
  • Page 102 Initial value 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 00000000h PD72...
  • Page 103 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 104 Initial value PE52 00000000h PE53 1000.0 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 00000000h PE74...
  • Page 105 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 106 Initial value PF52 00000000h PF53 PF54 PF55 PF56 PF57 00000000h PF58 00000000h PF59 00000000h PF60 00000000h PF61 00000000h PF62 00000000h PF63 00000000h PF64 00000000h PF65 00000000h PF66 00000000h PF67 PF68 PF69 PF70 PF71 00000000h PF72 PF73 PF74 PF75 PF76 PF77 00000000h PF78 00000000h...
  • Page 107 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 108 Initial value 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 00000000h PL72 00000000h 7 SERVO PARAMETERS...
  • Page 109 Positioning control setting servo parameters group ([Pr. PT_ _ ]) Initial value PT01 00000310h PT02 00000001h PT03 00000000h PT04 00000000h PT05 100.00 PT06 10.00 PT07 PT08 PT09 1000 PT10 PT11 15.0 PT12 PT13 00000000h PT14 PT15 PT16 00000000h PT17 PT18 00000000h PT19 PT20...
  • Page 110 Initial value PT52 PT53 100.0 PT54 PT55 00000000h PT56 PT57 PT58 100.00 PT59 500.00 PT60 1000.00 PT61 200.00 PT62 00000000h PT63 00000000h PT64 00000000h PT65 100.00 PT66 20000.00 PT67 3000.00 PT68 00000002h PT69 00000000h PT70 00000000h PT71 00000000h PT72 PT73 00000000h PT74 PT75...
  • Page 111 Network setting servo parameters group ([Pr. PN_ _ ]) Initial value PN01 00000000h PN02 PN03 00000000h PN04 PN05 PN06 00000000h PN07 00000000h PN08 00000000h PN09 PN10 PN11 3600 PN12 00000001h PN13 00000100h PN14 00000000h PN15 00000000h PN16 00000000h PN17 00000000h PN18 PN19 00000000h...
  • Page 112 Positioning extension setting servo parameters group ([Pr. PV_ _ Initial value PV01 PV02 PV03 2147483647 PV04 PV05 PV06 PV07 PV08 PV09 PV10 PV11 500000 PV12 PV13 100000 PV14 PV15 PV16 PV17 PV18 PV19 20000 PV20 PV21 2147483647 PV22 PV23 PV24 PV25 PV26 PV27...
  • Page 113 NETWORK PARAMETERS Refer to the following manual for the parameters not described in this chapter. MR-J5-G/MR-J5W-G User's Manual (Parameters) Network basic parameters [Pr. NPA01_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPA02_For manufacturer setting] This network parameter is for manufacturer setting. [Pr.
  • Page 114 User authentication parameters [Pr. NPB01_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPB04_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPB05_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPB06_For manufacturer setting] This network parameter is for manufacturer setting.
  • Page 115 [Pr. NPB17_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPB18_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPB19_For manufacturer setting] This network parameter is for manufacturer setting. [Pr. NPB20_For manufacturer setting] This network parameter is for manufacturer setting. [Pr.
  • Page 116 FUNCTIONAL SAFETY PARAMETERS Refer to the following manual for the parameters not described in this chapter. MR-J5-G/MR-J5W-G User's Manual (Parameters) Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) [Pr. PSA01_Safety sub-function mode selection (**SOA)] Initial value Setting range Setting method Ver.
  • Page 117 [Pr. PSA10_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSA11_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSA12_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSA13_For manufacturer setting] This functional safety parameter is for manufacturer setting.
  • Page 118 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) [Pr. PSB01_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSB02_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSB06_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr.
  • Page 119 Network parameters group ([Pr. PSC_ _ ]) [Pr. PSC01_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSC03_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSC06_For manufacturer setting] This functional safety parameter is for manufacturer setting. 9 FUNCTIONAL SAFETY PARAMETERS 9.3 Network parameters group ([Pr.
  • Page 120 Safety I/O device parameters group ([Pr. PSD_ _ ]) [Pr. PSD01_For manufacturer setting] This functional safety parameter is for manufacturer setting. [Pr. PSD02_Input device selection DI1 (**SDI1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
  • Page 121 [Pr. PSD02.3_Input axis selection DI1] Initial value Setting range Ver. Refer to the text For a multi-axis drive unit, set which axis will use the input device that was assigned in [Pr. PSD02.0-1 Safety input device selection DI1]. When this functional safety parameter is set to "0h", the input device is enabled for all axes using the automatic setting. Servo parameter number Setting digit (BIN) Setting details...
  • Page 122 [Pr. PSD08_Output device selection DO1 (**SDO1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of the CN8-6/CN8-7 pin. If this functional safety parameter is set incorrectly, [AL.
  • Page 123 Lists of functional safety parameter initial values Refer to "LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Parameters) 9 FUNCTIONAL SAFETY PARAMETERS 9.5 Lists of functional safety parameter initial values...
  • Page 124 Section 7.7, Section 7.8, Section 7.9, Section 7.10 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 125 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 126 TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.  EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 128 IB(NA)-0300543ENG-B(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.

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