Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Function) -MR-J5-_G_ -MR-J5W_-_G -MR-J5-_A_...
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 This manual covers the following servo amplifiers. • MR-J5-_G_/MR-J5W_-_G/MR-J5-_A_ In this manual, the servo amplifier names are abbreviated as shown below. Symbol Servo amplifier MR-J5-_G_ [WG] MR-J5W_-_G MR-J5-_A_ U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S.
Page 6: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 7 Electronic gear selection function ............87 In-position range setting.
Page 8 Compliance with SEMI-F47 standard............126 Setting method .
Page 9 Input open-phase detection function ............221 Output open phase detection function.
Page 10: Chapter 1 Function
FUNCTION Precautions • MR-J5-_G_-RJ and MR-J5-_A_-RJ will be available in the future. • The use of MR Configurator2 via network will be available in the future. Function list The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.
Page 11 Drive motor Subcategory Function Description Detailed explanation MR-J5 Universal drive Linear servo motor The linear servo system can be configured using Refer to "When using linear   a linear servo motor and a linear encoder. servo motor" in the following manual.
Page 12 Operation function Subcategory Function Description Detailed explanation MR-J5 Page 118 Quick stop   Stop function Quick Stop Stops the servo motor with a specified method and switches to the servo-off status. [G] [WG] Halt Stops the servo motor as maintaining the servo- Page 120 Halt [G] ...
Page 13 Control function Subcategory Function Description Detailed explanation MR-J5 Vibration Advanced vibration This function suppresses vibration and residual Refer to "Advanced   suppression suppression control II vibration at an arm end. vibration suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) ...
Page 14 Adjustment function Subcategory Function Description Detailed explanation MR-J5   Automatic Quick tuning Automatically adjusts the gain at servo-on in a Refer to "Quick tuning" in adjustment short time without acceleration/deceleration the following manual. operation of the servo motor. The response MR-J5 User's Manual without overshoot can be received.
Page 15 I/O, monitor Subcategory Function Description Detailed explanation MR-J5 DI/DO Input signal selection (device The input devices including LSP (forward rotation Page 90 Assigning I/O   selection) stroke end) can be assigned to certain pins of the devices connector. Page 90 Assigning I/O ...
Page 16 Engineering tool Subcategory Function Description Detailed explanation MR-J5   Setup software MR Configurator2 Servo parameter setting, test operation, Refer to "Startup" in the monitoring, and others can be performed with a following manual. personal computer. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5-A User's Manual (Introduction) Protective functions...
Page 17 Instantaneous power failure measures Subcategory Function Description Detailed explanation MR-J5 Tough drive SEMI-F47 function This function enables to avoid triggering [AL. 010 Page 126 Compliance   Undervoltage] using the electrical energy with SEMI-F47 standard charged in the capacitor in case that an instantaneous power failure occurs during operation.
Page 18 Diagnostics Subcategory Function Description Detailed explanation MR-J5 Page 184 Drive   Drive data Drive recorder This function continuously monitors the servo diagnosis status and records the state transition before and recorder after an alarm for a fixed period of time. The recorded data can be checked by the Waveform- Display button on the drive recorder window of MR Configurator2 being clicked.
Page 19 History Subcategory Function Description Detailed explanation MR-J5  Alarm history This function saves the information of alarm Page 96 Alarm history   occurred in servo amplifier. The information is [G] [WG] saved in chronological order and used for the Page 97 Alarm history investigation of alarm cause, and others.
Page 20: Chapter 2 Control Mode
CONTROL MODE Control mode [G] [WG] The method for driving a servo motor varies depending on each control mode. The characteristic of each control mode is shown in the following. Category Control mode Symbol Description CiA 402 control mode Cyclic synchronous position This is a control mode where a position command is received at a mode constant period to drive the servo motor in the synchronous...
Page 21: Cyclic Synchronous Position Mode (Csp)
Cyclic synchronous position mode (csp) The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following. [Positive torque limit value (Obj. 60E0h)] [Negative torque limit value (Obj. 60E1h)] × [Quick stop deceleration (Obj. 6085h)] [Control effort [Quick stop option code (Obj.
Page 22 Index Object Name Data Type Access Default Description 6091h ARRAY Gear ratio Gear ratio Motor revolutions Number of revolutions of the servo motor shaft (numerator) Page 80 Command unit select function [A] Shaft revolutions Number of revolutions of the drive shaft (denominator) Page 80 Command unit select function [A]...
Page 23: Cyclic Synchronous Velocity Mode (Csv)
Cyclic synchronous velocity mode (csv) The functions and related objects of the cyclic synchronous velocity mode (csv) are shown in the following. [Positive torque limit value (Obj. 60E0h)] [Negative torque limit value (Obj. 60E1h)] × [Quick stop deceleration (Obj. 6085h)] [Velocity demand value [Quick stop option code (Obj.
Page 24 Index Object Name Data Type Access Default Description 607Eh  Polarity Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL Page 67 Rotation/travel direction selection [G] [WG]   60A8h SI unit position SI unit position 00000000h (1 pulse) 60A9h ...
Page 25: Cyclic Synchronous Torque Mode (Cst)
Cyclic synchronous torque mode (cst) The functions and related objects of the cyclic synchronous torque mode (cst) are shown in the following. [Max torque (Obj. 6072h)] Torque [Positive torque limit value (Obj. 60E0h)] [Torque demand value (Obj. 6074h)] Torque limit Motor [Negative torque limit value (Obj.
Page 26 Index Object Name Data Type Access Default Description 60A9h  SI unit velocity  SI unit velocity 0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min) Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj.
Page 27: Homing Mode (Hm) And Homing
Homing mode (hm) and homing The functions and related objects of the homing mode (hm) are shown in the following. [Controlword (Obj. 6040h)] [Homing method (Obj. 6098h)] [Statusword (Obj. 6041h)] [Homing speeds (Obj. 6099h)] Homing method [Homing acceleration (Obj. 609Ah)] [Home offset (Obj.
Page 28 Controlword/Statusword By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be checked with [Statusword (Obj. 6041h)]. Some Bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control modes. The Bits that vary depending on the control modes are shown in the following tables.
Page 29 • When using an incremental linear encoder in the linear servo motor control mode • When using a direct drive motor manufactured by Mitsubishi Electric in the direct drive motor control mode To execute a homing securely, move the linear servo motor to the opposite stroke end with csv or others from the controller, and then start homing.
Page 30 Method No. Homing methods Rotation Description direction Homing on negative home Reverse This is the same as the dog type last Z-phase reference homing. switch and index pulse rotation Note that if the stroke end is detected during a homing, [AL. 090 Homing incomplete warning] occurs.
Page 31 ■Absolute position data erase condition For an incremental system, absolute position data is erased under the following conditions. • Homing is not being executed. • Homing is in progress. • [AL. 069 Command error] occurs. For an absolute position detection system, absolute position data is erased under the following conditions. •...
Page 32 CiA 402-type Homing method The following shows the CiA 402-type homing. ■Method 3 and 4: Homing on positive home switch and index pulse These homing methods use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position.
Page 33 ■Method 7, 8, 11, 12: Homing on home switch and index pulse These methods include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the same operation as the dog type last Z-phase reference homing.
Page 34 ■Method 17 to 30: Homing without index pulse Method 17 to 30 have the same operation as Method 1 to Method 14; however, these methods set the home position on the dog but not on the Z-phase. The following figure shows the operation of the homing methods of Method 19 and Method 20. Method 19 and Method 20 have the same operation as Method 3 and Method 4;...
Page 35 Operation example of the CiA 402-type Homing method The following shows an operation example of the homing in the CiA 402-type Homing method. ■Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3.
Page 36 ■Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The homing direction of Homing method 6 is opposite to that of Homing method 4.
Page 37 ■Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The homing direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 38 ■Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The homing direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
Page 39 ■Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The homing direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant Homing speed...
Page 40 ■Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The homing direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position shift distance Acceleration time constant...
Page 41 ■Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The homing direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant Homing speed...
Page 42 ■Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The homing direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12 Homing attained Home position shift distance Acceleration time constant...
Page 43 ■Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The homing direction of Homing method 33 is opposite to that of Homing method 34. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time constant Deceleration time constant...
Page 44 Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific homing. ■Method -1 and -33 (Dog type homing) The following figure shows the operation of Homing method -1. The homing direction of Homing method -33 is opposite to that of Homing method -1.
Page 45 ■Method -2 and -34 (Count type homing) For the count type homing, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog. Then, the first Z-phase is set as the home position. Therefore, when the on-time of the proximity dog is 10 ms or more, the length of the proximity dog has no restrictions.
Page 46 ■Method -3 (Data set type homing) The following figure shows the operation of Homing method -3. This is the same as the Homing method 37. Statusword bit 12 Homing attained Homing position data Forward rotation Servo motor speed 0 r/min Reverse rotation Controlword bit 4...
Page 47 ■Method -6 and -38 (dog type rear end reference homing) This homing method depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a homing is performed, the home position has the following error.
Page 48 ■Method -7 and -39 (count type front end reference homing) This homing method depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a homing is performed, the home position has the following error.
Page 49 ■Method -8 and -40 (dog cradle type homing) The following figure shows the operation of Homing method -8. The homing direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time constant Deceleration time constant...
Page 50 ■Method -9 and -41 (dog type last Z-phase reference homing) The following figure shows the operation of Homing method -9. The homing direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12 Homing attained Acceleration time...
Page 51 ■Method -10 and -42 (dog type front end reference homing) The following figure shows the operation of Homing method -10. The homing direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant...
Page 52 ■Method -11 and -43 (dogless Z-phase reference homing) The following figure shows the operation of Homing method -11. The homing direction of Homing method -43 is opposite to that of Homing method -11. Statusword bit 10 Target reached Statusword bit 12 Homing attained Deceleration time constant Homing speed...
Page 53: Control Mode [A]
Control mode [A] The method for driving a servo motor varies depending on each control mode. The characteristic of each control mode is shown in the following. Category Control mode Symbol Description Pulse/analog/DI command Position control mode This is a control mode which operates the servo motor with the input of the pulse train.
Page 54: Position Control Mode (P)
Position control mode (P) With the pulses to be inputted to the servo amplifier, the speed can be controlled. [Pr. PA01.0 Control mode selection] can be operated when set to the initial value "0" (Position control mode). Set the logic of the positioning module and the command pulse of the servo amplifier as follows. •...
Page 55 • Differential line driver type The following explains about the case where [Pr. PA13.0 Command input pulse train - Form selection] is set to "0" (Forward/ reverse rotation pulse trains) and [Pr. PA13.1 Pulse train logic selection] is set to "1" (negative logic). The waveforms of PP, PG, NP, and NG are based on LG.
Page 56 Electronic gear switching With the combination of CM1 and CM2, select the four different electronic gear numerators set in the servo parameters. Refer to the following. Page 81 Electronic gear function [G] [WG] Torque limit Precautions • If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate, depending on the amount of the position deviation from the command position.
Page 57: Speed Control Mode (S)
Speed control mode (S) Set [Pr. PA01.0] to "2" (Speed control mode). The speed can be controlled with the servo parameter setting or with the applied voltage of VC (Analog speed command). Speed setting ■Speed command and speed The servo motor is operated at the speed set in the servo parameter or at the speed set in the applied voltage of VC (Analog speed command).
Page 58 ■SP1 (Speed selection 1)/SP2 (Speed selection 2) and speed command value The speed command can be selected with SP1 (Speed selection 1) and SP2 (Speed selection 2). Input device Speed command value VC (Analog speed command) [Pr. PC05 Internal speed 1] [Pr.
Page 59: Torque Control Mode (T)
Torque control mode (T) Set [Pr. PA01.0] to "4" (Torque control mode). The torque can be controlled with the internal torque command set in the servo parameter, or with the combination of the applied voltage of TC (Analog torque command) and either of RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).
Page 60 ■Analog torque command offset Using [Pr. PC38 Analog command input 2 offset], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage as follows. Maximum torque [Pr. PC38] offset range -9999 mV to 9999 mV 8 (-8) TC applied voltage [V] Torque limit...
Page 61 ■Speed limit value selection The speed limit can be selected with SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3). Input device Speed limit VLA (Analog speed limit) [Pr. PC05 Internal speed 1] [Pr. PC06 Internal speed 2] [Pr.
Page 62: Position/Speed Control Switching Mode (P/S)
Position/speed control switching mode (P/S) Set [Pr. PA01.0] to "1" (Position/Speed control switching mode). Switching between the position control and speed control is enabled at a zero speed status. Refer to the following. Page 51 Control mode switching by using LOP (Control switching) Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact.
Page 63 Speed setting in speed control mode ■Speed command and speed The servo motor is operated at the speed set in the servo parameter or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as in the section of the speed control mode.
Page 64: Speed/Torque Control Switch Mode (S/T)
Speed/torque control switch mode (S/T) Set [Pr. PA01.0] to "3" (Speed/torque control switching mode). Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact. The control mode may be switched at any time. LOP (Control switching) Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact.
Page 65 Speed limit in torque control mode ■Speed limit value and speed The speed is limited to the limit value of the servo parameter or the value set in the applied voltage of VLA (Analog speed limit). A relation between the VLA (Analog speed limit) applied voltage and the limit value is the same as the specification in the section of the torque control mode.
Page 66: Torque/Position Control Switch Mode (T/P)
Torque/position control switch mode (T/P) Set [Pr. PA01.0] to "5" (Torque/position control switching mode). Switching between the torque control and position control is enabled at a zero speed status. Refer to the following. Page 51 Control mode switching by using LOP (Control switching) Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact.
Page 67: Chapter 3 Basic Function
BASIC FUNCTION For basic operation of the servo amplifier, respective functions are explained in this section. Set each function as required. For advanced operation of the servo amplifier, refer to the following. Page 121 APPLICABLE FUNCTION Precautions • To prevent a malfunction and machine damage, on the first operation after setting, check the operating condition with a low speed command.
Page 68: Object Dictionary [G] [Wg]
When using a controller manufactured by Mitsubishi Electric, any concern regarding the Objects is alleviated, as the controller itself has the functions to set and obtain the Object values necessary to implement each function. When the respective object values are needed to be obtained and set specifically, use the servo cyclic transmission function or the servo transient transmission function.
Page 69: Rotation/Travel Direction Selection [G] [Wg]
Rotation/travel direction selection [G] [WG] The rotation direction of a servo motor or the travel direction of a linear servo motor to position commands, speed commands, and torque commands can be changed. Set the directions with servo parameters or objects in accordance with the system configurations.
Page 70: Setting Methods Of Functions
Setting methods of functions Setting with servo parameters The rotation/travel direction can be changed without changing the polarity of the command from the controller. With regards to the commands from the controller, and in the feedback information to be transmitted to the controller, the position/speed information is changed with the setting of [Pr.
Page 71 Setting with object dictionary [Polarity (Obj. 607Eh)] enables the rotation/travel direction to be changed without changing the polarity of the command from the controller. The setting of [Polarity (Obj. 607Eh)] for the position information and speed information corresponds to [Pr. PA14 Travel direction selection].
Page 72 Target object The following shows objects in which the polarity is reversed by the setting of [Polarity (Obj. 607Eh)], and by the setting of [Pr. PA14 Travel direction selection] and "Torque POL reflection selection" of [Pr. PC29]. • [Target position (Obj. 607Ah)] •...
Page 73: Rotation/Travel Direction Selection [A]
Rotation/travel direction selection [A] The rotation direction of a servo motor or the travel direction of a linear servo motor to position commands, speed commands, and torque commands can be changed. Set the directions with servo parameters in accordance with the system configurations.
Page 74: Setting Methods Of Functions
Setting methods of functions Setting with servo parameters The rotation/travel direction in each control mode is shown as follows: ■For position control mode With the setting of [Pr. PA14 Travel direction selection], the rotation/travel direction can be changed without changing the forward/reverse rotation pulse inputs of the input pulse train.
Page 75: Stroke Limit Function [G] [Wg]
Stroke limit function [G] [WG] The stroke limit function is a function that limits the travel distance of servo motors. On a system configuration where the movable range is limited, wire the stroke limit signal and use this function to prevent machine damage due to a collision. When the stroke limit signal is detected, a warning regarding the detected signal occurs, and the servo motor stops based on the stop method described in this section.
Page 76 When wiring the limit switch to the servo amplifier Refer to the system configuration example shown in this section, and input the signal of the limit switch to the servo amplifier. Set [Pr. PD41.3 Sensor input method selection] for the initial setting "0" (Input from the servo amplifier (LSP/LSN/DOG)). Set the limit switch installed in CCW or the positive direction to LSP, and set the limit switch installed in CW or the negative direction to LSN.
Page 77 • [Pr. PA14 Travel direction selection] = "1" (CW or the negative direction) The example is the case where CCW or the positive direction of the servo amplifier is different from the positioning address increasing direction of the controller. To the controller, on/off of LSN (Reverse rotation stroke end) is outputted as FLS (Upper stroke limit), and on/off of LSP (Forward rotation stroke end) is outputted as RLS (Lower stroke limit).
Page 78 ■System configuration example The following shows an example of where the limit switch is wired to the controller. To FLS (Upper stroke limit), input the limit signal which suppresses the operation in the positioning address increasing direction against the command from the controller.
Page 79: Stop Method At Stroke Limit Detection
Stop method at stroke limit detection When LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) or FLS (Upper stroke limit)/RLS (Lower stroke limit) is turned off, the servo motor stops with the stop method shown in this section. In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When the command position exceeds by 30 bits from the position where the stroke end is detected, [AL.
Page 80: Stroke Limit Function [A]
Stroke limit function [A] The stroke limit function is a function that limits the travel distance of servo motors. On a system configuration where the movable range is limited, wire the stroke limit signal and use this function to prevent machine damage due to a collision. When the stroke limit signal is detected, a warning regarding the detected signal occurs, and the servo motor stops based on the stop method described in this section.
Page 81: Stop Method At Stroke Limit Detection
When the movable range is not limited On a system configuration without the limited movable range, such as a conveyor, set LSP/LSN to be automatically turned on. As the signal is set to be always turned on, the servo motor does not stop with the stroke limit. This can be set from the "Basic Setting"...
Page 82: Command Unit Select Function [A]
Command unit select function [A] The unit of torque command can be selected. Torque command unit selection function This is a function to select setting units of torque data. The setting units of analog torque command and torque limit can be selected.
Page 83: Electronic Gear Function [G] [Wg]
Electronic gear function [G] [WG] Electronic gear function is a function that multiplies the electronic gear ratio to the position command, and sets the ratio of the rotation amount/travel distance of the servo motor to the rotation amount/travel distance of the command unit, as desired. For the position feedback, the inverse number of the electronic gear ratio is multiplied.
Page 84: Setting Example
Setting example The electronic gears on the position command side are illustrated in the function block diagrams. The position feedback side is multiplied by the inverse number of the electronic gear ratio. In the cyclic synchronous position mode Adjust [Pr. PA06 Electronic gear - Numerator] and [Pr. PA07 Electronic gear - Denominator] so that the travel distance set in the controller matches the travel distance on the machine.
Page 85 67108864 67108864 16777216 = ΔL • = ΔL • = 10 × 10 • ΔS 1/n • Pb 1/2 • 10 Therefore, set CMX = 16777216 and CDV = 125. ■Setting example of conveyors The following shows the example of when the conveyor is rotated at 0.01° per pulse. Machine specifications Servo motor 67108864 [pulse/rev]...
Page 86: Electronic Gear Function [A]
Electronic gear function [A] Electronic gear function is a function that multiplies the electronic gear ratio to the position command, and sets the ratio of the rotation amount/travel distance of the servo motor to the rotation amount/travel distance of the command unit, as desired. For the position feedback, the inverse number of the electronic gear ratio is multiplied.
Page 87: Setting Example
Setting example The electronic gears on the position command side are illustrated in the function block diagrams. To the position feedback side, the inverse number of the electronic gear ratio is multiplied. For position control mode Adjust [Pr. PA06 Electronic gear - Numerator] and [Pr. PA07 Electronic gear - Denominator] so that the travel distance set in the controller matches the travel distance on the machine.
Page 88 ■Setting example of a ball screw The following shows the example of when the ball screw is moved at 10 μm per pulse. Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Servo motor encoder resolution 67108864 [pulse/rev] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2...
Page 89: Electronic Gear Selection Function
Electronic gear selection function With the input devices CM1 (Electric gear selection 1) and CM2 (Electronic gear selection 2), the numerator of the electronic gear (CMX) can be selected. The electronic gear numerator (CMX) switches at the same time as CM1 and CM2 are turned on or off.
Page 90: In-Position Range Setting
In-position range setting Positioning completion status can be checked with INP (in-position). When the number of droop pulses falls within or less than the range set in servo parameters, INP (in-position) turns on. With servo parameters, the range unit of the in-position and the conditions to turn on the in-position can be changed.
Page 91: Setting Method [A]
Setting method [A] The servo parameters related to the in-position setting are shown as follows: Servo parameter Symbol Name Outline PA10 In-position range Set the in-position range. Initial value: 400 [pulse] PC24.0 *COP3 In-position range unit Select a unit of the in-position range. selection 0: Command input pulse unit (initial value) 1: Servo motor encoder pulse unit...
Page 92: Assigning I/O Devices
3.10 Assigning I/O devices Signals can be assigned to the external I/O signal of the servo amplifier. Also, the signals can be set to be automatically turned on without wiring. In addition, if the external input signal causes chattering due to noise or other factors, the input filter can be used to suppress the effect of noise.
Page 93: Setting Method [A]
■MR-J5W_-_G Servo Symbol Name Outline parameter PD01.2 *DIA1 Input signal automatic on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) can be set to selection disable (Use for an external input signal.) or enable (Automatic on). Initial value: 0h (Disabled (Use for an external input signal.)) PD03.0-1 *DI1 Device selection...
Page 94: Regenerative Option Selection
Refer to "Regenerative option" in the following manual for the details of the regenerative options. MR-J5 User's Manual (Hardware) Regenerative option For the regenerative options, select the Mitsubishi Electric-specified regenerative resistor (MR-RB series). Precautions • To prevent fire, use servo amplifiers with regenerative options in the specified combinations.
Page 95: Alarm Function
3.12 Alarm function When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm occurs, ALM (Malfunction) turns off and the servo motor stops. When a warning occurs, the servo motor may not stop for each warning number.
Page 96: Operation Status At Warning Occurrence [G] [Wg]
Operation status at warning occurrence [G] [WG] The following shows the status of servo amplifiers at warning occurrence. Status Reference The No. of the warning that has occurred is shown on the 7-segment LED. Refer to "7-segment LED" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Introduction) Page 97 Stop method at occurrence of alarms/warnings The operation is continued.
Page 97: Returning From Alarm [A]
Returning from alarm [A] When an alarm occurs, remove its cause, check that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting the operation. Remove the cause of the alarm in accordance with the following manual. MR-J5 User's Manual (Troubleshooting) The following table shows how to deactivate the alarm.
Page 98: Alarm History [G] [Wg]
Alarm history [G] [WG] The No. of the alarm that has occurred and its occurrence time can be recorded as history. In the alarm history, the latest 16 alarms are recorded so that the types of alarms that have occurred in the past can be checked. The alarm history can be cleared with [Pr.
Page 99: Alarm History [A]
Index Object Name Data Access Default Description Type 2A45h ARRAY Parameter error list  When [AL. 037 Parameter error] occurs, the number of the servo parameter which causes the error is returned.  ARRAY Parameter error list 1 When [AL. 037 Parameter error] occurs, the first servo parameter number that caused the alarm is returned.
Page 100: Timing Chart Of Alarm Occurrence
Timing chart of alarm occurrence • [G] [WG] In the torque mode, the forced stop deceleration function cannot be used. When the servo motor is at a stop due to an alarm or other factors, commands from the controller are not accepted.
Page 101 ■Stopping with dynamic brake When an alarm is detected, MRB and ALM are turned off, and the servo motor stops with the dynamic brake and electromagnetic brake. Alarm occurrence Braking with dynamic brake Braking with dynamic brake and electromagnetic brake Servo motor speed 0 r/min Base circuit...
Page 102: Forced Stop Deceleration Function
3.13 Forced stop deceleration function Forced stop deceleration function is a function that decelerates the servo motor with commands when EM2 (Forced stop 2) is turned off, and stops the servo motor with the dynamic brake when the servo motor rotates at the zero speed or less. This enables the servo motor to stop with shorter coasting distance than stopping only with dynamic brake.
Page 103: Setting Method [A]
Setting method [A] Set [Pr. PA04.3 Forced stop deceleration function selection] to enable/disable the forced stop deceleration function. Setting [Pr. PA04.3 Forced stop deceleration function selection] to "2" (Forced stop deceleration function enabled) operates forced stop deceleration function when EM2 (Forced stop 2) is turned off. In addition, set the level of ZSP (Zero speed detection) and the amount of time to reach 0 [r/min] or [mm/s] from the rated speed, by using [Pr.
Page 104: Timing Chart [A]
Timing chart [A] When EM2 (Forced stop 2) is turned off, the servo motor decelerates in accordance with the value of [Pr. PC51 Deceleration time constant at forced stop]. Once the servo motor speed is below [Pr. PC17 Zero speed] after completion of the deceleration command, base circuit is shut off and the dynamic brake activates.
Page 105: Electromagnetic Brake Interlock Function
3.14 Electromagnetic brake interlock function For the servo motor with an electromagnetic brake, this function activates the electromagnetic brake at servo-off, at error occurrence, and others. By using the electromagnetic brake, the position can be maintained so that the servo motor will not move due to external force.
Page 106: Setting Method [A]
Setting method [A] For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, refer to "Electromagnetic brake characteristics" in the following manual. Rotary Servo Motor User's Manual (HK series) For a selection example of the surge absorber for electromagnetic brake, refer to "Electromagnetic brake characteristics"...
Page 107: Timing Chart
Timing chart When using the forced stop deceleration function When [Pr. PA04.3 Forced stop deceleration function selection] is set to "2" (Forced stop deceleration function enabled). ■Turning on/off the servo-on command [G] [WG] When the servo-on command is turned off, the servo lock is released after Tb [ms], and then the servo motor coasts. If the electromagnetic brake is enabled during servo-lock, the brake life may be shortened.
Page 108 ■Turning on/off the servo-on command [A] When the servo-on command is turned off, the servo lock is released after Tb [ms], and then the servo motor coasts. If the electromagnetic brake is enabled during servo-lock, the brake life may be shortened. Therefore, when using with the vertical axis, set Tb to about 1.5 times of the minimum delay time where the moving part will not drop down.
Page 109 ■Off/on of the quick stop command (from controller) or EM2 (Forced stop 2) [G] [WG] In the torque mode, the forced stop deceleration function cannot be used. Keep the servo-on command (from controller) and ready-on command (from controller) on while the quick stop command (from controller) or EM2 (Forced stop 2) is off.
Page 110 ■EM2 (Forced stop 2) off/on [A] In the torque mode, the forced stop deceleration function cannot be used. Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. When SON (Servo-on) is turned off before EM2 (Forced stop 2), the operation state of the servo amplifier is the same as the following. Page 106 Turning on/off the servo-on command [A] After the servo motor stops with the forced stop deceleration, the MBR turns off, and the base circuit turns off after the base circuit shut-off delay time...
Page 111 ■Alarm occurrence [G] [WG] After the servo motor stops with the forced stop deceleration, MBR is turned off and the base circuit and ALM are off after the base circuit shut-off delay time. Alarm occurrence Model speed command 0 Servo motor speed and equal to or less than zero speed 0 r/min...
Page 112 ■Both main and control circuit power supplies are turned off With the base circuit off, the servo motor stops with the dynamic brake and the electromagnetic brake. Dynamic brake Dynamic brake + electromagnetic brake (10 ms) Servo motor speed Electromagnetic brake 0 r/min Base circuit (Electromagnetic...
Page 113 ■Ready-off command from controller [G] [WG] After the base circuit turns off by the ready-off command, the servo motor stops with the dynamic brake and the electromagnetic brake. Dynamic brake Dynamic brake + electromagnetic brake (10 ms) Servo motor speed Electromagnetic brake 0 r/min Base circuit...
Page 114 ■Alarm occurrence When an alarm occurs, the servo motor stops in the same way as with the dynamic brake. Page 99 Stopping with dynamic brake ■Both main and control circuit power supplies are turned off The timing chart is the same as that of "Both main and control circuit power supplies are turned off" in the case of using the forced stop deceleration function.
Page 115: Vertical Axis Freefall Prevention Function
3.15 Vertical axis freefall prevention function When the servo motor is used to operate a vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function can prevent the vertical axis from falling at forced stop; however, a mechanical clearance of the servo motor electromagnetic brake may cause the axis to fall by several μm.
Page 116: Timing Chart [G] [Wg]
Timing chart [G] [WG] (Forced stop 2) (Enabled) Travel distance Position [Pr. PC31] Set the base circuit shut-off delay time. ([Pr. PC02]) Base circuit (Energy supply to the servo motor) (Electromagnetic (Enabled) brake interlock) Disabled Actual operation of electromagnetic Enabled brake Timing chart [A] (Forced stop 2)
Page 117: Acceleration/Deceleration Function
3.16 Acceleration/deceleration function Acceleration/deceleration function enables smooth acceleration/deceleration. Acceleration/deceleration function has the following methods: • [G] [WG] Item Explanation Reference Page 115 Acceleration/ Acceleration/deceleration This is a method for performing the acceleration/deceleration, in accordance with the time constant method specified acceleration/deceleration time constants [ms]. deceleration time constant •...
Page 118 Setting method [A] The setting methods vary depending on each control mode. Refer to the following table. In addition, deceleration time constant of the forced stop deceleration function can be set in [Pr. PC51 Deceleration time constant at forced stop]. Refer to the following.
Page 119: S-Pattern Acceleration/Deceleration Time Constant [A]
S-pattern acceleration/deceleration time constant [A] Setting S-pattern acceleration/deceleration time constant enables smooth start/stop of the servo motor. This function is enabled when [Pr. PC03 S-pattern acceleration/deceleration time constants] is set. Servo motor speed Speed command 0 r/min Time (0 mm/s) Speed Speed acceleration...
Page 120: Quick Stop [G] [Wg]
3.17 Quick stop [G] [WG] With Quick stop defined in CiA 402, the servo motor can be stopped by the forced stop deceleration. For details of the forced stop deceleration, refer to the following. Page 100 Forced stop deceleration function When the Quick stop command in [Controlword (Obj.
Page 121: Timing Chart
Timing chart When [Quick stop option code (Obj. 605Ah)] is set to "2" The servo motor decelerates to a stop with [Quick stop deceleration (Obj. 6085h)], and the state shifts to "Switch On Disabled". Quick stop command (Enabled) Operation Enabled Quick Stop Active Switch On Disabled Rated speed...
Page 122: Halt [G] [Wg]
3.18 Halt [G] [WG] Halt defined in CiA 402 enables temporary stop of the servo motor. When 1 is set in Bit 8 (HALT) of [Controlword (Obj. 6040h)], the servo motor decelerates to a stop with the deceleration time constant of [Homing acceleration (Obj. 609Ah)], and then the state remains as "Operation Enable" (Servo-on), in accordance with the setting of [Halt option code (Obj.
Page 123: Chapter 4 Applicable Function
APPLICABLE FUNCTION This chapter explains the application functions. Select the applicable functions to be used in the following table. Function to operate safely Applicable function Outline Reference Software position limit Prevents a moving part from colliding with the equipment. Page 205 Software position limit [G] [WG] Page 207 Torque limit [G] [WG] Torque limit Prevents the servo motor from outputting a higher torque than the...
Page 124: Tough Drive Function
Tough drive function Tough drive function is a function that allows the operation to continue without stopping the device, even when an alarm would occurs normally. This function also features the vibration tough drive and the instantaneous power failure tough drive. Vibration tough drive Vibration tough drive function is a function to: 1) prevent vibration, as the mechanical resonance frequency changes due to aging of the machine;...
Page 125 Timing chart ■When instantaneous power failure time of control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].
Page 126 ■When instantaneous power failure time of control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decreases. • When the bus voltage does not decrease to the undervoltage level or lower within the instantaneous power failure time of control circuit power supply, without setting off the alarm, the operation continues as is.
Page 127 • [AL. 010 Undervoltage] occurs regardless of the enabled instantaneous power failure tough drive even if the bus voltage decreases to the undervoltage level or lower within the instantaneous power failure time of the control circuit power supply. Instantaneous power failure time of control circuit power supply (Energization) Control circuit (Power failure)
Page 128: Compliance With Semi-F47 Standard
Compliance with SEMI-F47 standard This function complies with "SEMI-F47 semiconductor process equipment voltage sag immunity test". With this function, even when an instantaneous power failure occurs during operation, the occurrence of [AL. 010 Undervoltage] can be avoided by using the electrical energy charged in the capacitor. •...
Page 129: Calculation Method Of Tolerance Against Instantaneous Power Failure
Calculation method of tolerance against instantaneous power failure The following table shows the tolerance against instantaneous power failure when the instantaneous power failure voltage is the rated voltage × 50 %, and instantaneous power failure time is 200 ms. Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. Margin can be examined by comparing the value of each condition and instantaneous maximum output.
Page 130: Machine Diagnosis
Machine diagnosis The machine diagnosis function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and recognizes an error in the machine parts, including a ball screw and bearing. The machine diagnosis function features the following functions: Diagnosis target Diagnosis item...
Page 131: Friction Vibration Estimation Function
Friction vibration estimation function In the friction vibration estimation function, the friction estimation function estimates the friction of the drive system in the equipment, and the vibration estimation function estimates the minute vibration level and vibration frequency based on the data in the servo amplifier.
Page 132 Setting method [G] [WG] ■Friction estimation function Startup the system. Setting of [Pr. PF31] When the maximum operation speed is under the rated speed, set the value to 1/2 of the maximum speed during operation. Or set [Pr. PF34.6] to "1" (Automatic setting) to calculate [Pr. PF31] automatically. Drive the servo motor.
Page 133 Setting method [A] ■Friction estimation function Startup the system. Setting of [Pr. PF31] When the maximum operation speed is under the rated speed, set the value to 1/2 of the maximum speed during operation. Or set [Pr. PF51.6] to "1" (Automatic setting) to calculate [Pr. PF31] automatically. Drive the servo motor.
Page 134 Friction estimation function Speed [Pr. PF31] Zero speed Forward rotation Servo motor speed 0 r/min Time Reverse rotation Zero speed [Pr. PF31] To perform friction estimation, the servo motor must be rotated at zero speed or higher, and operated for 150 s both in the high and low-speed sections.
Page 135 Vibration estimation function The vibration estimation function monitors torque vibrations to estimate high-frequency minute vibration level and vibration frequency. An increase in the vibration level and a change in the vibration frequency due to excess play or deterioration in guides, ball screws, and belts can be observed. Vibration level Torque Vibration frequency...
Page 136 Related objects [G] [WG] index Object Name Data Type Access Description 2C20h Machine diagnostic status The machine diagnostic status is returned. [Bit 0 to 3: Friction estimation status at forward *1*2 rotation] 0: Friction is being estimated. (normal) 1: Estimation is completed. (normal) 2: The motor may rotate or travel in one direction too frequently.
Page 137: Friction Failure Prediction Function
Friction failure prediction function The friction failure prediction function predicts device failure based on the dynamic friction (at rated speed) estimated by the friction vibration estimation function. • In the torque mode, the friction failure prediction function cannot be used. Precautions [G] [WG] •...
Page 138 Setting method [G] [WG] The friction failure prediction function predicts a failure of the equipment from the increase and decrease in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7.2 Friction failure prediction warning] will occur.
Page 139 *1 The data of the estimated static friction and dynamic friction can be saved on the machine diagnosis screen of MR Configurator2. *2 Setting the value estimated by the automatic threshold setting in [Pr. PF19] and [Pr. PF20] reduces the possibility of an erroneous detection for failure prediction although the function operates properly with the initial value of [Pr.
Page 140 ■Threshold setting method When automatic threshold setting is used, [Pr. PF54 Friction failure prediction - Average characteristic] and [Pr. PF55 Friction failure prediction - Standard deviation] for determining the threshold value are automatically rewritten according to the dynamic friction (at rated speed) estimated inside the servo amplifier. At this time, changing [Pr. PF40 Friction failure prediction - Threshold multiplication] enables threshold changes.
Page 141 Setting method [A] The friction failure prediction function predicts a failure of the equipment from the increase and decrease in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7.2 Friction failure prediction warning] will occur.
Page 142 *1 The data of the estimated static friction and dynamic friction can be saved on the machine diagnosis screen of MR Configurator2. *2 Setting the value estimated by the automatic threshold setting in [Pr. PF19] and [Pr. PF20] reduces the possibility of an erroneous detection for failure prediction although the function operates properly with the initial value of [Pr.
Page 143 ■Setting of Failure prediction - Servo motor total travel distance For the automatic threshold setting, set the Failure prediction - Servo motor total travel distance. It is recommended that the servo motor total travel distance for the failure prediction be set to about the same as the rated life presented by each guide manufacturer and ball screw manufacturer.
Page 144 Friction failure prediction [G] [WG] When upper and lower limit thresholds are inputted to the servo amplifier, the servo amplifier starts friction failure prediction. During the friction failure prediction, if the dynamic friction (at rated speed) estimated by the friction estimation function exceeds the upper or lower limit threshold, [AL.
Page 145 Related objects [G] [WG] index Object Name Data Type Access Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status] 0: Vibration failure prediction disabled...
Page 146: Vibration Failure Prediction Function
Vibration failure prediction function The vibration failure prediction function predicts device failure based on the vibration level that has been estimated with the friction vibration estimation function during servo motor operation. Precautions • When the vibration failure prediction function is enabled, a vibration failure warning may occur if the gains of the servo amplifier are changed.
Page 147 Setting method [G] [WG] The vibration prediction function predicts a failure of the equipment with the increase of the vibration level, which is estimated by the vibration estimation function. If a failure of the equipment is predicted from the vibration, [AL. 0F7.1 Vibration failure prediction warning] occurs.
Page 148 ■Manual threshold setting This is a method of setting a threshold that triggers [AL. 0F7.1 Vibration failure prediction warning] with [Pr. PF40.1 Vibration failure prediction - Threshold multiplication], [Pr. PF45 Vibration failure prediction - Average characteristics], and [Pr. PF46 Vibration failure prediction - Standard deviation]. For the manual threshold setting, vibration failure prediction will start immediately after the vibration failure prediction function operates.
Page 149 Setting method [A] The vibration prediction function predicts a failure of the equipment with the increase of the vibration level, which is estimated by the vibration estimation function. If a failure of the equipment is predicted from the vibration, [AL. 0F7.1 Vibration failure prediction warning] occurs.
Page 150 ■Manual threshold setting This is a method of setting a threshold that triggers [AL. 0F7.1 Vibration failure prediction warning] with [Pr. PF52.1 Vibration failure prediction - Threshold multiplication], [Pr. PF56 Vibration failure prediction - Average characteristics], and [Pr. PF57 Vibration failure prediction - Standard deviation]. For the manual threshold setting, vibration failure prediction will start immediately after the vibration failure prediction function operates.
Page 151 Vibration failure prediction [G] [WG] When a threshold is inputted to the servo amplifier, the servo amplifier starts vibration failure prediction. During the vibration failure prediction, if the vibration level during servo motor operation, which is estimated by the vibration estimation function, exceeds the threshold, [AL.
Page 152 Related objects [G] [WG] index Object Name Data Type Access Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status] 0: Vibration failure prediction disabled...
Page 153: Total Travel Distance Failure Prediction Function
Total travel distance failure prediction function Outline [G] [WG] The total travel distance failure prediction function can check the total travel distance of devices and that of the servo motor after the shipment. The servo motor total travel distance indicates the cumulative number of rotations or total travel distance of the servo motor. The servo motor total travel distance is intended to be used as a guide for the timing of replacement and maintenance of the servo motor and mechanical parts in the equipment.
Page 154 Total travel distance reading method [A] The servo motor total travel distance can be read with the engineering tool (MR Configurator2) via USB connection. The read servo motor total travel distance is the one to which the set value of [Pr. PF58 Servo motor total travel distance offset] is added.
Page 155 Setting method of total travel distance failure prediction function [A] Using the servo motor total travel distance, the total travel distance failure prediction function can be performed in the following procedure. ■Failure prediction function setting with servo motor total travel distance To enable servo motor total travel distance failure prediction warning, set [Pr.
Page 156 Execution of total travel distance failure prediction function [G] [WG] Using the servo motor total travel distance, the total travel distance failure prediction function operates as follows. ■Total travel distance failure prediction with servo motor total travel distance Threshold = [Pr. PF41] Servo motor total travel distance (Warning)
Page 157 Execution of total travel distance failure prediction function [A] Using the servo motor total travel distance, the total travel distance failure prediction function operates as follows. ■Total travel distance failure prediction with servo motor total travel distance Threshold = [Pr. PF53] Servo motor total travel distance (Warning)
Page 158 Operation before replacement [G] [WG] When replacing the equipment, by setting the servo motor total travel distance offset, the servo motor total travel distance will continue from the previous distance value, and obtaining the accurate total travel distance of the device is possible. The operation before replacing the equipment is shown on the following table: Equipment for replacement Operation...
Page 159 Related objects [G] [WG] index Object Name Data Type Access Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction 3: During friction failure prediction warning [Bit 4 to 7: Vibration failure prediction status] 0: Vibration failure prediction disabled...
Page 160: Gear Failure Diagnosis Function
Gear failure diagnosis function The gear diagnosis function predicts a gear malfunction by estimating the backlash amount of the gear connected to the servo motor from the servo motor driving status. The gear diagnosis function includes the backlash estimation function and the gear failure prediction function.
Page 161 Setting method Use the gear diagnosis function with the following procedure: Start Startup the system. Set the ratio of the gear connected to the servo motor in [Pr. PF66.0-3 Gear ratio for backlash estimation - Numerator] and [Pr. PF66.4-7 Gear ratio for backlash estimation - Denominator. Set [Pr.
Page 162 ■Backlash estimation servo parameter input • Setting of gear ratio for backlash estimation Input the numerator and denominator of the gear ratio on the gear connected to the servo motor. Inputting the numerator and denominator of the gear ratio limits the travel distance during the backlash estimation to the minimum. When either the numerator or the denominator of the gear ratio is set to "0", the travel distance during the backlash estimation is two rotations each in the forward and reverse rotation side from the starting position of the backlash estimation.
Page 163 Backlash estimation function [G] [WG] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
Page 164 Backlash estimation function [A] Start the backlash estimation by clicking the estimation start button of MR Configurator2 during a servo motor stop. When the start button for the backlash estimation is clicked during servo-off, the status automatically shifts to servo-on, and the backlash estimation will be started.
Page 165 Cancellation of backlash estimation function Click the stop button during backlash estimation to cancel the backlash estimation. When backlash estimation is canceled, "C000" is displayed in the error code status. When resuming backlash estimation, stop the servo motor once. In addition, return the movable part to the estimated starting position.
Page 166: Belt Diagnosis Function
Gear failure prediction function The gear failure prediction function predicts the gear failure by comparing the backlash amount estimated by the backlash estimation function with the backlash value set in the servo parameter. After inputting the threshold to the servo amplifier with the gear diagnosis threshold setting method, performing backlash estimation executes the gear failure prediction.
Page 167 ■Friction failure prediction function The friction failure prediction function predicts a failure of the equipment from the increase/decrease in the static friction estimated by the friction estimation function. If a failure of the equipment is predicted, [AL. 0F7 Machine diagnosis warning] occurs.
Page 168 Outline [A] The belt diagnosis function estimates the tension deterioration of the belt connected to the servo motor by using the friction value of the servo amplifier internal data. A belt failure can be predicted based on the tension deterioration of the belt. Also, the timing of belt re-tensioning can be determined.
Page 169 ■Belt tension deterioration prediction function For the belt tension deterioration prediction function, [AL. 0F7 Machine diagnostic warning] occurs when the belt tension that is estimated from the servo amplifier internal data is equal to or lower than the inputted threshold of the belt tension servo parameter.
Page 170 Static friction failure prediction function [G] [WG] ■Friction failure prediction function method of use Follow these procedures when using the static friction failure prediction function. For the static friction failure prediction function, threshold that outputs a warning can be calculated automatically inside the servo amplifier using the automatic threshold setting or set with servo parameters using the manual threshold setting.
Page 171 *1 Estimated static friction and dynamic friction can be saved by opening the machine diagnostic screen of MR Configurator2. *2 If the equipment is operated continuously for less than 3 hours, or the friction estimation is not completed for the rotation direction set in [Pr.
Page 172 ■Threshold setting method When [Pr. PF34.5 Static friction failure prediction - Warning selection] is set to "1" (automatic threshold setting), [Pr. PF69 Static friction failure prediction - Average characteristics] and [Pr. PF70 Static friction failure prediction - Standard deviation] for determining a threshold are automatically rewritten according to the dynamic friction (at rated speed) estimated in the servo amplifier.
Page 173 ■Threshold reset method When the automatic threshold setting is performed again after being used to set the upper and lower threshold, set [Pr. PF34.5 Static friction failure prediction warning selection] to "3" (threshold reset), then cycle the power or perform the software reset.
Page 174 ■Related objects The following is a description of objects related to the static friction failure prediction function. Index Object Name Data Type Access Default Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure...
Page 175 Static friction failure prediction function [A] ■Friction failure prediction function method of use Follow these procedures when using the static friction failure prediction function. For the static friction failure prediction function, threshold that outputs a warning can be calculated automatically inside the servo amplifier using the automatic threshold setting or set with servo parameters using the manual threshold setting.
Page 176 *1 Estimated static friction and dynamic friction can be saved by opening the machine diagnostic screen of MR Configurator2. *2 If the equipment is operated continuously for less than 3 hours, or the friction estimation is not completed for the rotation direction set in [Pr.
Page 177 ■Threshold setting method When [Pr. PF51.5 Static friction failure prediction - Warning selection] is set to "1" (automatic threshold setting), [Pr. PF69 Static friction failure prediction - Average characteristics] and [Pr. PF70 Static friction failure prediction - Standard deviation] for determining a threshold are automatically rewritten according to the dynamic friction (at rated speed) estimated in the servo amplifier.
Page 178 ■Threshold reset method When the automatic threshold setting is performed again after being used to set the upper and lower threshold, set [Pr. PF51.5 Static friction failure prediction warning selection] to "3" (threshold reset), then cycle the power or perform the software reset.
Page 179 Belt tension deterioration prediction function [G] [WG] ■Belt tension deterioration prediction function method of use Follow these procedures when using the static friction prediction function. Start Startup the system. Operate the equipment with the belt loosened and complete friction estimation. Set a belt tension value in [Pr.
Page 180 ■Static friction setting at extension After attaching the belt to the equipment, drive the servo motor, and estimate the static friction with the friction vibration estimation function. In accordance with the completed static friction estimation, set [Pr. PF75 Static friction when extended] as follows.
Page 181 ■Belt tension threshold setting Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. When the belt tension estimated value inside the servo amplifier falls below the belt tension threshold, [AL. 0F7 Machine diagnostic warning] occurs. [Pr. PF72 Belt tension on installation] [Pr.
Page 182 ■Related objects The following is a description of objects related to the belt tension deterioration prediction function. Index Object Name Data Type Access Default Description 2C29h Fault prediction status [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
Page 183 Belt tension deterioration prediction function [A] ■Belt tension deterioration prediction function method of use Follow these procedures when using the static friction prediction function. Start Startup the system. Operate the equipment with the belt loosened and complete friction estimation. Set a belt tension value in [Pr. PF73 Belt tension when extended] and a static friction value in [Pr.
Page 184 ■Static friction setting at extension After attaching the belt to the equipment, drive the servo motor, and estimate the static friction with the friction vibration estimation function. For friction vibration estimation function, refer to the following. Page 129 Friction vibration estimation function In accordance with the completed static friction estimation, set [Pr.
Page 185 ■Belt tension threshold setting Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. When the belt tension estimated value inside the servo amplifier falls below the belt tension threshold, [AL. 0F7 Machine diagnostic warning] occurs. [Pr. PF72 Belt tension on installation] [Pr.
Page 186: Drive Recorder
Drive recorder This function continuously monitors the servo amplifier status and records the state transition before and after an alarm for a fixed period of time. By using MR Configurator2 via a network or USB connection, the data recorded inside the servo amplifier can be read in order to analyze alarms.
Page 187: Specification Outline
Specification outline A specification outline of the drive recorder is shown in this section. The drive recorder contains the automatic setting mode that uses factory settings and the manual setting mode that collects waveforms by optionally setting the trigger condition, sampling cycle, and other areas with the servo parameters. In the automatic setting mode, when an alarm occurs in the servo amplifier, conditions of the servo amplifier (such as the motor speed and droop pulses) before/after alarm occurrence are recorded.
Page 188 Method of reading recorded data Drive recorder data can be read with an engineering tool (MR Configurator2) via a network or USB connection. A connection example is as follows. • Connect directly to file transfer (USB) Servo amplifier Engineering tool MR Configurator2 USB cable Reading data recorded by the drive recorder...
Page 189: How To Use The Function [A]
■Re-setting Servo parameters that set the sampling cycle, trigger condition, and other areas cannot be changed during sampling. Change with the following procedure. Set [Pr. PF81.0] to "0" (stop sampling) and stop sampling. Set the sampling cycle, trigger condition, and other areas with servo parameters. Item Servo parameter Reference...
Page 190 Saving the drive recorder data in manual setting mode Precautions • The storage area of the servo amplifier has a life. When using the drive recorder with [Pr. PF81.0] set to "2" (continuous sampling), consider the number of write times. ■Record with desired data and triggers Set [Pr.
Page 191: Servo Parameter/Object Dictionary
Servo parameter/object dictionary This section shows the servo parameters and object dictionary related to the drive recorder. If [Pr. PF80.0 Drive recorder operation mode selection] = "0" (automatic setting mode) (initial value), the setting values of [Pr. PF81 Drive recorder - Sampling operation selection] to [Pr. PF94 Drive recorder - Digital channel setting 2] are disabled. The drive recorder operates automatically with the alarm trigger.
Page 192 Servo Symbol Name Outline parameter PF85 DRTL1 Drive recorder - Trigger level setting 1 Set the trigger level of [Pr. PF84.0-1 Drive recorder - Trigger channel selection 1] in decimal. Initial value: 0 PF86 DRTL2 Drive recorder - Trigger level setting 2 Set the trigger level of [Pr.
Page 193 *1 Refer to the following for setting values. Page 191 Trigger channel selection *2 Refer to the following for setting values. Page 192 Analog channel *3 Refer to the following for setting values. Page 193 Digital channel ■Trigger channel selection Setting value Meaning Analog channel 1...
Page 194 ■Analog channel Setting value Data type Unit Category   No assigned function Servo motor speed 1 r/min 16-bit data Torque/instantaneous torque 0.1 % Current command 0.1 % Command pulse frequency (speed unit) 1 r/min Droop pulses (1 pulse unit) 1 pulse Speed command 1 r/min...
Page 195 ■Digital channel Setting value Symbol Name Classification 0000 CSON Servo ON command 0001 Forward rotation stroke end 0002 Reverse rotation stroke end 0005 Proportional control 0006 Reset 0012 EM2/1 Forced stop 0013 CRDY Ready-on command 0016 STO1 STO1 0017 STO2 STO2 001A CDP2...
Page 196 Servo parameter [A] Servo Symbol Name Outline parameter PF80.0 DRMC Drive recorder - Operation mode selection Select the operation mode of drive recorder. 0: Automatic setting mode (initial value) 1: Manual setting mode PF80.2-3 DRMC Drive recorder - Sampling cycle selection Set the sampling cycle.
Page 197 Servo Symbol Name Outline parameter PF89.0-2 DRAC3 Drive recorder - Analog channel 5 selection Set the data to be assigned to analog channel 5. Initial value: 205h (Speed command + ) PF89.4-6 DRAC3 Drive recorder - Analog channel 6 selection Set the data to be assigned to analog channel 6.
Page 198 ■Trigger channel selection Setting value Meaning Analog channel 1 Analog channel 2 Analog channel 3 Analog channel 4 Analog channel 5 Analog channel 6 Analog channel 7 Digital channel 1 Digital channel 2 Digital channel 3 Digital channel 4 Digital channel 5 Digital channel 6 Digital channel 7 Digital channel 8...
Page 199 ■Analog channel Setting value Data type Unit Category   No assigned function Servo motor speed 1 r/min 16-bit data Torque/instantaneous torque 0.1 % Current command 0.1 % Command pulse frequency kpulse/s Command pulse frequency (speed unit) 1 r/min Droop pulses (1 pulse unit) 1 pulse Speed command 1 r/min...
Page 200 ■Digital channel Setting value Symbol Name Classification 0001 Forward rotation stroke end 0002 Reverse rotation stroke end 0005 Proportional control 0006 Reset 000B ST1 (ST1/RS2) Forward rotation start (forward rotation start/reverse rotation selection) 000C ST2 (ST2/RS1) Reverse rotation start (reverse rotation start/forward rotation selection) 0012 EM2/1 Forced stop...
Page 201 Object dictionary [G] [WG] Index Object Name Data Type Access Default Description 2C02h Drive recorder status 0000h Returns the operating status of the drive recorder. 2A70h ARRAY Drive recorder history The total number of Sub Index is returned. newest Drive recorder history ...
Page 202: Standard Acquisition Waveform List [G] [Wg]
Standard acquisition waveform list [G] [WG] When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (Automatic setting mode), the acquired data is changed by [Pr. PA23 Drive recorder desired alarm trigger setting]. If [Pr. PA23] is the initial value (00000000h), data shown in the standard column of the following table are saved.
Page 203: Standard Acquisition Waveform List [A]
Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 046 Servo Torque Current Internal Temperature Bus voltage Effective  32 ms 32768 ms motor command temperature of motor load ratio speed +...
Page 204 Trigger Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measurement condition cycle time AL. 030 Servo Torque Current Droop Bus voltage Regenerative Effective  32 ms 32768 ms motor command pulses (1 load ratio load ratio speed +...
Page 205: Waveform Recording Inapplicable Alarm List
Waveform recording inapplicable alarm list Alarms that are not covered in the alarm history are not subject to recording by the drive recorder. For details, refer to the following manual. MR-J5 User's Manual (Troubleshooting) However, the alarms shown in the following table are saved in the alarm history, but are not subject to recording by the drive recorder.
Page 206: Software Reset
Software reset Software reset is a function to reset the internal status of the servo amplifier and obtain the same effect as cycling the power. By performing the software reset, the setting of the servo parameters can be reflected without cycling the power. •...
Page 207: Software Position Limit [G] [Wg]
Software position limit [G] [WG] Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit position is specified, the command position is clamped at the limit position. Specify the limit position relative to the machine home position (position address = 0).
Page 208 Related objects The following table shows the related objects. [Pr. PT15 Software position limit +] is used for [Max position limit (Obj. 607Dh: 02 h)]. [Pr. PT17 Software Position Limit -] is used for [Min position limit (Obj. 607Dh: 01 h)]. Index Object Name...
Page 209: Torque Limit [G] [Wg]
Torque limit [G] [WG] The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. Item Outline Internal torque limit The maximum torque is limited by the value of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].
Page 210: Torque Limit [A]
Torque limit [A] The torque limit function limits the torque generated by the servo motor. The following torque limit can be set. Each limit value can be used interchangeably. Item Outline Internal torque limit The maximum torque is limited by the value of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].
Page 211: Status Check Of Limiting Torque
Analog torque limit A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the servo motor is as follows. The torque limit values relative to the voltage have variations of approximately 5 %, depending on products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.
Page 212: Speed Limit [G] [Wg]
Speed limit [G] [WG] During torque mode, the function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in torque mode. • When [Velocity limit value (Obj. 2D20h)] is mapped to cyclic communication, values written from engineering tools are overwritten from the controller.
Page 213: Speed Limit [A]
4.10 Speed limit [A] During torque mode, the function serves to limit the servo motor speed in order not to generate excessive speed. • Speed limit can be used only in torque mode. Precautions • When the servo motor speed reaches the speed limit value, torque control may become unstable. Setting method Speed limit value and motor speed The speed is limited to the values set with [Pr.
Page 214: Status Check Of Limiting Speed
Speed limit value selection The speed limit can be selected with SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3). Input device Speed limit VLA (Analog speed limit) [Pr. PC05 Internal speed 1] [Pr. PC06 Internal speed 2] [Pr.
Page 215: Abz Phase Pulse Output Function
4.11 ABZ phase pulse output function This function outputs the position information of the servo motor or the load-side encoder as A/B/Z-phase pulse. Restrictions [G] [WG] • The encoder Z-phase pulse is not output when the MR-J5W_-_G servo amplifier is used. •...
Page 216 Encoder output pulse setting Set [Pr. PC03.1 Encoder output pulse setting selection]. Set the number of output pulses according to the set value. Setting value of [Pr. PC03.1] For servo motors and direct drive motors Linear servo motor: "0" (Output pulse setting) Set the output pulses per revolution with [Pr.
Page 217: Setting Method [A]
Setting method [A] The encoder output pulse function can be used by setting the following servo parameters. For output specifications of Z- phase pulse, refer to the following. Page 216 Z-phase pulse output Servo Symbol Name Outline parameter PA15 *ENR Encoder output pulses Set the encoder output from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio.
Page 218: Z-Phase Pulse Output
Setting value of [Pr. For servo motors and direct drive motors Linear servo motor: PC19.1] "4" (A/B-phase pulse through [AL. 037] occurs. A/B-phase pulse of the A/B/Z-phase differential output output setting) encoder is outputted. This is enabled when A/B/Z-phase differential output encoder is used. Output pulse = A/B-phase pulse of A/B/Z-phase differential output encoder [pulse] The setting of [Pr.
Page 219: Infinite Feed Function [G] [Wg]
4.12 Infinite feed function [G] [WG] To use the infinite feed function with the Mitsubishi Electric controller in the cyclic synchronous mode, set [Pr. PC29.5 [AL. 0E3.1 Absolute position counter warning] selection] to disabled. 4.13 Servo amplifier life diagnosis function The servo amplifier life diagnosis function is a function to diagnose the life of the servo amplifier itself.
Page 220: Relay Usage Count Display Function
Relay usage count display function Displays the number of off/on times of the inrush relay from the time of shipment and the usage count of the dynamic brake. • To acquire the number of inrush relay on/off, and dynamic brake use, the MR Configurator2 or controller is required.
Page 221: Encoder Communication Diagnosis Function
4.14 Encoder communication diagnosis function This servo amplifier is loaded with a function to diagnose the failure of the differential driver/receiver used for the encoder communication circuit. By inputting the diagnostic signal number to the encoder communication circuit, an error on the differential driver/receiver is detected.
Page 222: Usage [A]
Usage [A] To enable the diagnostic mode, set "1" (enabled) in [Pr. PC60.4 Encoder communication circuit diagnosis mode selection] and cycle the power. Remove the encoder cable at power off. During diagnosis mode, [AL. 118.1 Encoder communication circuit diagnosis in progress] occurs. Perform the diagnose in accordance with the display shown on the encoder communication circuit diagnostic screen of MR Configurator2.
Page 223: Disconnection/Incorrect Wiring Detection Function
4.15 Disconnection/incorrect wiring detection function An alarm may occur may occur if the main circuit power supply (L1/L2/L3) is open phase, and the servo motor load becomes large. Also, when an open phase has occurred in the servo motor power supply (U/V/W) or the power module has malfunctioned, an overcurrent alarm or overload alarm occurs.
Page 224 Setting method [G] [WG] ■When the 1-axis servo amplifier capacity is 2.0 [kW] or less If "0" (automatic) is set in [Pr. PC20.4 Input open phase detection selection], the input open-phase detection function will be disabled. The input open-phase detection function is enabled by setting [Pr. PC20.4 Input open phase detection selection] to "1" (warning enabled) or "2"...
Page 225: Output Open Phase Detection Function
Output open phase detection function The function detects an open phase of the servo motor power supply (U/V/W), and generates [AL. 139 Open phase error] after the detection. Restrictions [G] [WG] • The output open phase detection function will be disabled if an alarm or warning other than [AL. 139 Open phase error] has occurred.
Page 226 Setting method [G] [WG] When [Pr. PC19.4 Output open phase detection selection] is set to "1" (Enabled), the output open-phase detection function will be enabled. Servo Symbol Name Outline parameter PC19.4 *COP6 Output open-phase detection selection Enable or disable the detection of output open phase. 0: Disabled (initial value) 1: Enabled PC19.6...
Page 227: Servo Motor Incorrect Wiring Detection Function [Wg]
• The incorrect wiring may not be detected when different servo motors with the similar capacities are wired incorrectly. • Do not use this function when using a servo motor not manufactured by Mitsubishi Electric. Otherwise, a large current may flow because of this function.
Page 228 Setting method Enable/disable the servo motor incorrect wiring detection function in [Pr. PC16.4 Servo motor incorrect wiring detection function selection], and set when to execute the function in [Pr. PC16.5 Servo motor incorrect wiring detection function execution method selection]. Execute the servo motor incorrect wiring detection function when changing the wiring of the servo amplifier.
Page 229: Overload Protection (Electronic Thermal) Function
4.16 Overload protection (electronic thermal) function An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 050 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve. [AL. 051 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc.
Page 230: Chapter 5 Monitor
MONITOR Outline [G] [WG] The status of servo motor speed, torque, bus voltage, and others of the servo amplifier can be checked with the engineering tools and analog monitor. This chapter shows an example when using MR Configurator2 as the engineering tool. Refer to the following manual for the method of using the object dictionary.
Page 231 Monitor signal (analog) and analog monitor [G] [WG] On MR Configurator2, the status of the monitor signal (analog) can be obtained by using the "Display all" function and the graph function. Refer to the lists in this chapter for the signals which can be monitored with the "Display all" function and the graph function. Signals that can be set with the analog monitor are also shown in the lists.
Page 232 Name Description Availability Display all Graph Analog function monitor    Internal temperature of The internal temperature detected by the encoder is displayed. encoder Settling time The period of time (settling time) from the completion of the command to ...
Page 233 Monitor signal (analog) and analog monitor [A] On MR Configurator2, the status of the monitor signal (analog) can be obtained by using the "Display all" function and the graph function. Refer to the lists in this chapter for the signals which can be monitored with the "Display all" function and the graph function. Signals that can be set with the analog monitor are also shown in the lists.
Page 234 Name Description Availability Display all Graph Analog function monitor    Motor side cumulative F/B The feedback pulses from the servo motor encoder are counted and pulses (BeforeGear) displayed. (Servo motor encoder unit) Electrical angle The servo motor electrical angle is displayed. ...
Page 235 Monitor signal (digital) [G] [WG] The status of the monitor signal (digital) can be obtained by using the I/O monitor and graph functions of MR Configurator2. As for DI/DO in the table, DI indicates the monitor signal (digital) inputted to a servo amplifier; DO indicates the monitor signal (digital) outputted from a servo amplifier.
Page 236 Monitor signal (digital) [A] The status of the monitor signal (digital) can be obtained by using the I/O monitor and graph functions of MR Configurator2. As for DI/DO in the table, DI indicates the monitor signal (digital) inputted to a servo amplifier; DO indicates the monitor signal (digital) outputted from a servo amplifier.
Page 237: Signal Block Diagram
Symbol Device name Description DI/DO External torque limit selection Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) Internal torque limit selection Limiting torque Limiting speed Warning Zero speed detection Signal block diagram The following signal block diagram indicates the detecting points of the monitor signal (analog) and analog monitor. Semi closed loop control [G] [WG] Speed command Speed command...
Page 238: Checking With Mr Configurator2
Checking with MR Configurator2 By using the engineering tools, the status of the servo amplifier including the servo motor speed, torque, and bus voltage can be checked. In the "Display all" function, the analog data signals of the servo amplifier can be displayed in a list, and be readily checked. In the graph function, the monitor signals can be saved with high-speed sampling cycle, and the change of signals can be checked when the gains of the servo amplifier are adjusted.
Page 239: I/O Monitor Display
Set the sampling time, trigger, and others as required, and then start measurement. The waveform is displayed on completion of measurement. The obtained data can be checked with "Zoom", "Cursor", and others. I/O monitor display The I/O signals of the servo amplifier, on/off status of the I/O device, and voltage of the analog monitor can be displayed. The input/output status of the signals and wiring can be checked at device startup and others.
Page 240: System Configuration Display
System configuration display System information including serial number and model of the servo amplifier, servo motor, and others are displayed. The items displayed in the configuration window vary depending on the servo amplifier. When MR Configurator2 is connected to the servo amplifier, the values are displayed. Displayed item [G] [WG] The following items can be checked in the system configuration window.
Page 241: Analog Monitor [G] [Wg]
Analog monitor [G] [WG] Voltage of the analog monitor output may be irregular at power-on. The status of the servo amplifier, such as the servo motor speed, torque, and bus voltage can be outputted to two channels with the voltage at the same time. Setting method In extension setting of MR Configurator2, the signals outputted by the analog monitor 1 and analog monitor 2 can be selected, and the offset voltage of analog monitor can be set.
Page 242: Setting
Setting When using a linear servo motor, replace the wording of the sentence as follows. CCW direction → Positive direction CW direction → Negative direction Torque → Thrust In the initial setting, the servo motor speed is outputted to MO1 (analog monitor 1), and the torque is outputted to MO2 (analog monitor 2).
Page 243 Setting Output item Description value Command speed output 1 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction *1*2*3 Servo motor-side droop pulses (±10 V/100 pulses) CCW direction 10 [V] 1000 [pulse] 1000 [pulse] -10 [V] CW direction *1*2*3 Servo motor-side droop pulses (±10 V/1000 pulses) CCW direction...
Page 244 Setting Output item Description value Command speed output 2 CCW direction 8 [V] Maximum speed Maximum speed -8 [V] CW direction Internal temperature of encoder (±10 V/±128 ˚C) 10 [V] -128 [°C] 128 [°C] -10 [V] *1*2*3 Servo motor-side droop pulses (±10 V/1 Mpulses) CCW direction 10 [V] 1 [Mpulse]...
Page 245: Analog Monitor [A]
Analog monitor [A] Voltage of analog monitor output may be irregular at power-on. The status of the servo amplifier, such as the servo motor speed, torque, and bus voltage can be outputted to two channels with the voltage at the same time. Setting method In the extension setting of MR Configurator2, the signals outputted by analog monitor 1 and analog monitor 2 can be selected, and the offset voltage of analog monitor can be set.
Page 246 Setting Output item Description value Torque/Thrust Power running in CCW direction 8 [V] Maximum torque Maximum torque -8 [V] Power running in CW direction Servo motor speed CW direction 8 [V] CCW direction Maximum speed Maximum speed Torque/Thrust Power running in Power running in 8 [V] CW direction...
Page 247 Setting Output item Description value Servo motor-side droop pulses (±10 V/10000 pulses) CCW direction *1*2*3 10 [V] 10000 [pulse] 10000 [pulse] -10 [V] CW direction Servo motor-side droop pulses (±10 V/100000 pulses) CCW direction *1*2*3 10 [V] 100000 [pulse] 100000 [pulse] -10 [V] CW direction Bus voltage...
Page 248: Revisions
First edition This manual confers no industrial property 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 249: Warranty
WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 250: Trademarks
TRADEMARKS MELSERVO, CC-Link IE, and GOT are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/ or other countries. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies.
Page 252 SH(NA)-030300ENG-A(1907)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.

Mitsubishi Electric MR-J5 Series User Manual

Chapter 1 Function

Function List

Chapter 2 Control Mode

Control Mode [G] [WG]

Control Mode [A]

Chapter 3 Basic Function

Outline of Servo Parameter and Object Dictionary

Rotation/Travel Direction Selection [G] [WG]

Rotation/Travel Direction Selection [A]

Stroke Limit Function [G] [WG]

Stroke Limit Function [A]

Command Unit Select Function [A]

Electronic Gear Function [G] [WG]

Electronic Gear Function [A]

In-Position Range Setting

Assigning I/O Devices

Regenerative Option Selection

Alarm Function

Forced Stop Deceleration Function

Electromagnetic Brake Interlock Function

Vertical Axis Freefall Prevention Function

Acceleration/Deceleration Function

Quick Stop [G] [WG]

Halt [G] [WG]

Chapter 4 Applicable Function

Tough Drive Function

Compliance with SEMI-F47 Standard

Machine Diagnosis

Drive Recorder

Software Reset

Software Position Limit [G] [WG]

Torque Limit [G] [WG]

Torque Limit [A]

Speed Limit [G] [WG]

Speed Limit [A]

ABZ Phase Pulse Output Function

Infinite Feed Function [G] [WG]

Servo Amplifier Life Diagnosis Function

Encoder Communication Diagnosis Function

Disconnection/Incorrect Wiring Detection Function

Overload Protection (Electronic Thermal) Function

Chapter 5 Monitor

Explanation of Monitor Signals

Checking with MR Configurator2

Analog Monitor [G] [WG]

Analog Monitor [A]

Quick Links

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Summary of Contents for Mitsubishi Electric MR-J5 Series