Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Parameters) -MR-J5-_G_ -MR-J5W_-_G_...
Page 3: Safety Instructions
SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.
Page 5: About The Manual
ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
Page 6: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 7 [Pr. PB16_Notch shape selection 2 (NHQ2)]........... . 37 [Pr.
Page 8 [Pr. PB79_Gain switching 2 - Model control gain (PG1C)] ......... 60 [Pr.
Page 9 [Pr. PD14_Function selection D-3 (*DOP3)] ........... . 90 [Pr.
Page 10 [Pr. PF69_Static friction failure prediction - Average characteristics (SPAV2)] ......111 [Pr. PF70_Static friction failure prediction - Standard deviation (SPSD2)] ......111 [Pr.
Page 11 [Pr. PT21_Position range output 1 address - (*LNP1)] ......... . . 134 [Pr.
Page 12 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) ....... . 159 CHAPTER 3 LISTS OF SERVO PARAMETER INITIAL VALUES Basic setting servo parameters group ([Pr.
Page 13 CHAPTER 6 NETWORK PARAMETER SETTING METHOD Engineering tool ............... 187 CHAPTER 7 FUNCTIONAL SAFETY PARAMETER DETAILS Safety sub-function 1 parameters group ([Pr.
Page 14 [Pr. PSD02_Input device selection DI1 (**SDI1)] ..........202 [Pr.
Page 15: Chapter 1 Servo Parameter Details
Settable servo parameters and values depend on the controller model, servo amplifier firmware version, and MR Configurator2 software version. For details, refer to the controller user's manual. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, or by other means.
Page 16: Explanation Of Servo Parameters
Explanation of servo parameters For how to interpret the servo parameter numbers, refer to "Interpreting servo parameter numbers" in User's Manual (Introduction). The following explains how to read the details of servo parameters. Item Explanation Indicates the servo parameter No., which Servo parameter No., symbols, and names are indicated as follows.
Page 17: Basic Setting Servo Parameters Group ([Pr. Pa
Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Setting method Ver. 00003000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA01.1_Operation mode selection] Initial value Setting range Ver.
Page 18: [Pr. Pa02_Regenerative Option (**Reg)]
[Pr. PA02_Regenerative option (**REG)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PA02.0-1_Regenerative option selection] Initial value Setting range Ver. Refer to the text Select a regenerative option. Incorrect setting may cause the regenerative option to burn.
Page 19: [Pr. Pa03_Absolute Position Detection System (*Abs)]
[Pr. PA03_Absolute position detection system (*ABS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA03.0_Absolute position detection system selection] Initial value Setting range Ver. Refer to the text Set this servo parameter when using the absolute position detection system.
Page 20: [Pr. Pa04_Function Selection A-1 (*Aop1)]
[Pr. PA04_Function selection A-1 (*AOP1)] Initial value Setting range Setting method Ver. 00002000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PA04.2_Servo forced stop selection] Initial value Setting range Ver. Refer to the text 0: Enabled (the forced stop input EM2 or EM1 is used) 1: Disabled (the forced stop input EM2 and EM1 are not used) [Pr.
Page 21: [Pr. Pa08_Auto Tuning Mode (Atu)]
[Pr. PA08_Auto tuning mode (ATU)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA08.0_Gain adjustment mode selection] Initial value Setting range Ver. Refer to the text Select the gain adjustment mode.
Page 22 [Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting] Initial value Setting range Ver. Refer to the text Set the load to motor inertia ratio at quick tuning. If the load connected to the servo motor is larger than the load to motor inertia ratio set in the servo parameter, an overshoot may occur in positioning operation after quick tuning.
Page 23: [Pr. Pa09_Auto Tuning Response (Rsp)]
[Pr. PA09_Auto tuning response (RSP)] Initial value Setting range Setting method Ver. Refer to the text Each axis Set the auto tuning response. Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] Low response 10.0 11.3 12.7 14.3 16.1 18.1 20.4...
Page 24: [Pr. Pa10_In-Position Range (Inp)]
[Pr. PA10_In-position range (INP)] Initial value Setting range Setting method Ver. 25600 [pulse] 0 to 16777215 Each axis Set the in-position range in the command pulse unit. With the setting of [Pr. PC06.0 In-position range unit selection], the unit can be changed to the servo motor encoder pulse unit.
Page 25: [Pr. Pa12_Reverse Rotation Torque Limit (Tln)]
[Pr. PA12_Reverse rotation torque limit (TLN)] Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration, or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration.
Page 26: [Pr. Pa14_Travel Direction Selection (*Pol)]
[Pr. PA14_Travel direction selection (*POL)] Initial value Setting range Setting method Ver. 0 to 1 Each axis The rotation/travel direction can be changed without changing the polarity of the command from the controller. The polarities of the position and speed information are changed by the setting value of [Pr. PA14 Travel direction selection]. Torque information changes with the combination of [Pr.
Page 27: [Pr. Pa15_Encoder Output Pulses (*Enr)]
[Pr. PA15_Encoder output pulses (*ENR)] Initial value Setting range Setting method Ver. 4000 [pulse/rev] 1 to 67108864 Each axis Set the encoder output pulses outputted from the servo amplifier, by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) Selecting "1"...
Page 28: [Pr. Pa18_Servo Motor Type Setting (**Mty)]
Linear servo motor series Linear servo motor (primary side) Servo parameter Setting value of [Pr. PA17] Setting value of [Pr. PA18.0-3] LM-F LM-FP2B-06M-1SS0 (natural cooling) 000000B2h 2201h LM-FP2D-12M-1SS0 (natural cooling) 2401h LM-FP2F-18M-1SS0 (natural cooling) 2601h LM-FP4B-12M-1SS0 (natural cooling) 4201h LM-FP4D-24M-1SS0 (natural cooling) 4401h LM-FP4F-36M-1SS0 (natural cooling) 4601h...
Page 29: [Pr. Pa19_Servo Parameter Writing Prohibited (*Blk)]
[Pr. PA19_Servo parameter writing prohibited (*BLK)] Initial value Setting range Setting method Ver. 000000ABh Refer to the text Each axis Select a reference range and writing range for the servo parameter. Refer to the following table for setting values. PA19 Setting value PT, PV operation...
Page 30: [Pr. Pa20_Tough Drive Setting (*Tds)]
[Pr. PA20_Tough drive setting (*TDS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA20.1_Vibration tough drive selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Machine resonance suppression filter change mode enabled 2: Machine resonance suppression filter automatic setting mode...
Page 31: [Pr. Pa22_Position Control Configuration Selection (**Pcs)]
[Pr. PA22_Position control configuration selection (**PCS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA22.1_Super trace function selection] Initial value Setting range Ver. Refer to the text 0: Disabled 2: Enabled [Pr.
Page 32: [Pr. Pa24_Function Selection A-4 (Aop4)]
[Pr. PA24_Function selection A-4 (AOP4)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA24.0_Vibration suppression mode selection] Initial value Setting range Ver. Refer to the text 0: Standard mode 1: 3 inertia mode 2: Low response mode...
Page 33: [Pr. Pa28_Function Selection A-6 (**Aop6)]
[Pr. PA28_Function selection A-6 (**AOP6)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA28.4_Speed range limit selection] Initial value Setting range Ver. Refer to the text Select the speed to be used for the range restriction of the speed data.
Page 34: Gain/Filter Setting Servo Parameters Group ([Pr. Pb
Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB01.0_Filter tuning mode selection] Initial value Setting range Ver.
Page 35: [Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control Ii) (Vrft)]
[Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection] Initial value Setting range Ver.
Page 36: [Pr. Pb06_Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2)]
[Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)] Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis Set the load to motor inertia ratio or load to motor mass ratio. Setting a value different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.
Page 37: [Pr. Pb08_Position Control Gain
[Pr. PB08_Position control gain (PG2)] Initial value Setting range Setting method Ver. 37.0 [rad/s] 1.0 to 2000.0 Each axis Set the gain of the position loop. Set this servo parameter when increasing the position responsiveness to level load disturbance. Increasing the setting value improves responsiveness to the load disturbance, but increasing the value too much raises the likelihood of vibration and noise.
Page 38: [Pr. Pb12_Overshoot Amount Compensation (Ova)]
[Pr. PB12_Overshoot amount compensation (OVA)] Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis Set a dynamic friction torque in percentage to the rated torque at servo motor rated speed. Alternatively, set a percentage of dynamic friction force against the continuous thrust at linear servo motor rated speed.
Page 39: [Pr. Pb16_Notch Shape Selection 2 (Nhq2)]
[Pr. PB16_Notch shape selection 2 (NHQ2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set forms of the machine resonance suppression filter 2. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
Page 40: [Pr. Pb17_Shaft Resonance Suppression Filter (Nhf)]
[Pr. PB17_Shaft resonance suppression filter (NHF)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr.
Page 41 Setting value Frequency [Hz] Disabled Disabled Disabled Disabled Disabled Disabled Disabled Disabled 4500 4000 3600 3272 3000 2769 2571 2400 2250 2117 2000 1894 1800 1714 1636 1565 1500 1440 1384 1333 1285 1241 1200 1161 1125 1090 1058 1028 1000 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
Page 42 Setting value Frequency [Hz] 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Page 43: [Pr. Pb18_Low-Pass Filter Setting (Lpf)]
Setting value Frequency [Hz] [Pr. PB17.2_Notch depth selection] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB [Pr. PB18_Low-pass filter setting (LPF)] Initial value Setting range Setting method Ver.
Page 44: [Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (Vrf11)]
[Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)] Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 1 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection], this servo parameter will be set automatically.
Page 45: [Pr. Pb23_Low-Pass Filter Selection (Vfbf)]
[Pr. PB23_Low-pass filter selection (VFBF)] Initial value Setting range Setting method Ver. 00001000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB23.0_Shaft resonance suppression filter selection] Initial value Setting range Ver. Refer to the text Select the shaft resonance suppression filter.
Page 46: [Pr. Pb24_Slight Vibration Suppression Control (*Mvs)]
[Pr. PB24_Slight vibration suppression control (*MVS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB24.0_Slight vibration suppression control selection] Initial value Setting range Ver. Refer to the text Select the slight vibration suppression control.
Page 47: [Pr. Pb26_Gain Switching Function (*Cdp)]
[Pr. PB26_Gain switching function (*CDP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the gain switching condition. Set the conditions to enable the following values: the gain switching values that have been set from [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching] to [Pr.
Page 48: [Pr. Pb27_Gain Switching Condition (Cdl)]
[Pr. PB26.5_Gain switching selection during a stop] Initial value Setting range Ver. Refer to the text 0: Gain switching 2 during a stop is disabled 1: Gain switching 2 during a stop is enabled This servo parameter is enabled in the following condition: [Pr. PB26.4 Gain switching 2 selection] is set to "2" (the same condition as [Pr.
Page 49: [Pr. Pb32_Speed Integral Compensation After Gain Switching (Vicb)]
[Pr. PB32_Speed integral compensation after gain switching (VICB)] Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 5000.0 Each axis Set the speed integral compensation for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB10 Speed integral compensation] is applied.
Page 50: [Pr. Pb36_Vibration Suppression Control 1 - Resonance Frequency Damping After Gain Switching (Vrf14B)]
[Pr. PB36_Vibration suppression control 1 - Resonance frequency damping after gain switching (VRF14B)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
Page 51 Setting value Frequency [Hz] 34.5 33.3 31.3 29.4 27.8 26.3 25.0 23.8 22.7 21.7 20.8 20.0 19.2 18.5 17.9 17.2 16.7 15.6 14.7 13.9 13.2 12.5 11.9 11.4 10.9 10.4 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Page 52 Setting value Frequency [Hz] 4.31 4.17 3.91 3.68 3.47 3.29 3.13 2.98 2.84 2.72 2.60 2.50 2.40 2.31 2.23 2.08 1.95 1.84 1.74 1.64 1.56 1.49 1.42 1.36 1.30 1.25 1.20 1.16 1.12 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Page 53: [Pr. Pb46_Machine Resonance Suppression Filter 3 (Nh3)]
[Pr. PB45.2_Notch depth selection] Initial value Setting range Ver. Refer to the text Refer to the following table for details. Setting value Depth [dB] -40.0 -24.1 -18.1 -14.5 -12.0 -10.1 -8.5 -7.2 -6.0 -5.0 -4.1 -3.3 -2.5 -1.8 -1.2 -0.6 [Pr.
Page 54: [Pr. Pb48_Machine Resonance Suppression Filter 4 (Nh4)]
[Pr. PB47.2_Notch width selection] Initial value Setting range Ver. Refer to the text 0: α = 2 1: α = 3 2: α = 4 3: α = 5 [Pr. PB48_Machine resonance suppression filter 4 (NH4)] Initial value Setting range Setting method Ver.
Page 55: [Pr. Pb50_Machine Resonance Suppression Filter 5 (Nh5)]
[Pr. PB50_Machine resonance suppression filter 5 (NH5)] Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis Set the notch frequency of the machine resonance suppression filter 5. When [Pr. PB51.0 Machine resonance suppression filter 5 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.
Page 56: [Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (Vrf21)]
[Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)] Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection], this servo parameter will be set automatically.
Page 57: [Pr. Pb56_Vibration Suppression Control 2 - Vibration Frequency After Gain Switching (Vrf21B)]
[Pr. PB56_Vibration suppression control 2 - Vibration frequency after gain switching (VRF21B)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.
Page 58: [Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching (Vrf24B)]
[Pr. PB59_Vibration suppression control 2 - Resonance frequency damping after gain switching (VRF24B)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
Page 59: [Pr. Pb68_Gain Switching 2 - Position Control Gain (Pg2C)]
[Pr. PB68_Gain switching 2 - Position control gain (PG2C)] Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 2000.0 Each axis Set the position control gain for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB08 Position control gain] is applied.
Page 60: [Pr. Pb72_Vibration Suppression Control 1 - Resonance Frequency After Gain Switching 2 (Vrf12C)]
[Pr. PB72_Vibration suppression control 1 - Resonance frequency after gain switching 2 (VRF12C)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the resonance frequency for vibration suppression control 1 for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.
Page 61: [Pr. Pb75_Vibration Suppression Control 2 - Vibration Frequency After Gain Switching 2 (Vrf21C)]
[Pr. PB75_Vibration suppression control 2 - Vibration frequency after gain switching 2 (VRF21C)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the vibration frequency of vibration suppression control 2 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.
Page 62: [Pr. Pb78_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching 2 (Vrf24C)]
[Pr. PB78_Vibration suppression control 2 - Resonance frequency damping after gain switching 2 (VRF24C)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
Page 63: Extension Setting Servo Parameters Group ([Pr. Pc
Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC01_Excessive error alarm trigger level (ERZ)] Initial value Setting range Setting method Ver. 0 [rev], [mm] 0 to 1000 Each axis Set an excessive error alarm trigger level. If using a rotary servo motor or direct drive motor, set the level in units of rev. If 200 rev or higher is set, the value will be clamped to 200 rev.
Page 64 [Pr. PC03.1_Encoder output pulse setting selection] Initial value Setting range Ver. Refer to the text If this servo parameter is set to "0" while [Pr. PC03.2 Encoder selection for encoder output pulse] is set to "1", [AL. 037 Parameter error] occurs. When an encoder other than an A/B/Z-phase differential output type encoder is connected, setting this servo parameter to "4"...
Page 65 • When [Pr. PC03.2] = "1" (load-side encoder) Setting value of [Pr. PC03.1] When in the fully closed loop control mode When the scale measurement function is enabled "0" (output pulse setting) [AL. 037] occurs. "1" (dividing ratio setting) Set the dividing ratio to the resolution per servo motor Set the dividing ratio to the travel distance of the scale revolution with [Pr.
Page 66: [Pr. Pc04_Function Selection C-1 (**Cop1)]
[Pr. PC04_Function selection C-1 (**COP1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC04.3_Encoder cable communication method selection] Initial value Setting range Ver. Refer to the text 0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential output type encoder, set "0".
Page 67: [Pr. Pc06_Function Selection C-3 (*Cop3)]
[Pr. PC06_Function selection C-3 (*COP3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC06.0_In-position range unit selection] Initial value Setting range Ver. Refer to the text Select a unit of the in-position range.
Page 68: [Pr. Pc09_Analog Monitor 1 Output (Mod1)]
[Pr. PC09_Analog monitor 1 output (MOD1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC09.0-1_Analog monitor 1 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be outputted to analog monitor 1.
Page 69: [Pr. Pc10_Analog Monitor 2 Output (Mod2)]
[Pr. PC10_Analog monitor 2 output (MOD2)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC10.0-1_Analog monitor 2 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be outputted to analog monitor 2.
Page 70: [Pr. Pc16_Function Selection C-3A (*Cop3A)]
[Pr. PC16_Function selection C-3A (*COP3A)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC16.4_Servo motor incorrect wiring detection function selection] Initial value Setting range Ver. Refer to the text Set the servo motor incorrect wiring detection function to either enabled or disabled.
Page 71: [Pr. Pc19_Function Selection C-6 (*Cop6)]
[Pr. PC19_Function selection C-6 (*COP6)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC19.0_[AL. 099 Stroke limit warning] selection] Initial value Setting range Ver. Refer to the text Enable or disable [AL.
Page 72: [Pr. Pc20_Function Selection C-7 (*Cop7)]
[Pr. PC20_Function selection C-7 (*COP7)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC20.2_Undervoltage alarm selection] Initial value Setting range Ver. Refer to the text Select the alarm or warning that occurs when the bus voltage drops to the undervoltage alarm trigger level. 0: [AL.
Page 73: [Pr. Pc21_Alarm History Clear (*Bps)]
[Pr. PC21_Alarm history clear (*BPS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC21.0_Alarm clear history selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When "1"...
Page 74: [Pr. Pc26_Function Selection C-8 (**Cop8)]
[Pr. PC26_Function selection C-8 (**COP8)] Initial value Setting range Setting method Ver. 00000050h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC26.3_Load-side encoder cable communication method selection] Initial value Setting range Ver. Refer to the text 0: Two-wire type 1: Four-wire type When using a load-side encoder that is A/B/Z-phase differential output type, set "0".
Page 75 [Pr. PC27.5_Scale measurement encoder selection] Initial value Setting range Ver. Refer to the text Select a scale measurement encoder when using an A/B/Z-phase differential output type encoder. This setting is enabled only when an A/B/Z-phase differential output type encoder is connected to CN2L. If this servo parameter is set to "1"...
Page 76: [Pr. Pc29_Function Selection C-B (*Copb)]
Only set this to "disabled" when configuring the absolute position detection system in cyclic synchronous mode with a motion module manufactured by Mitsubishi Electric.  _ _ x _ ...
Page 77: [Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (Rsup1)]
[Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] Initial value Setting range Setting method Ver. 0 [0.0001 rev], [0.01 mm] -25000 to 25000 Each axis Set the compensation amount of the vertical axis freefall prevention function. Set the compensation amount in either the servo motor rotation amount unit or linear servo motor travel distance unit. When a positive value is set, the compensation is performed to the command address increasing direction.
Page 78: [Pr. Pc65_Zero Speed 2 Level (Zsp2L)]
[Pr. PC65_Zero speed 2 level (ZSP2L)] Initial value Setting range Setting method Ver. 50.00 [r/min], [mm/s] 0.00 to 655.35 Each axis Set the level of speed at which zero speed 2 turns on. If the state where the absolute value of the servo motor speed exceeds the setting value of this servo parameter continues for the time set in [Pr.
Page 79: [Pr. Pc70_In-Position 2 - Output Range (Inp2R)]
[Pr. PC70_In-position 2 - Output range (INP2R)] Initial value Setting range Setting method Ver. 400 [Refer to the text below for the 0 to 4294967295 Each axis unit.] Set the position range where the in-position 2 output turns on. If the state where the error between the command position and the actual position is within the setting value of this servo parameter continues for the time set in [Pr.
Page 80: [Pr. Pc73_Speed Reached 2 - Output Filtering Time (Sa2F)]
[Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] Initial value Setting range Setting method Ver. 10 [ms] 0 to 65535 Each axis This servo parameter sets the time until the speed reached 2 output turns on. If the state where the error between the speed command and the servo motor speed is within [Pr. PC72 Speed reached 2 - Output filtering time] continues for the setting value of this servo parameter or longer, bit 10 (Target velocity reached) of [Statusword (Obj.
Page 81: [Pr. Pc78_Function Selection C-F (*Copf)]
[Pr. PC78_Function selection C-F (*COPF)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC78.1_Maximum torque limit 1 selection] Initial value Setting range Ver. Refer to the text Select whether to enable or disable the maximum torque limit 1.
Page 82: [Pr. Pc81_Function Selection C-H (**Coph)]
[Pr. PC79.1_DI status read selection] Initial value Setting range Ver. Refer to the text Select whether to return the on/off state of the input device or the on/off state of the pin when reading [Digital inputs (Obj. 60FDh)]. Setting digit (BIN) Functions _ _ _ x DI4 status read selection...
Page 83: I/O Setting Servo Parameters Group ([Pr. Pd
I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD01_Input signal automatic ON selection 1 (*DIA1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD01.0_For manufacturer setting] This servo parameter is for manufacturer setting.
Page 84: [Pr. Pd03_Input Device Selection 1 (*Di1)]
[Pr. PD03_Input device selection 1 (*DI1)] Initial value Setting range Setting method Ver. 0000000Ah Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
Page 85: [Pr. Pd04_Input Device Selection 2 (*Di2)]
[Pr. PD04_Input device selection 2 (*DI2)] Initial value Setting range Setting method Ver. 0000000Bh Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
Page 86 [Pr. PD05.4_Input axis selection 3] Initial value Setting range Ver. Refer to the text For a multi-axis servo amplifier, set which axis will use the input device that was assigned in [Pr. PD05.0-1 Device selection]. When this servo parameter is "0h", only the axis to which the device is assigned by [Pr. PD05.0-1] is automatically set to be enabled.
Page 87: [Pr. Pd07_Output Device Selection 1 (*Do1)]
[Pr. PD07_Output device selection 1 (*DO1)] Initial value Setting range Setting method Ver. 00000005h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
Page 88: [Pr. Pd08_Output Device Selection 2 (*Do2)]
[Pr. PD08_Output device selection 2 (*DO2)] Initial value Setting range Setting method Ver. 00000004h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
Page 89: [Pr. Pd09_Output Device Selection 3 (*Do3)]
[Pr. PD09_Output device selection 3 (*DO3)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
Page 90: [Pr. Pd11_Input Filter Setting (*Dif)]
[Pr. PD11_Input filter setting (*DIF)] Initial value Setting range Setting method Ver. 00000007h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PD11.0_Input signal filter selection] Initial value Setting range Ver. Refer to the text Setting value Filtering time [ms] No filter...
Page 91: [Pr. Pd13_Function Selection D-2 (*Dop2)]
[Pr. PD13_Function selection D-2 (*DOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD13.2_INP output signal ON condition selection] Initial value Setting range Ver. Refer to the text Select a condition for outputting INP (In-position).
Page 92: [Pr. Pd14_Function Selection D-3 (*Dop3)]
[Pr. PD14_Function selection D-3 (*DOP3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD14.1_Warning occurrence - Output device selection] Initial value Setting range Ver. Refer to the text Select ALM (Malfunction) output status at warning occurrence.
Page 93: [Pr. Pd39_Input Device Selection 5 (*Di5)]
The status of the limit switches (S_FLS and S_RLS) is returned. Even if "1" is set, the limit switches are enabled during the test operation and at magnetic pole detection. Set "1" if the controller is a Mitsubishi Electric motion module. [Pr. PD41.3_Sensor input method selection]...
Page 94: [Pr. Pd51_Input Device Selection 3-2 (*Di3W2)]
[Pr. PD51_Input device selection 3-2 (*DI3W2)] Initial value Setting range Setting method Ver. 00000062h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-15 pin. This servo parameter is enabled only for the MR-J5W2-_G_.
Page 95: [Pr. Pd60_Di Pin Polarity Selection (*Dip)]
[Pr. PD60_DI pin polarity selection (*DIP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. For DI pin numbers corresponding to setting digits, refer to the following table. If this servo parameter is set incorrectly, [AL.
Page 96 [Pr. PD60.1_DI pin polarity selection] Initial value Setting range Ver. Refer to the text Select the DI pin polarity. Setting digit (BIN) Functions _ _ _ x DI pin polarity selection 5 0: ON with 24 V input 1: ON with 0 V input ...
Page 97: Extension Setting 2 Servo Parameters Group ([Pr. Pe
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE01_Fully closed loop control function selection 1 (**FCT1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr.
Page 98: [Pr. Pe03_Fully Closed Loop Control Function Selection 2 (*Fct2)]
[Pr. PE03_Fully closed loop control function selection 2 (*FCT2)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PE03.0_Fully closed loop control error - Detection function selection] Initial value Setting range Ver.
Page 99: [Pr. Pe04_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Numerator (**Fbn)]
[Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)] Initial value Setting range Setting method Ver. 1 to 4294967295 Each axis If using the fully closed loop control, set the electronic gear numerator to the servo motor encoder pulses. Set the electronic gear so that the number of the servo motor encoder pulses per servo motor revolution is converted into load-side encoder resolution.
Page 100: [Pr. Pe10_Fully Closed Loop Function Selection 3 (Fct3)]
[Pr. PE10_Fully closed loop function selection 3 (FCT3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PE10.1_Fully closed loop control - Position deviation error detection level - Unit selection] Initial value Setting range...
Page 101: [Pr. Pe46_Lost Motion Filter Setting (Lmflt)]
[Pr. PE46_Lost motion filter setting (LMFLT)] Initial value Setting range Setting method Ver. 0 [0.1 ms] 0 to 30000 Each axis When "0" is set, the value is compensated with the compensation amount of the value that was set in [Pr. PE44 Lost motion compensation positive-side compensation value selection] and [Pr.
Page 102: [Pr. Pe51_Load-Side Encoder Resolution Setting (**Edv2)]
[Pr. PE51_Load-side encoder resolution setting (**EDV2)] Initial value Setting range Setting method Ver. 0 [pulse] 0 to 4294967295 Each axis Set the resolution of the load-side encoder. When the resolution set in this servo parameter is either less than 2 or greater than 2 , [AL.
Page 103: Extension Setting 3 Servo Parameters Group ([Pr. Pf
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) [Pr. PF02_Function selection F-2 (*FOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PF02.0_Target alarm selection of the other axis error warning] Initial value Setting range Ver.
Page 104: [Pr. Pf06_Function Selection F-5 (*Fop5)]
[Pr. PF06_Function selection F-5 (*FOP5)] Initial value Setting range Setting method Ver. 00000013h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF06.0_Electronic dynamic brake selection] Initial value Setting range Ver. Refer to the text Enable or disable the electronic dynamic brake.
Page 105: [Pr. Pf18_Sto Diagnosis Error Detection Time (**Stod)]
[Pr. PF18_STO diagnosis error detection time (**STOD)] Initial value Setting range Setting method Ver. 10 [s] 0 to 60 Common Set the time from when the error of the STO input or STO circuit is detected until the occurrence of [AL. 068.1 STO signal mismatch error].
Page 106: [Pr. Pf20_Friction Failure Prediction - Compensation Coefficient 2 (Tic)]
[Pr. PF20_Friction failure prediction - Compensation coefficient 2 (TIC)] Initial value Setting range Setting method Ver. 0 [0.1 %] -10000 to 10000 Each axis Set compensation coefficient 2 to compensate the dynamic friction being used for the friction failure prediction. When the friction failure prediction warning selection is set to the automatic threshold setting, the value will be calculated automatically from the estimated dynamic friction.
Page 107: [Pr. Pf25_Semi-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive Detection Time) (Cvat)]
[Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time) (CVAT)] Initial value Setting range Setting method Ver. 200 [ms] 30 to 500 Common Set the time until the occurrence of [AL. 010.1 Voltage drop in the control circuit power]. To comply with SEMI-F47 standard, it is not required to change the time from the initial value (200 ms).
Page 108: [Pr. Pf32_Oscillation Detection Alarm Time (*Vibt)]
[Pr. PF32_Oscillation detection alarm time (*VIBT)] Initial value Setting range Setting method Ver. 50 [100 ms] 0 to 50 Each axis Set the time from when oscillation is detected until the occurrence of an alarm or warning. When "0" is set, the time until the occurrence of the alarm or warning is 5000 ms. When an oscillation detection alarm or warning is generated during normal operation, set a value larger than "10"...
Page 109: [Pr. Pf40_Machine Failure Prediction Servo Parameter (Mfpp)]
[Pr. PF34.5_Static friction failure prediction warning selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Automatic threshold setting 2: Manual threshold setting 3: Threshold reset When "2" is set, if the static friction exceeds the set threshold, [AL. 0F7.5 Friction failure prediction warning] will occur. When "3"...
Page 110: [Pr. Pf41_Failure Prediction - Servo Motor Total Travel Distance (Fpmt)]
[Pr. PF40.2_Friction failure prediction - Dynamic friction selection] Initial value Setting range Ver. Refer to the text Select the dynamic friction to use for friction failure prediction. 0: Automatic setting 1: Dynamic friction at forward rotation torque (at rated speed) 2: Dynamic friction at reverse rotation torque (at rated speed) 3: Absolute value average at forward rotation/reverse rotation torque When set to "0", the value changes to any of "1"...
Page 111: [Pr. Pf42_Friction Failure Prediction - Average Characteristics (Pav)]
[Pr. PF42_Friction failure prediction - Average characteristics (PAV)] Initial value Setting range Setting method Ver. 0 [0.1 %] -10000 to 10000 Each axis Set the friction torque average value at the rated speed. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (enabled (manual threshold setting)).
Page 112: [Pr. Pf66_Gear Setting For Backlash Estimation (Blg)]
[Pr. PF66_Gear setting for backlash estimation (BLG)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF66.0-3_Gear for backlash estimation - Numerator] Initial value Setting range Ver.
Page 113: [Pr. Pf69_Static Friction Failure Prediction - Average Characteristics (Spav2)]
[Pr. PF69_Static friction failure prediction - Average characteristics (SPAV2)] Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis Set a static friction torque average. This servo parameter is enabled when [Pr. PF34.5 Static friction failure prediction warning selection] is set to "2" (manual threshold setting).
Page 114: [Pr. Pf73_Belt Tension When Extended (Abt)]
[Pr. PF73_Belt tension when extended (ABT)] Initial value Setting range Setting method Ver. 0 [0.1 N] 0 to 1000000 Each axis After the equipment is operated, set a belt tension for when the belt stretches or for when the belt is looser than at the time of the attachment.
Page 115: [Pr. Pf80_Drive Recorder - Operation Condition Selection (Drmc)]
[Pr. PF80_Drive recorder - Operation condition selection (DRMC)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF80.0_Drive recorder - Operation mode selection] Initial value Setting range Ver.
Page 116: [Pr. Pf81_Drive Recorder - Sampling Operation Selection (Drms)]
[Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF81.0_Drive recorder - Sampling start selection] Initial value Setting range Ver.
Page 117 [Pr. PF82.1_Drive recorder - Trigger binding condition selection] Initial value Setting range Ver. Refer to the text Select the trigger binding condition for the drive recorder. When this servo parameter is set to "0" (disabled), the settings of [PF84.2-3 Drive recorder - Trigger channel selection 2] and [PF86 Drive recorder - Trigger level setting 2] are disabled.
Page 118: [Pr. Pf83_Drive Recorder - Trigger Operation Axis Common Selection (**Drtax)]
[Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PF83.0_Drive recorder - Trigger axis common selection] Initial value Setting range Ver.
Page 119: [Pr. Pf84_Drive Recorder - Trigger Channel Selection (Drtc)]
[Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] Initial value Setting range Setting method Ver. 00008101h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF84.0-1_Drive recorder - Trigger channel selection 1] Initial value Setting range Ver.
Page 120: [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (Drtl1)]
[Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] Initial value Setting range Setting method Ver. -2147483648 to 2147483647 Each axis Set the trigger level of trigger channel No. 1 of the drive recorder in decimal. Set the value considering the decimal point. For example, if setting a torque of 100.0 [%] for the trigger level, set this servo parameter to "1000"...
Page 121: [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (Drac1)]
[Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] Initial value Setting range Setting method Ver. 00020201h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection] Initial value Setting range Ver.
Page 122: [Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (Drac2)]
Setting value Data type Unit Category Servo motor speed + 0.1 r/min 32-bit data Command pulse frequency + kpulse/s Command pulse frequency (speed unit) + 0.1 r/min Droop pulses (1 pulse unit) + 1 pulse Speed command + 0.1 r/min Position within one-revolution + 1 pulse Load-side encoder information 1 +...
Page 123: [Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (Drac3)]
[Pr. PF88.4-6_Drive recorder - Analog channel 4 selection] Initial value Setting range Ver. 204h Refer to the text Select the analog channel 4 of the drive recorder. The servo parameter is disabled in the following conditions. • [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode) Refer to the following for values that can be assigned.
Page 124: [Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (Drdc1)]
[Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)] Initial value Setting range Setting method Ver. 00120000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] Initial value Setting range Ver.
Page 125 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position completion 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2...
Page 126: [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (Drdc2)]
[Pr. PF91.4-7_Drive recorder - Digital channel 2 selection] Initial value Setting range Ver. 0012h Refer to the text Refer to the following for values that can be assigned. Page 122 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)] Initial value Setting range Setting method...
Page 127: [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (Drdc4)]
[Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)] Initial value Setting range Setting method Ver. 801D8015h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF94.0-3_Drive recorder - Digital channel 7 selection] Initial value Setting range Ver.
Page 128: Motor Extension Setting Servo Parameters Group ([Pr. Pl
Motor extension setting servo parameters group ([Pr. PL_ _ ]) [Pr. PL01_Function selection L-1 (**LIT1)] Initial value Setting range Setting method Ver. 00000301h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr.
Page 129: [Pr. Pl04_Function Selection L-2 (*Lit2)]
[Pr. PL04_Function selection L-2 (*LIT2)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr. PL04.0_[AL. 042 Servo control error] detection function selection] Initial value Setting range Ver.
Page 130: [Pr. Pl07_Torque Deviation Error Detection Level (Lb3)]
[Pr. PL07_Torque deviation error detection level (LB3)] Initial value Setting range Setting method Ver. 100 [%] 0 to 1000 Each axis Set the torque/thrust deviation error detection level of the servo control error detection. When the difference between a current command and current feedback is larger than the setting value, [AL. 042.3 Servo control error by torque/thrust deviation] occurs.
Page 131: [Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (Ltsts)]
[Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4" (minute position detection method).
Page 132 [Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection] Initial value Setting range Ver. Refer to the text Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used for the minute position detection method.
Page 133: Positioning Control Setting Servo Parameters Group ([Pr. Pt
Positioning control setting servo parameters group ([Pr. PT_ _ ]) [Pr. PT01_Command mode selection (**CTY)] Initial value Setting range Setting method Ver. 00000300h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT01.1_Speed/acceleration/deceleration unit selection] Initial value Setting range Ver.
Page 134: [Pr. Pt05_Homing Speed (Zrf)]
[Pr. PT05_Homing speed (ZRF)] Initial value Setting range Setting method Ver. 100.00 [r/min], [mm/s] 0.00 to 167772.15 Each axis Set the servo motor speed for homing. The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr.
Page 135: [Pr. Pt09_Travel Distance After Proximity Dog (Dct)]
[Pr. PT09_Travel distance after proximity dog (DCT)] Initial value Setting range Setting method Ver. 1000 [pulse] 0 to 2147483647 Each axis Set a travel distance after proximity dog at homing for the count type (Front end detection Z-phase reference) (Homing method -2, -34) and dog reference.
Page 136: [Pr. Pt17_Software Position Limit - (Lmn)]
[Pr. PT17_Software position limit - (LMN)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis Set the address decreasing side of the software position limit. The other specifications are the same as [Pr. PT15]. [Pr.
Page 137: [Pr. Pt38_Function Selection T-7 (**Top7)]
[Pr. PT38_Function selection T-7 (**TOP7)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD38.4_Limit switch release position assessment function selection] Initial value Setting range Ver. Refer to the text Set the limit switch release position assessment function.
Page 138 • Homing methods Setting Homing direction Homing methods Address increasing direction Dog type (Rear end detection - Z-phase reference) Count type (Front end detection - Z-phase reference)  Data set type Address increasing direction Stopper type (Stopper position reference) Dog type (Rear end detection - rear end reference) Count type (Front end detection - front end reference) Dog cradle type Dog type last Z-phase reference...
Page 139: [Pr. Pt49_Speed Acceleration Time Constant (Sta)]
[Pr. PT49_Speed acceleration time constant (STA)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 50000 Each axis Set the acceleration time taken by the motor to reach the rated speed from a full stop for the command. If the preset speed command is lower than Servo motor speed the rated speed, acceleration/deceleration...
Page 140: [Pr. Pt51_S-Pattern Acceleration/Deceleration Time Constants (Stc)]
[Pr. PT51_S-pattern acceleration/deceleration time constants (STC)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 5000 Each axis Set the time of the arc part for S-pattern acceleration/deceleration time constants. This setting enables smooth start/stop of the servo motor. When "0"...
Page 141: [Pr. Pt55_Function Selection T-10 (*Top10)]
[Pr. PT55_Function selection T-10 (*TOP10)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT55.0_Homing deceleration time constant selection] Initial value Setting range Ver. Refer to the text Set a value to be used for the acceleration time constant and deceleration time constant at homing.
Page 142: [Pr. Pt65_Profile Speed Command (Pvc)]
[Pr. PT65_Profile speed command (PVC)] Initial value Setting range Setting method Ver. 100.00 [r/min], [mm/s] 0.00 to 21474836.47 Each axis Set the profile speed command. This function is enabled in the profile position mode. The setting value will be clamped at the motor maximum speed. When changing the speed to the permissible speed, set the speed in [Pr.
Page 143: [Pr. Pt68_Function Selection T-11 (**Top11)]
[Pr. PT68_Function selection T-11 (**TOP11)] Initial value Setting range Setting method Ver. 00000002h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT68.0_Quick stop method selection] Initial value Setting range Ver. Refer to the text Select the quick stop method.
Page 144: Network Setting Servo Parameters Group ([Pr. Pn
1.10 Network setting servo parameters group ([Pr. PN_ _ ]) [Pr. PN02_Communication error - Detection time (CERT)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 1000 Common Set the threshold until network disconnecting and [AL. 086.2 Network communication error 2] are detected. The maximum setting range is 1000 ms.
Page 145: [Pr. Pn20_Parameter Automatic Backup Update Interval (**Pabi)]
[Pr. PN20_Parameter automatic backup update interval (**PABI)] Initial value Setting range Setting method Ver. 0 to 1000 Common Set the backup interval for a parameter automatic backup to be performed when the specified time passes on an hourly basis. When the value is set to "0", a parameter automatic backup when the specified time passes is not performed. When the set backup time is reached while the servo amplifier is not connected to a controller, and the power of the servo amplifier is cycled, even if a connection is established with the controller, backup operation is not immediately performed.
Page 146: Positioning Extension Setting Servo Parameters Group ([Pr. Pv
1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) [Pr. PV01_Profile speed command extension setting (PVC2)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis Set the speed command used in the profile position mode (pp). The unit is [pulse/s].
Page 147: [Pr. Pv07_Profile Deceleration (Pdec)]
[Pr. PV07_Profile deceleration (PDEC)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis Set the deceleration used in the profile position mode (pp) and the profile velocity mode (pv). The unit is [pulse/s When the setting value of this servo parameter is "0", the servo motor decelerates in accordance with the time constant set in [Pr.
Page 148: [Pr. Pv13_Creep Speed Extension Setting (Crfe)]
[Pr. PV13_Creep speed extension setting (CRFE)] Initial value Setting range Setting method Ver. 100000 [Refer to the text below for 0 to 4294967295 Each axis the unit.] When performing a homing, set the servo motor speed after proximity dog. The unit is [pulse/s]. This function is enabled when [Pr.
Page 149: [Pr. Pv19_Speed Reached 2 - Output Range - Extension Setting (Sa2Re)]
[Pr. PV19_Speed reached 2 - Output range - Extension setting (SA2RE)] Initial value Setting range Setting method Ver. 20000 [Refer to the text below for the 0 to 65535 Each axis unit.] Set the speed range in which the speed reached 2 turns on in the profile velocity mode (pv). If the state where the error between the command speed and the servo motor speed is within the setting value of this servo parameter continues for the time set in [Pr.
Page 150: [Pr. Pv23_Speed Unit Conversion - Electronic Gear - Numerator (*Vcmx)]
[Pr. PV23_Speed unit conversion - Electronic gear - Numerator (*VCMX)] Initial value Setting range Setting method Ver. 1 to 1024 Each axis Set the electric gear numerator for converting the speed (command unit/s) into a value in speed units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". Setting a value other than "1"...
Page 151: Chapter 2 Lists Of Servo Parameter Supported Modes
LISTS OF SERVO PARAMETER SUPPORTED MODES Structure The following shows the meaning of each abbreviation used in the lists. "" indicates the modes that can be used, and "" indicates the modes that cannot be used or modes that are not used even if set. Mode List abbreviation Meaning...
Page 152: Lists Of Supported Control Modes
Lists of supported control modes Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard              PA01 PA01.1 ...
Page 153: Gain/Filter Setting Servo Parameters Group ([Pr. Pb
Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PB01 PB01.0                 ...
Page 154 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard              PB45 PB45.0-1             ...
Page 155: Extension Setting Servo Parameters Group ([Pr. Pc
Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PC01                  ...
Page 156: I/O Setting Servo Parameters Group ([Pr. Pd
Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard              PC76 PC76.1             ...
Page 157: Extension Setting 2 Servo Parameters Group ([Pr. Pe
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PE01 PE01.0                ...
Page 158: Extension Setting 3 Servo Parameters Group ([Pr. Pf
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard              PF02 PF02.0   ...
Page 159: Motor Extension Setting Servo Parameters Group ([Pr. Pl
Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PF82 PF82.0                          ...
Page 160: Positioning Control Setting Servo Parameters Group ([Pr. Pt
Positioning control setting servo parameters group ([Pr. PT_ _]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard              PT01 PT01.1    ...
Page 161: Positioning Extension Setting Servo Parameters Group ([Pr. Pv
Positioning extension setting servo parameters group ([Pr. PV_ _ Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard PV01                  ...
Page 162: Chapter 3 Lists Of Servo Parameter Initial Values
LISTS OF SERVO PARAMETER INITIAL VALUES Basic setting servo parameters group ([Pr. PA_ _ ]) Initial value Remark PA01 00003000h   PA02 00000000h  PA03 00000000h  PA04 00002000h PA05 10000 For manufacturer setting PA06   PA07 PA08 00000001h ...
Page 163: Gain/Filter Setting Servo Parameters Group ([Pr. Pb
Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Initial value Remark  PB01 00000000h PB02 00000000h   PB03 36000  PB04 PB05 For manufacturer setting  PB06 7.00 PB07 15.0   PB08 37.0 PB09   PB10 33.7 PB11 ...
Page 164 Initial value Remark PB49 00000000h   PB50 4500  PB51 00000000h  PB52 100.0  PB53 100.0  PB54 0.00  PB55 0.00 PB56   PB57 PB58 0.00   PB59 0.00  PB60 PB61 For manufacturer setting PB62 00000000h For manufacturer setting...
Page 165: Extension Setting Servo Parameters Group ([Pr. Pc
Extension setting servo parameters group ([Pr. PC_ _ ]) Initial value Remark  PC01 PC02   PC03 00000000h  PC04 00000000h  PC05 00000000h  PC06 00000000h PC07   PC08 PC09 00000000h   PC10 00000001h PC11  ...
Page 166 Initial value Remark PC49 00000000h For manufacturer setting PC50 00000000h For manufacturer setting PC51 00000000h For manufacturer setting PC52 00000000h For manufacturer setting PC53 00000000h For manufacturer setting PC54 00000000h For manufacturer setting PC55 00000000h For manufacturer setting PC56 00000000h For manufacturer setting PC57 00000000h...
Page 167: I/O Setting Servo Parameters Group ([Pr. Pd
I/O setting servo parameters group ([Pr. PD_ _ ]) Initial value Remark  PD01 00000000h PD02 00000000h For manufacturer setting  PD03 0000000Ah  PD04 0000000Bh  PD05 00000022h PD06 00000000h For manufacturer setting PD07 00000005h   PD08 00000004h PD09 00000003h ...
Page 168 Initial value Remark PD51 00000062h  PD52 00000000h For manufacturer setting PD53 00000000h For manufacturer setting PD54 00000000h For manufacturer setting PD55 00000000h For manufacturer setting PD56 00000000h For manufacturer setting PD57 00000000h For manufacturer setting PD58 00000000h For manufacturer setting PD59 00000000h For manufacturer setting...
Page 169: Extension Setting 2 Servo Parameters Group ([Pr. Pe
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Initial value Remark  PE01 00000000h PE02 00000000h For manufacturer setting  PE03 00000003h  PE04  PE05  PE06 PE07   PE08 PE09 00000000h For manufacturer setting  PE10 00000000h PE11...
Page 170 Initial value Remark PE49   PE50  PE51 PE52 00000000h For manufacturer setting  PE53 PE54 00000000h For manufacturer setting PE55 00000000h For manufacturer setting PE56 00000000h For manufacturer setting PE57 00000000h For manufacturer setting PE58 00000000h For manufacturer setting PE59 00000000h For manufacturer setting...
Page 171: Extension Setting 3 Servo Parameters Group ([Pr. Pf
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Initial value Remark PF01 00000000h For manufacturer setting PF02 00000000h  PF03 00000000h For manufacturer setting PF04 For manufacturer setting PF05 00000000h For manufacturer setting  PF06 00000013h PF07 00000000h For manufacturer setting PF08 00000000h...
Page 172 Initial value Remark PF49 For manufacturer setting PF50 For manufacturer setting PF51 00000000h For manufacturer setting PF52 00000000h For manufacturer setting PF53 For manufacturer setting PF54 For manufacturer setting PF55 For manufacturer setting PF56 For manufacturer setting PF57 00000000h For manufacturer setting PF58 00000000h For manufacturer setting...
Page 173: Motor Extension Setting Servo Parameters Group ([Pr. Pl
Motor extension setting servo parameters group ([Pr. PL_ _ ]) Initial value Remark  PL01 00000301h PL02 1000   PL03 1000  PL04 00000003h  PL05  PL06 PL07   PL08 00001010h PL09  PL10 For manufacturer setting PL11 For manufacturer setting PL12...
Page 174 Initial value Remark PL49 00000000h For manufacturer setting PL50 For manufacturer setting PL51 For manufacturer setting PL52 For manufacturer setting PL53 For manufacturer setting PL54 00000000h For manufacturer setting PL55 00000000h For manufacturer setting PL56 00000000h For manufacturer setting PL57 00000000h For manufacturer setting PL58...
Page 175: Positioning Control Setting Servo Parameters Group ([Pr. Pt
Positioning control setting servo parameters group ([Pr. PT_ _ ]) Initial value Remark  PT01 00000300h PT02 00000001h  PT03 00000000h For manufacturer setting PT04 00000000h For manufacturer setting  PT05 100.00  PT06 10.00 PT07   PT08 PT09 1000 ...
Page 176 Initial value Remark PT49   PT50  PT51 PT52 For manufacturer setting  PT53 PT54 For manufacturer setting  PT55 00000000h PT56   PT57 PT58 100.00 For manufacturer setting PT59 500.00 For manufacturer setting PT60 1000.00 For manufacturer setting PT61 200.00 For manufacturer setting...
Page 177: Network Setting Servo Parameters Group ([Pr. Pn
Network setting servo parameters group ([Pr. PN_ _ ]) Initial value Remark PN01 00000000h For manufacturer setting PN02  PN03 00000000h For manufacturer setting PN04 For manufacturer setting  PN05 PN06 00000000h For manufacturer setting PN07 00000000h For manufacturer setting PN08 00000000h For manufacturer setting...
Page 178: Positioning Extension Setting Servo Parameters Group ([Pr. Pv
3.10 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) Initial value Remark  PV01 PV02 For manufacturer setting PV03 2147483647  PV04 For manufacturer setting PV05  PV06 For manufacturer setting  PV07 PV08 For manufacturer setting  PV09 PV10 For manufacturer setting...
Page 179: Chapter 4 Servo Parameter Setting Method
Engineering tool Servo parameters can be set using an engineering tool manufactured by Mitsubishi Electric such as MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
Page 180 MEMO 4 SERVO PARAMETER SETTING METHOD 4.2 Object dictionary...
Page 181: Chapter 5 Network Parameter Details
Depending on the model of the motion module, servo amplifier firmware version, and MR Configurator2 software version, some network parameters and ranges cannot be set. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2.
Page 182: Network Basic Parameters
Network basic parameters [Pr. NPA01_IP address setting] Initial value Setting range Size Ver. Refer to the text 4 bytes For the setting of IP addresses which are necessary for communication, select whether to use the rotary switches or to use network parameters to obtain the IP addresses.
Page 183: [Pr. Npa02_Ip Address]
[Pr. NPA02_IP address] Initial value Setting range Size Ver. 192.168.3.1 (C0A80301h) Refer to the text 4 bytes Set the IP address. Set each octet to a value between 0 to 255. In the eight digits of hexadecimal, the first to forth octets are expressed with each pair of digits. digits digits digits...
Page 184: User Authentication Parameters
User authentication parameters [Pr. NPB01_User authentication and authorization setting] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the connection method to use for setting the user authentication parameter. This network parameter is enabled by cycling the power or software reset after setting. When this network parameter is set to "1"...
Page 185: [Pr. Npb05_Authorization Level No.1]
[Pr. NPB05_Authorization level No.1] Initial value Setting range Size Ver. 00000001h Refer to the text 4 bytes Set the authorization level for the user (No.1). Refer to the following table for details. Network parameter No. Setting digit (BIN) Description [Pr. NPB05.0] _ _ _ x Firmware update permission selection 0: Prohibited...
Page 186: [Pr. Npb09_Password No.2]
[Pr. NPB09_Password No.2] Initial value Setting range Size Ver.    Set the password (No.2) to use when accessing the FTP server function of the servo amplifier. Page 183 [Pr. NPB06_Password No.1] [Pr. NPB10_User name No.3] Initial value Setting range Size Ver.
Page 187: [Pr. Npb17_Authorization Level No.5]
[Pr. NPB17_Authorization level No.5] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the authorization level for the user (No.5). Page 183 [Pr. NPB05_Authorization level No.1] [Pr. NPB18_Password No.5] Initial value Setting range Size Ver. ...
Page 188: [Pr. Npb25_User Name No.8]
[Pr. NPB25_User name No.8] Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes Set the user name (No.8) to use when accessing the FTP server function of the servo amplifier. Page 182 [Pr. NPB04_User name No.1] [Pr.
Page 189: Chapter 6 Network Parameter Setting Method
NETWORK PARAMETER SETTING METHOD Engineering tool The network parameters can be set with MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool. 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
Page 190 MEMO 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
Page 191: Chapter 7 Functional Safety Parameter Details
Settable functional safety parameters and values depend on the servo amplifier firmware version and MR Configurator2 software version. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, or by other means.
Page 192: Safety Sub-Function 1 Parameters Group ([Pr. Psa
Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) [Pr. PSA01_Safety sub-function mode selection (**SOA)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. Set the safety sub-function. [Pr.
Page 193: [Pr. Psa02_Functional Safety Setting (**Smd)]
[Pr. PSA02_Functional safety setting (**SMD)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PSA02.1_Position/Speed monitor setting] Initial value Setting range Ver. Refer to the text 0: Do not monitor the position/speed.
Page 194: [Pr. Psa04_Safety Sub-Function - Stop Speed (**Sss)]
[Pr. PSA04_Safety sub-function - Stop speed (**SSS)] Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis Set the stop speed. If the absolute value of the servo motor speed is equal to or less than the value set in this functional safety parameter, the SS2/SOS function considers the servo motor as being stopped.
Page 195: [Pr. Psa08_Sls Deceleration Monitor Time 2 (**Slsdt2)]
[Pr. PSA08_SLS deceleration monitor time 2 (**SLSDT2)] Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis Set the threshold for the time required for the speed monitoring to start after the SLS2 command is enabled. Specify a sufficient time that allows for deceleration to the safety speed after the SLS2 command is enabled.
Page 196: [Pr. Psa14_Sls Speed 4 (**Slss4)]
[Pr. PSA14_SLS speed 4 (**SLSS4)] Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis Set the threshold for the safety speed if activating the SLS function via the SLS4 command. The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function.
Page 197: [Pr. Psa19_Ssm Hysteresis Width (**Ssmhw)]
[Pr. PSA19_SSM hysteresis width (**SSMHW)] Initial value Setting range Setting method Ver. 20 [r/min], [mm/s] 0 to 10000 Each axis Set the threshold of the hysteresis width for SSM speed judgment. Ensure that the value set in this parameter is smaller than the value set in [Pr.
Page 198: [Pr. Psa25_Ss1/Ss2 Deceleration Monitor Speed Offset (**Ssof)]
[Pr. PSA25_SS1/SS2 deceleration monitor speed offset (**SSOF)] Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 10000 Each axis Set the monitor speed offset for [Pr. PSA24 SS1/SS2 deceleration monitor time constant]. Use this parameter if overshoot occurs at the start of deceleration, etc. [Pr.
Page 199: Safety Sub-Function 2 Parameters Group ([Pr. Psb
Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) [Pr. PSB01_SLI permissible travel distance - Unit selection (**SLIPUS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the setting unit for the SLI permissible travel distance.
Page 200: [Pr. Psb11_Slt Torque Upper Limit Value 2 (**Sltp2)]
[Pr. PSB11_SLT torque upper limit value 2 (**SLTP2)] Initial value Setting range Setting method Ver. 15.0 [%] -1000.0 to 1000.0 Each axis Set the upper limit threshold for the safety torque if activating the SLT function via the SLT2 command. The STO function will activate if the torque exceeds the threshold during torque monitoring via the SLT function.
Page 201: [Pr. Psb16_Slt Torque Lower Limit Value 3 (**Sltn3)]
[Pr. PSB16_SLT torque lower limit value 3 (**SLTN3)] Initial value Setting range Setting method Ver. -15.0 [%] -1000.0 to 1000.0 Each axis Set the lower limit threshold for the safety torque if activating the SLT function via the SLT3 command. The STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function.
Page 202: Network Parameters Group ([Pr. Psc
Network parameters group ([Pr. PSC_ _ ]) [Pr. PSC01_Transmission interval monitor time (**SNC)] Initial value Setting range Setting method Ver. 32 [ms] 16 to 1000 Common Select the transmission interval monitor time for safety communication. Set the transmission interval monitor time so that it matches the safety communication setting of the controller. This functional safety parameter is only usable with the MR-J5-G-RJ.
Page 203: Safety I/O Device Parameters Group ([Pr. Psd
Safety I/O device parameters group ([Pr. PSD_ _ ]) [Pr. PSD01_Input device automatic activation selection (**SDIA)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. This setting is enabled only when using an input device. This setting allows for automatic activation of the SLS function, SLT function, and SDI function.
Page 204: [Pr. Psd02_Input Device Selection Di1 (**Sdi1)]
[Pr. PSD01.2_SDIC function automatic activation selection] Initial value Setting range Ver. Refer to the text Setting digit (BIN) Explanation _ _ _ x SDIPC (SDIP command) 0: Do not perform automatic activation 1: Perform automatic activation _ _ x _ SDINC (SDIN command) 0: Do not perform automatic activation 1: Perform automatic activation...
Page 205 [Pr. PSD02.3_Input axis selection DI1] Initial value Setting range Ver. Refer to the text For a multi-axis servo amplifier, set which axis will use the input device that was assigned in [Pr. PSD02.0-1 Safety input device selection DI1]. When this functional safety parameter is set to "0h", the input device is enabled for all axes using the automatic setting. Servo parameter number Setting digit (BIN) Setting details...
Page 206: [Pr. Psd08_Output Device Selection Do1 (**Sdo1)]
[Pr. PSD08_Output device selection DO1 (**SDO1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of the CN8-6/CN8-7 pin. If this functional safety parameter is set incorrectly, [AL.
Page 207: [Pr. Psd12_Input Device - Noise Elimination Filter Time Di1 (**Sdif1)]
[Pr. PSD08.3_Output axis selection DO1] Initial value Setting range Ver. Refer to the text 0: All axes 1: A-axis 2: B-axis 3: C-axis If the setting value is 1, the device name is _ _ _-A. (example: "STOS-A") If the setting value is 2, the device name is _ _ _-B. (example: "STOS-B") If the setting value is 3, the device name is _ _ _-C.
Page 208: [Pr. Psd18_Permissible Time For Mismatches Di1 (**Sdidt1)]
[Pr. PSD18_Permissible time for mismatches DI1 (**SDIDT1)] Initial value Setting range Setting method Ver. 20 [ms] 0 to 60000 Common Select the threshold of mismatched time for the input signal of the CN8-4/CN8-5 pin. If the mismatched time for the input signal of the CN8-4/CN8-5 pin exceeds the time set in this parameter, [AL. 557 Input device mismatch detection (safety sub-function)] occurs.
Page 209: [Pr. Psd31_Output Device - Feedback Diagnosis Execution Selection (**Sdod1)]
[Pr. PSD31_Output device - Feedback diagnosis execution selection (**SDOD1)] Initial value Setting range Setting method Ver. 00001111h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PSD31.0_Feedback diagnosis execution selection DO1] Initial value Setting range Ver.
Page 210: Extension Setting 3 Parameters Group ([Pr. Psl
Extension setting 3 parameters group ([Pr. PSL_ _ [Pr. PSL02_Functional safety - Linear encoder resolution setting - Numerator (**SLIM)] Initial value Setting range Setting method Ver. 1000 [μm] 1 to 65535 Each axis Set the linear encoder resolution with [Pr. PSL02] and [Pr. PSL03 Functional safety - Linear encoder resolution setting - Denominator].
Page 211: Chapter 8 Lists Of Functional Safety Parameter Initial Values
LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) Initial value Remark  PSA01 00000000h PSA02 00000000h   PSA03 1000  PSA04  PSA05 PSA06 00000000h   PSA07 1000  PSA08 1000 ...
Page 212 Initial value Remark PSA42 00000000h For manufacturer setting PSA43 00000000h For manufacturer setting PSA44 00000000h For manufacturer setting PSA45 00000000h For manufacturer setting PSA46 00000000h For manufacturer setting PSA47 00000000h For manufacturer setting PSA48 00000000h For manufacturer setting PSA49 00000000h For manufacturer setting PSA50 00000000h...
Page 213: Safety Sub-Function 2 Parameters Group ([Pr. Psb
Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) Initial value Remark  PSB01 00000000h  PSB02 PSB03 00000000h For manufacturer setting PSB04 00000000h For manufacturer setting PSB05 00000000h For manufacturer setting  PSB06 PSB07 00000000h For manufacturer setting PSB08 00000000h For manufacturer setting PSB09...
Page 214 Initial value Remark PSB47 00000000h For manufacturer setting PSB48 00000000h For manufacturer setting PSB49 00000000h For manufacturer setting PSB50 00000000h For manufacturer setting PSB51 00000000h For manufacturer setting PSB52 00000000h For manufacturer setting PSB53 00000000h For manufacturer setting PSB54 00000000h For manufacturer setting PSB55 00000000h...
Page 215: Network Parameters Group ([Pr. Psc
Network parameters group ([Pr. PSC_ _ ]) Initial value Remark  PSC01 PSC02 00000000h For manufacturer setting PSC03 00000010h  PSC04 For manufacturer setting PSC05 00000000h For manufacturer setting  PSC06 FFFFFFFFh PSC07 00000000h For manufacturer setting PSC08 00000000h For manufacturer setting PSC09 00000000h For manufacturer setting...
Page 216: Safety I/O Device Parameters Group ([Pr. Psd
Safety I/O device parameters group ([Pr. PSD_ _ ]) Initial value Remark  PSD01 00000000h  PSD02 00000000h PSD03 00000000h For manufacturer setting PSD04 00000000h For manufacturer setting PSD05 00000000h For manufacturer setting PSD06 00000000h For manufacturer setting PSD07 00000000h For manufacturer setting ...
Page 217 Initial value Remark PSD48 00000000h For manufacturer setting PSD49 00000000h For manufacturer setting PSD50 00000000h For manufacturer setting PSD51 00000000h For manufacturer setting PSD52 00000000h For manufacturer setting PSD53 00000000h For manufacturer setting PSD54 00000000h For manufacturer setting PSD55 00000000h For manufacturer setting PSD56 00000000h...
Page 218: Extension Setting 3 Parameters Group ([Pr. Psl
Extension setting 3 parameters group ([Pr. PSL_ _ Initial value Remark PSL01 00000000h For manufacturer setting  PSL02 1000  PSL03 1000 PSL04 00000000h For manufacturer setting PSL05 00000000h For manufacturer setting PSL06 00000000h For manufacturer setting PSL07 00000000h For manufacturer setting PSL08 00000000h For manufacturer setting...
Page 219 MEMO 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.5 Extension setting 3 parameters group ([Pr. PSL_ _ ])
Page 220: Chapter 9 Functional Safety Parameter Setting Method
METHOD Engineering tool Functional safety parameters can be set using an engineering tool manufactured by Mitsubishi Electric (MR Configurator2). Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
Page 221 MEMO 9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD 9.1 Engineering tool...
Page 222: Revisions
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 223: 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 224: Trademarks
TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030308ENG-C...
Page 226 SH(NA)-030308ENG-C(2007)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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Mitsubishi Electric MELSERVO-J5 MR-J5-G User Manual

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