Mitsubishi MR-J5-B Parameter User's Manual PDF

MR-J5-B/MR-J5W-B User's Manual (Parameters)

-MR-J5-_B_ -MR-J5W_-_B_

Mitsubishi Electric AC Servo System

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. In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Note that the CAUTION level may lead to a serious consequence depending on conditions. Please follow the instructions of both levels because they are important to personnel safety. Forbidden actions and required actions are indicated by the following diagrammatic symbols.

In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other information are shown separately in the "POINT" area. After reading this manual, keep it accessible to the operator.

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

1

2

[Installation/wiring]

[Setting/adjustment]

[Operation]

[Maintenance]

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. To prevent an electric shock, mount the servo amplifier before wiring. To prevent an electric shock, connect the protective earth (PE) terminal of the servo amplifier to the

protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground. To prevent an electric shock, do not touch the conductive parts.

WARNING To prevent an electric shock, do not operate the switches with wet hands.

WARNING To prevent an electric shock, do not operate the switches with wet hands.

WARNING To prevent an electric shock, any person who is involved in inspection should be fully competent to do

the work. To prevent an electric shock, do not operate the switches with wet hands.

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 Browsing for hardware specifications by scrolling over the components shown in product illustrations Bookmarking frequently referenced information Copying sample programs to engineering tools

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For the related manuals, refer to the User's Manual (Introduction).

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. customary unit Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [Nm] 141.6 [ozinch]

Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [C] 9/5 + 32 N [F]

Rotary Servo Motor Linear Servo Motor Direct Drive Motor

This manual is necessary primarily for installing, wiring, and using options.

The manual is necessary for operation of servo amplifiers.

The manual is necessary for adjustment of operation status.

The manual is necessary for specifying the causes of alarms and warnings.

Partner Encoder

Function

Adjustment

Troubleshooting

Introduction

Hardware

Parameters It describes the parameters of the servo amplifier.

For the usage of each function, refer to this manual.

3

4

CONTENTS SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

CHAPTER 1 SERVO PARAMETER DETAILS 10 1.1 Explanation of servo parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

[Pr. PA01_Operation mode (**STY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 [Pr. PA02_Regenerative option (**REG)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 [Pr. PA03_Absolute position detection system (*ABS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 [Pr. PA04_Function selection A-1 (*AOP1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 [Pr. PA06_Electronic gear numerator (*CMX)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 [Pr. PA07_Electronic gear denominator (*CDV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 [Pr. PA08_Auto tuning mode (ATU)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 [Pr. PA09_Auto tuning response (RSP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 [Pr. PA10_In-position range (INP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 [Pr. PA14_Travel direction selection (*POL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 [Pr. PA15_Encoder output pulses (*ENR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 [Pr. PA16_Encoder output pulses 2 (*ENR2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 [Pr. PA17_Servo motor series setting (**MSR)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 [Pr. PA18_Servo motor type setting (**MTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 [Pr. PA20_Tough drive setting (*TDS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 [Pr. PA21_Function selection A-3 (*AOP3)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 [Pr. PA22_Position control configuration selection (**PCS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 [Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 [Pr. PA24_Function selection A-4 (AOP4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 [Pr. PA25_One-touch tuning - Overshoot permissible level (OTHOV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 [Pr. PA26_Function selection A-5 (*AOP5)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 [Pr. PA28_Function selection A-6 (**AOP6)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 [Pr. PA34_Quick tuning - Permissible travel distance (QDIS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 [Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] . . . 30 [Pr. PB03_Torque feedback loop gain (TFBGN)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 [Pr. PB04_Feed forward gain (FFC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 [Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 [Pr. PB07_Model control gain (PG1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 [Pr. PB08_Position control gain (PG2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 [Pr. PB09_Speed control gain (VG2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 [Pr. PB10_Speed integral compensation (VIC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 [Pr. PB11_Speed differential compensation (VDC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 [Pr. PB12_Overshoot amount compensation (OVA)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 [Pr. PB13_Machine resonance suppression filter 1 (NH1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 [Pr. PB14_Notch shape selection 1 (NHQ1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 [Pr. PB15_Machine resonance suppression filter 2 (NH2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 [Pr. PB16_Notch shape selection 2 (NHQ2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 [Pr. PB17_Shaft resonance suppression filter (NHF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 [Pr. PB18_Low-pass filter setting (LPF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

C O

N TE

N TS

[Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 [Pr. PB20_Vibration suppression control 1 - Resonance frequency (VRF12)] . . . . . . . . . . . . . . . . . . . . . . . . . . 40 [Pr. PB21_Vibration suppression control 1 - Vibration frequency damping (VRF13)] . . . . . . . . . . . . . . . . . . . . . 40 [Pr. PB22_Vibration suppression control 1 - Resonance frequency damping (VRF14)] . . . . . . . . . . . . . . . . . . . 40 [Pr. PB23_Low-pass filter selection (VFBF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 [Pr. PB24_Slight vibration suppression control (*MVS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 [Pr. PB25_Function selection B-1 (*BOP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 [Pr. PB26_Gain switching function (*CDP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 [Pr. PB27_Gain switching condition (CDL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 [Pr. PB28_Gain switching time constant (CDT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 [Pr. PB29_Gain switching - Load to motor inertia ratio/load to motor mass ratio (GD2B)] . . . . . . . . . . . . . . . . . 45 [Pr. PB30_Gain switching - Position control gain (PG2B)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 [Pr. PB31_Gain switching - Speed control gain (VG2B)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 [Pr. PB32_Gain switching - Speed integral compensation (VICB)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 [Pr. PB33_Gain switching - Vibration suppression control 1 - Vibration frequency (VRF11B)] . . . . . . . . . . . . . . 45 [Pr. PB34_Gain switching - Vibration suppression control 1 - Resonance frequency (VRF12B)] . . . . . . . . . . . . 46 [Pr. PB35_Gain switching - Vibration suppression control 1 - Vibration frequency damping (VRF13B)]. . . . . . . 46 [Pr. PB36_Gain switching - Vibration suppression control 1 - Resonance frequency damping (VRF14B)] . . . . 46 [Pr. PB45_Command notch filter (CNHF)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 [Pr. PB46_Machine resonance suppression filter 3 (NH3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 [Pr. PB47_Notch shape selection 3 (NHQ3)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 [Pr. PB48_Machine resonance suppression filter 4 (NH4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 [Pr. PB49_Notch shape selection 4 (NHQ4)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 [Pr. PB50_Machine resonance suppression filter 5 (NH5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [Pr. PB51_Notch shape selection 5 (NHQ5)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 [Pr. PB53_Vibration suppression control 2 - Resonance frequency (VRF22)] . . . . . . . . . . . . . . . . . . . . . . . . . . 53 [Pr. PB54_Vibration suppression control 2 - Vibration frequency damping (VRF23)] . . . . . . . . . . . . . . . . . . . . . 53 [Pr. PB55_Vibration suppression control 2 - Resonance frequency damping (VRF24)] . . . . . . . . . . . . . . . . . . . 53 [Pr. PB56_Gain switching - Vibration suppression control 2 - Vibration frequency (VRF21B)] . . . . . . . . . . . . . . 54 [Pr. PB57_Gain switching - Vibration suppression control 2 - Resonance frequency (VRF22B)] . . . . . . . . . . . . 54 [Pr. PB58_Gain switching - Vibration suppression control 2 - Vibration frequency damping (VRF23B)]. . . . . . . 54 [Pr. PB59_Gain switching - Vibration suppression control 2 - Resonance frequency damping (VRF24B)] . . . . 55 [Pr. PB60_Gain switching - Model control gain (PG1B)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 [Pr. PB65_Gain switching 2 condition (CDL2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 [Pr. PB66_Gain switching 2 time constant (CDT2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 [Pr. PB67_Gain switching 2 - Load to motor inertia ratio/load to motor mass ratio (GD2C)]. . . . . . . . . . . . . . . . 56 [Pr. PB68_Gain switching 2 - Position control gain (PG2C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 [Pr. PB69_Gain switching 2 - Speed control gain (VG2C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 [Pr. PB70_Gain switching 2 - Speed integral compensation (VICC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 [Pr. PB71_Gain switching 2 - Vibration suppression control 1 - Vibration frequency (VRF11C)] . . . . . . . . . . . . 57 [Pr. PB72_Gain switching 2 - Vibration suppression control 1 - Resonance frequency (VRF12C)] . . . . . . . . . . 57 [Pr. PB73_Gain switching 2 - Vibration suppression control 1 - Vibration frequency damping (VRF13C)] . . . . . 57 [Pr. PB74_Gain switching 2 - Vibration suppression control 1 - Resonance frequency damping (VRF14C)] . . . 58 [Pr. PB75_Gain switching 2 - Vibration suppression control 2 - Vibration frequency (VRF21C)] . . . . . . . . . . . . 58 [Pr. PB76_Gain switching 2 - Vibration suppression control 2 - Resonance frequency (VRF22C)] . . . . . . . . . . 58 [Pr. PB77_Gain switching 2 - Vibration suppression control 2 - Vibration frequency damping (VRF23C)] . . . . . 59 [Pr. PB78_Gain switching 2 - Vibration suppression control 2 - Resonance frequency damping (VRF24C)] . . . 59 [Pr. PB79_Gain switching 2 - Model control gain (PG1C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 [Pr. PB81_Command filter (*CFIL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 [Pr. PB82_Position command smoothing filter time constant (PFT)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5

6

1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 [Pr. PC01_Excessive error alarm trigger level (ERZ)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 [Pr. PC02_Electromagnetic brake sequence output (MBR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 [Pr. PC03_Encoder output pulses selection (*ENRS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 [Pr. PC04_Function selection C-1 (**COP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 [Pr. PC05_Function selection C-2 (**COP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 [Pr. PC06_Function selection C-3 (*COP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 [Pr. PC07_Zero speed (ZSP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 [Pr. PC08_Overspeed alarm detection level (OSL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 [Pr. PC09_Analog monitor 1 output (MOD1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 [Pr. PC10_Analog monitor 2 output (MOD2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [Pr. PC11_Analog monitor 1 offset (MO1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [Pr. PC12_Analog monitor 2 offset (MO2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [Pr. PC17_Function selection C-4 (**COP4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [Pr. PC18_Function selection C-5 (*COP5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [Pr. PC19_Function selection C-6 (*COP6)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [Pr. PC20_Function selection C-7 (*COP7)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 [Pr. PC21_Alarm history clear (*BPS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 [Pr. PC24_Deceleration time constant at forced stop (RSBR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 [Pr. PC26_Function selection C-8 (**COP8)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 [Pr. PC27_Function selection C-9 (**COP9)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 [Pr. PC29_Function selection C-B (*COPB)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 [Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [Pr. PC38_Excessive error warning trigger level (ERW)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [Pr. PC84_Servo amplifier replacement data 1 (SVDT1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [Pr. PC85_Servo amplifier replacement data 2 (SVDT2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [Pr. PC86_Servo amplifier replacement data 3 (SVDT3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC87_Servo amplifier replacement data 4 (SVDT4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC88_Servo amplifier replacement data 5 (SVDT5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC89_Servo amplifier replacement data 6 (SVDT6)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC90_Servo amplifier replacement data 7 (SVDT7)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC91_Servo amplifier replacement data 8 (SVDT8)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC92_Servo amplifier replacement data 9 (SVDT9)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC93_Servo amplifier replacement data 10 (SVDT10)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC94_Servo amplifier replacement data 11 (SVDT11)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC95_Servo amplifier replacement data 12 (SVDT12)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 [Pr. PD02_Input signal automatic ON selection 2 (*DIA2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 [Pr. PD07_Output device selection 1 (*DO1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD08_Output device selection 2 (*DO2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 [Pr. PD09_Output device selection 3 (*DO3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 [Pr. PD11_Input filter setting (*DIF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PD12_Function selection D-1 (*DOP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PD13_Function selection D-2 (*DOP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 [Pr. PD14_Function selection D-3 (*DOP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 [Pr. PD15_Driver communication setting (*IDCS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 [Pr. PD16_Driver communication setting - Master - Transmit data selection 1 (*MD1)] . . . . . . . . . . . . . . . . . . . 82 [Pr. PD17_Driver communication setting - Master - Transmit data selection 2 (*MD2)] . . . . . . . . . . . . . . . . . . . 82 [Pr. PD20_Driver communication setting - Slave - Master axis No. selection 1 (*SLA1)] . . . . . . . . . . . . . . . . . . 82 [Pr. PD30_Master-slave operation - Slave-side torque command coefficient (TLS)] . . . . . . . . . . . . . . . . . . . . . 83 [Pr. PD31_Master-slave operation - Slave-side speed limit coefficient (VLC)] . . . . . . . . . . . . . . . . . . . . . . . . . . 83

C O

N TE

N TS

[Pr. PD32_Master-slave operation - Slave-side speed limit adjusted value (VLL)] . . . . . . . . . . . . . . . . . . . . . . . 83 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Pr. PE01_Fully closed loop control function selection 1 (**FCT1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 [Pr. PE03_Fully closed loop control function selection 2 (*FCT2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 [Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)] . . . . . . . . . . . . . 86 [Pr. PE05_Fully closed loop control - Feedback pulse electronic gear 1 - Denominator (**FBD)] . . . . . . . . . . . 86 [Pr. PE06_Fully closed loop control - Speed deviation error detection level (BC1)] . . . . . . . . . . . . . . . . . . . . . . 86 [Pr. PE07_Fully closed loop control - Position deviation error detection level (BC2)] . . . . . . . . . . . . . . . . . . . . . 86 [Pr. PE08_Fully closed loop dual feedback filter (DUF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 [Pr. PE10_Fully closed loop function selection 3 (FCT3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 [Pr. PE41_Function selection E-3 (EOP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 [Pr. PE44_Lost motion compensation positive-side compensation value selection (LMCP)] . . . . . . . . . . . . . . . 88 [Pr. PE45_Lost motion compensation negative-side compensation value selection (LMCN)] . . . . . . . . . . . . . . 88 [Pr. PE46_Lost motion filter setting (LMFLT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 [Pr. PE47_Unbalanced torque offset (TOF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 [Pr. PE48_Lost motion compensation function selection (*LMOP)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 [Pr. PE49_Lost motion compensation timing (LMCD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 [Pr. PE50_Lost motion compensation dead band (LMCT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 [Pr. PE51_Load-side encoder resolution setting (**EDV2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 [Pr. PF02_Function selection F-2 (*FOP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 [Pr. PF06_Function selection F-5 (*FOP5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 [Pr. PF12_Electronic dynamic brake operating time (DBT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 [Pr. PF18_STO diagnosis error detection time (**STOD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 [Pr. PF19_Friction failure prediction - Compensation coefficient 1 (TSL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 [Pr. PF20_Friction failure prediction - Compensation coefficient 2 (TIC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 [Pr. PF21_Drive recorder switching time setting (DRT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 [Pr. PF23_Vibration tough drive - Oscillation detection level (OSCL1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 [Pr. PF24_Function selection F-9 (*FOP9)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 [Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time) (CVAT)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 [Pr. PF31_Machine diagnosis function - Friction estimate area judgment speed at low speed (FRIC)] . . . . . . . 94 [Pr. PF34_Machine diagnosis function selection (*MFP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 [Pr. PF40_Machine failure prediction servo parameter (MFPP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 [Pr. PF41_Failure prediction - Servo motor total travel distance (FPMT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 [Pr. PF42_Friction failure prediction - Average characteristics (PAV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 [Pr. PF43_Friction failure prediction - Standard deviation (PSD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 [Pr. PF45_Vibration failure prediction - Average characteristics (VAV)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 [Pr. PF46_Vibration failure prediction - Standard deviation (VSD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 [Pr. PF47_Servo motor total travel distance offset (TMO)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 [Pr. PF63_Function selection F-15 (*FOP15)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 [Pr. PF66_Gear setting for backlash estimation (BLG)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 [Pr. PF67_Backlash nominal value (BLN)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 [Pr. PF68_Backlash threshold multiplication (BLTT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 [Pr. PF69_Static friction failure prediction - Average characteristics (SPAV2)] . . . . . . . . . . . . . . . . . . . . . . . . . 102 [Pr. PF70_Static friction failure prediction - Standard deviation (SPSD2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 [Pr. PF71_Belt failure prediction function selection (BFP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 [Pr. PF72_Belt tension on installation (SBT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 [Pr. PF73_Belt tension when extended (ABT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 [Pr. PF74_Static friction during installation (SSF)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 [Pr. PF75_Static friction when extended (ASF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

7

8

[Pr. PF76_Belt tension irregular threshold (BTS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 [Pr. PF80_Drive recorder - Operation condition selection (DRMC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 [Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 [Pr. PF82_Drive recorder - Trigger operation selection (DRTM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 [Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)] . . . . . . . . . . . . . . . . . . . . . . 109 [Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 [Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [Pr. PF86_Drive recorder - Trigger level setting 2 (DRTL2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. PF88_Drive recorder - Analog channel setting 2 (DRAC2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PF89_Drive recorder - Analog channel setting 3 (DRAC3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PF90_Drive recorder - Analog channel setting 4 (DRAC4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PF93_Drive recorder - Digital channel setting 3 (DRDC3)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 [Pr. PF95_Drive recorder - Clear history (*DRCLR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 [Pr. PL01_Function selection L-1 (**LIT1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 [Pr. PL02_Linear encoder resolution setting - Numerator (**LIM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 [Pr. PL03_Linear encoder resolution setting - Denominator (**LID)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 [Pr. PL04_Function selection L-2 (*LIT2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 [Pr. PL05_Position deviation error detection level (LB1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 [Pr. PL06_Speed deviation error detection level (LB2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 [Pr. PL07_Torque deviation error detection level (LB3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 [Pr. PL08_Function selection L-3 (*LIT3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 [Pr. PL09_Magnetic pole detection voltage level (LPWM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 [Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] . . . . . . 124 [Pr. PL18_Magnetic pole detection - Minute position detection method - Identification signal amplitude (IDLV)] . . 126

CHAPTER 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 127 2.1 Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 2.2 Lists of supported control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

CHAPTER 3 LISTS OF SERVO PARAMETER INITIAL VALUES 136 3.1 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 3.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 3.3 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 3.4 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 3.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 3.6 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 3.7 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

C O

N TE

N TS

CHAPTER 4 SERVO PARAMETER SETTING METHOD 150 4.1 Engineering tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 4.2 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154

9

10

1 SERVO PARAMETER DETAILS

Restrictions Settable servo parameters and values depend on the controller model, servo amplifier firmware version, and MR Configurator2 software version. For details, refer to the controller user's manual. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2 or by other means. When using servo motors with functional safety, executing software reset may trigger [AL. 016 Encoder initial communication error 1]. If [AL. 016] occurs, cycle the power.

Precautions Never make a drastic adjustment or change to the servo parameter values as doing so will make the operation unstable. Do not change the servo parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the servo parameters for manufacturer setting Setting a value outside the range Changing the fixed value in each servo parameter When writing servo parameters with the controller, make sure that the control axis No. of the servo amplifier is set correctly. Failure to do so may cause the servo parameter settings of another axis to be written and result in the servo amplifier being in an unexpected condition. Some servo parameters are adjusted automatically. For example, auto tuning automatically adjusts gain servo parameters.

1 SERVO PARAMETER DETAILS

1

1.1 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 No. Indicates the servo parameter No., which

can be identified by the servo parameter group and number.

Servo parameter No., symbols, and names are indicated as follows.

Symbol Indicates the abbreviation of the servo parameter. "*" added to abbreviations means the following. *: After setting, cycle the power, or reset either the controller or the software. **: After setting, cycle the power or reset the software.

Name Indicates the name of the servo parameter.

Initial value (unit)

Indicates the servo parameter initial value at factory setting. When there is a unit in the servo parameter, the unit is shown with [ ].

Setting range Indicates the setting range of the servo parameter.

Setting method For multi axis servo amplifiers, "Common" means that the same setting is applied to each axis. "Each axis" means that the setting for each axis is different. The latest setting value for "Common" is applied to all axes.

Ver. Indicates the supported firmware version of the servo amplifier. The servo parameter is available on servo amplifiers with the firmware version or later.

[Pr. PA01 Operation mode (**STY)] Symbol Name No./Detail No.

1 SERVO PARAMETER DETAILS 1.1 Explanation of servo parameters 11

12

1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)]

[Pr. PA01.1_Operation mode selection]

0: Standard control mode 4: Linear servo motor control mode 6: Direct drive motor control mode

[Pr. PA01.4_Fully closed loop operation mode selection]

Select whether to enable or disable the fully closed loop control mode. The external encoder communication method of four-wire type cannot be used in the fully closed loop control mode on the MR-J5-_B_. In that case, use the MR-J5-_B_-RJ. When this servo parameter is set to "1" in the linear servo motor control mode or the direct drive motor control mode, [AL. 037 Parameter error] occurs. Setting "1" (enabled) on the MR-J5W3-_B_ triggers [AL. 037]. 0: Disabled (semi closed loop control mode) 1: Enabled (fully closed loop control mode)

Initial value Setting range Setting method Ver. 00003000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

[Pr. PA02_Regenerative option (**REG)]

[Pr. PA02.0-1_Regenerative option selection]

Select a regenerative option. Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL. 037 Parameter error] occurs. Other regenerative options cannot be used together with the FR-XC-(H). 00: Regenerative option is not used. No regenerative resistors are used on servo amplifiers with a capacity of 100 W. Built-in regenerative resistors are used on servo amplifiers with a capacity of 0.2 kW to 7 kW. 01: FR-XC-(H) 02: MR-RB032 03: MR-RB12 05: MR-RB30 06: MR-RB50 (A cooling fan is required.) 08: MR-RB31 09: MR-RB51 (A cooling fan is required.) 0B: MR-RB3N 0C: MR-RB5N (A cooling fan is required.) 0D: MR-RB14 0E: MR-RB34 1C: MR-RB3Z 1D: MR-RB5Z (A cooling fan is required.) 80: MR-RB1H-4 81: MR-RB3M-4 (A cooling fan is required.) 82: MR-RB3G-4 (A cooling fan is required.) 83: MR-RB5G-4 (A cooling fan is required.) 93: MR-RB3Y-4 (A cooling fan is required.) 94: MR-RB5Y-4 (A cooling fan is required.)

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 00h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 13

14

[Pr. PA02.4_Simple converter selection]

When using the simple converter, set this servo parameter. The simple converter and external regenerative option can be used together. When using an external regenerative option, set the regenerative option to be used with [Pr. PA02.0-1]. When [Pr. PA02.0-1 Regenerative option selection] is set to "01" (FR-XC-(H)), setting this servo parameter to "1" (enabled) triggers [AL. 037 Parameter error]. 0: Simple converter is not used 1: MR-CM3K

[Pr. PA02.5_Excessive regeneration warning enabled/disabled selection]

When [Pr. PA02.4] is set to "0" (simple converter is not used), setting this servo parameter to "1" (disabled) triggers [AL. 037 Parameter error]. When the simple converter is used, whether to enable or disable the detection of [AL. 0E0.1 Excessive regeneration warning] is selectable with this servo parameter. 0: Enabled 1: Disabled

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

[Pr. PA03_Absolute position detection system (*ABS)]

[Pr. PA03.0_Absolute position detection system selection]

Set this servo parameter when using the absolute position detection system. If the absolute position detection system is switched to the incremental system, the home position is erased. Execute homing again when the absolute position detection system is enabled. 0: Disabled (incremental system) 1: Enabled (absolute position detection system) In the following case, enabling the absolute position detection system triggers [AL. 037 Parameter error]. When an incremental type encoder is being used When semi closed/fully closed switching is enabled By setting [Pr. PF63.0 [AL. 01A.5 Servo motor combination error 3] selection] to "1" (disabled) while the absolute position detection system is enabled, an in-use servo motor with a batteryless absolute position encoder can be replaced without changing the setting value of [Pr. PA03.1 Servo motor replacement preparation]. Connecting a servo motor that had not been connected at the startup of the absolute position detection system will cause [AL. 025 Absolute position erased], erasing absolute position data. Therefore, check if a correct servo motor is connected.

[Pr. PA03.1_Servo motor replacement preparation]

To replace an in-use batteryless absolute position encoder equipped servo motor while the absolute position detection system is in enabled status, set this servo parameter to "enabled". Selecting "1" (enabled) enables servo motor replacement. After completing the servo motor replacement preparation, the value automatically changes to "0" (disabled). After replacing the servo motor, the home position is erased. Execute homing again. If [AL. 01A.5 Servo motor combination error 3] occurs after servo motor replacement, set this servo parameter to "1" (enabled), cycle the power, and then deactivate [AL. 01A.5]. 0: Disabled 1: Enabled

[Pr. PA03.2_Scale measurement encoder replacement preparation]

To replace an in-use batteryless absolute position scale measurement encoder while the absolute position detection system is in enabled status, set this servo parameter to "enabled". Selecting "1" (enabled) enables scale measurement encoder replacement. After completing the scale measurement encoder replacement preparation, the value automatically changes to "0" (disabled). After replacing the scale measurement encoder, the home position is erased. Execute homing again. After setting this servo parameter to "enabled", cycle the power and then deactivate [AL. 1A.6 Servo motor combination error 4]. 0: Disabled 1: Enabled

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 15

16

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

[Pr. PA04.2_Servo forced stop selection]

0: Enabled (the forced stop input EM2 or EM1 is used) 1: Disabled (the forced stop input EM2 and EM1 are not used)

[Pr. PA04.3_Forced stop deceleration function selection]

0: Forced stop deceleration function disabled (EM1 is used) 2: Forced stop deceleration function enabled (EM2 is used)

[Pr. PA06_Electronic gear numerator (*CMX)]

Set the electronic gear numerator. Setting a value other than "1" or "16" triggers [AL. 037 Parameter error]. If this servo parameter is set to a value other than "1" while [Pr. PA01.1 Operation mode selection] is set to "4" (linear servo motor control mode), [AL. 037] will occur. If this servo parameter is set to a value other than "1" while [Pr. PA01.1] is set to "6" (direct drive motor control mode), [AL. 037] will occur. If the linear scale and A/B/Z-phase differential output type encoder are connected to the load-side encoder and this servo parameter is set to a value other than "1" while [Pr. PA01.4 Fully closed loop operation mode selection] is set to "1" (enabled (fully closed loop control mode)), [AL. 037] will occur.

[Pr. PA07_Electronic gear denominator (*CDV)]

The value for the electronic gear denominator is fixed to "1". Setting any value other than "1" will trigger [AL. 037 Parameter error].

Initial value Setting range Setting method Ver. 00002000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 2h Refer to the text C4

Initial value Setting range Setting method Ver. 1 1 to 16 Each axis C4

Initial value Setting range Setting method Ver. 1 1 (fixed) Each axis C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

[Pr. PA08_Auto tuning mode (ATU)]

[Pr. PA08.0_Gain adjustment mode selection]

Select the gain adjustment mode. 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2 5: Quick tuning mode 6: Load to motor inertia ratio monitor mode Refer to the following table for details.

Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 1h Refer to the text C4

Setting value of [Pr. PA08.0] Gain adjustment mode Servo parameter adjusted automatically 0 2 gain adjustment mode 1 (interpolation mode) [Pr. PB06 Load to motor inertia ratio/load to motor

mass ratio] [Pr. PB08 Position control gain] [Pr. PB09 Speed control gain] [Pr. PB10 Speed integral compensation]

1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] [Pr. PB07 Model control gain] [Pr. PB08 Position control gain] [Pr. PB09 Speed control gain] [Pr. PB10 Speed integral compensation]

2 Auto tuning mode 2 [Pr. PB07 Model control gain] [Pr. PB08 Position control gain] [Pr. PB09 Speed control gain] [Pr. PB10 Speed integral compensation]

3 Manual mode

4 2 gain adjustment mode 2 [Pr. PB08 Position control gain] [Pr. PB09 Speed control gain] [Pr. PB10 Speed integral compensation]

5 Quick tuning mode [Pr. PB07 Model control gain] [Pr. PB08 Position control gain] [Pr. PB09 Speed control gain] [Pr. PB10 Speed integral compensation] [Pr. PB13 Machine resonance suppression filter 1] [Pr. PB14 Notch shape selection 1] [Pr. PB15 Machine resonance suppression filter 2] [Pr. PB16 Notch shape selection 2] [Pr. PB18 Low-pass filter setting] [Pr. PB23 Low-pass filter selection] [Pr. PB50 Machine resonance suppression filter 5] [Pr. PB51 Notch shape selection 5] [Pr. PE41 Function selection E-3]

6 Load to motor inertia ratio monitor mode [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 17

18

[Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting]

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. 0: Load to motor inertia ratio of 30 times or less 1: Load to motor inertia ratio of 100 times or less

[Pr. PA08.5_Quick tuning - Execution selection]

Set when to execute quick tuning. 0: At initial servo-on after cycling the power 1: At every servo-on

[Pr. PA08.6_Quick tuning - Restore selection]

Set whether to return servo parameters to the values from before quick tuning. 0: Disabled 1: Enabled By setting "1" (enabled), the following servo parameters return to the values from before quick tuning. If quick tuning has never been performed after power on or software reset, setting "1" (enabled) only keeps the current servo parameter values.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

No. Symbol Name PB01 FILT Adaptive tuning mode (adaptive filter II)

PB07 PG1 Model control gain

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

PB11 VDC Speed differential compensation

PB13 NH1 Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1

PB15 NH2 Machine resonance suppression filter 2

PB16 NHQ2 Notch shape selection 2

PB18 LPF Low-pass filter setting

PB23 VFBF Low-pass filter selection

PB50 NH5 Machine resonance suppression filter 5

PB51 NHQ5 Notch shape selection 5

PE41 EOP3 Function selection E-3

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

[Pr. PA09_Auto tuning response (RSP)]

Set the auto tuning response.

Initial value Setting range Setting method Ver. 16 Refer to the text Each axis C4

Setting value Machine characteristic

Responsiveness Guideline for machine resonance frequency [Hz] 1 2.7

2 3.6

3 4.9

4 6.6

5 10.0

6 11.3

7 12.7

8 14.3

9 16.1

10 18.1

11 20.4

12 23.0

13 25.9

14 29.2

15 32.9

16 37.0

17 41.7

18 47.0

19 52.9

20 59.6

21 67.1

22 75.6

23 85.2

24 95.9

25 108.0

26 121.7

27 137.1

28 154.4

29 173.9

30 195.9

31 220.6

32 248.5

33 279.9

34 315.3

35 355.1

36 400.0

37 446.6

38 501.2

39 571.5

40 642.7

Low response

Middle response

High response

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 19

20

[Pr. PA10_In-position range (INP)]

Set the in-position range in the command pulse unit. Selecting an encoder for in-position range control

[Pr. PA14_Travel direction selection (*POL)]

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. PA14] and [Pr. PC29.3 Torque POL reflection selection]. The rotation/travel direction is enabled regardless of the control modes. For example, when the torque polarity is changed with [Pr. PA14] and [Pr. PC29.3], the torque information polarity will also change in the position control mode. Position information

Speed information

Torque information (other than continuous operation to torque control mode)

Torque information (continuous operation to torque control mode)

Initial value Setting range Setting method Ver. 25600 [pulse] 0 to 16777215 Each axis C4

[Pr. PA01.4 Fully closed loop operation mode selection] setting value

In-position range unit

0 (semi closed loop control mode) Motor-side encoder

1 (fully closed loop control mode) Load-side encoder

Initial value Setting range Setting method Ver. 0 0 to 1 Each axis C4

Setting value of [Pr. PA14]

Servo motor rotation direction/linear servo motor travel direction

Positioning address increasing direction Positioning address decreasing direction 0 CCW or positive direction CW or negative direction

1 CW or negative direction CCW or positive direction

Setting value of [Pr. PA14]

Servo motor rotation direction/linear servo motor travel direction

Speed handled by the controller: positive Speed handled by the controller: negative 0 CCW or positive direction CW or negative direction

1 CW or negative direction CCW or positive direction

Setting value Servo motor rotation direction/linear servo motor travel direction

[Pr. PA14] [Pr. PC29.3] Torque handled by the controller: positive

Torque handled by the controller: negative

0 0: Enabled CCW or positive direction CW or negative direction

1: Disabled

1 0: Enabled CW or negative direction CCW or positive direction

1: Disabled CCW or positive direction CW or negative direction

Setting value Servo motor rotation direction/linear servo motor travel direction

[Pr. PA14] [Pr. PC29.3] Torque handled by the controller: positive

Torque handled by the controller: negative

0 0: Enabled CCW or positive direction CW or negative direction

1: Disabled

1 0: Enabled

1: Disabled

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

The servo motor rotation direction is as follows.

The positive and negative directions of the linear servo motor are as follows.

Forward rotation (CCW)

Forward rotation (CCW) Reverse rotation (CW)

Reverse rotation (CW)

Negative direction

Negative direction Secondary side Positive directionSecondary side Table

Positive direction Primary side

Secondary side Positive direction

Primary side Primary side

Negative direction

LM-U2 series LM-K2 seriesLM-H3 series LM-F series

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 21

22

[Pr. PA15_Encoder output pulses (*ENR)]

Set the encoder output pulses output from the servo amplifier, by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) Selecting "1" (dividing ratio setting) in [Pr. PC03.1 Encoder output pulse setting selection] will divide the travel distance [pulse] by the setting value. Set a numerator for the electronic gear for the A/B-phase pulse output when selecting "3" (A-phase/B-phase pulse electronic gear setting) in [Pr. PC03.1]. The maximum output frequency is 4.6 Mpulses/s. Set the value within the range.

[Pr. PA16_Encoder output pulses 2 (*ENR2)]

Set the electronic gear denominator for the A/B-phase pulse output. Set a denominator for the electronic gear for when "3" (A-phase/B-phase pulse electronic gear setting) is selected in [Pr. PC03.1 Encoder output pulse setting selection]. When "1" (dividing ratio setting) is selected in [Pr. PC03.1 Encoder output pulse setting selection], the setting value is disabled. The maximum output frequency is 4.6 Mpulses/s. Set the value within the range.

Initial value Setting range Setting method Ver. 4000 [pulse/rev] 1 to 67108864 Each axis C4

Initial value Setting range Setting method Ver. 1 1 to 67108864 Each axis C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

[Pr. PA17_Servo motor series setting (**MSR)]

To select the linear servo motor to be used, set this servo parameter and [Pr. PA18.0-3 Servo motor type setting]. Set this at the same time with [Pr. PA18.0-3]. Refer to the following table for setting values.

Initial value Setting range Setting method Ver. 00000000h Refer to the text Each axis C4

Linear servo motor series Linear servo motor (primary side) Servo parameter

Setting value of [Pr. PA17] Setting value of [Pr. PA18.0-3] LM-H3 LM-H3P2A-07P-BSS0 000000BBh 2101h

LM-H3P3A-12P-CSS0 3101h

LM-H3P3B-24P-CSS0 3201h

LM-H3P3C-36P-CSS0 3301h

LM-H3P3D-48P-CSS0 3401h

LM-H3P7A-24P-ASS0 7101h

LM-H3P7B-48P-ASS0 7201h

LM-H3P7C-72P-ASS0 7301h

LM-H3P7D-96P-ASS0 7401h

LM-U2 LM-U2PAB-05M-0SS0 000000B4h A201h

LM-U2PAD-10M-0SS0 A401h

LM-U2PAF-15M-0SS0 A601h

LM-U2PBB-07M-1SS0 B201h

LM-U2PBD-15M-1SS0 B401h

LM-U2PBF-22M-1SS0 2601h

LM-U2P2B-40M-2SS0 2201h

LM-U2P2C-60M-2SS0 2301h

LM-U2P2D-80M-2SS0 2401h

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

LM-FP4H-48M-1SS0 (natural cooling) 4801h

LM-FP5H-60M-1SS0 (natural cooling) 5801h

LM-FP2B-06M-1SS0 (liquid-cooling) 2202h

LM-FP2D-12M-1SS0 (liquid-cooling) 2402h

LM-FP2F-18M-1SS0 (liquid-cooling) 2602h

LM-FP4B-12M-1SS0 (liquid-cooling) 4202h

LM-FP4D-24M-1SS0 (liquid-cooling) 4402h

LM-FP4F-36M-1SS0 (liquid-cooling) 4602h

LM-FP4H-48M-1SS0 (liquid-cooling) 4802h

LM-FP5H-60M-1SS0 (liquid-cooling) 5802h

LM-K2 LM-K2P1A-01M-2SS1 000000B8h 1101h

LM-K2P1C-03M-2SS1 1301h

LM-K2P2A-02M-1SS1 2101h

LM-K2P2C-07M-1SS1 2301h

LM-K2P2E-12M-1SS1 2501h

LM-K2P3C-14M-1SS1 3301h

LM-K2P3E-24M-1SS1 3501h

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 23

24

[Pr. PA18_Servo motor type setting (**MTY)]

[Pr. PA18.0-3_Servo motor type setting]

When using a linear servo motor, select the linear servo motor to be used with [Pr. PA17 Servo motor series setting] and this servo parameter. Set this at the same time with [Pr. PA17]. Refer to the following for setting values. Page 23 [Pr. PA17_Servo motor series setting (**MSR)]

[Pr. PA20_Tough drive setting (*TDS)]

[Pr. PA20.1_Vibration tough drive selection]

0: Disabled 1: Machine resonance suppression filter change mode enabled 2: Machine resonance suppression filter automatic setting mode Selecting other than "0" for this servo parameter suppresses vibrations by automatically changing the setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] if the vibration exceeds the value of the oscillation level set in [Pr. PF23 Vibration tough drive - Oscillation detection level]. For "1", the vibration tough drive functions when [Pr. PB13] and [Pr. PB15] are enabled. For "2", the vibration tough drive functions even when [Pr. PB13] and [Pr. PB15] are disabled. When using the vibration tough drive, selecting "2" (machine resonance suppression filter automatic setting mode) is recommended.

[Pr. PA20.2_SEMI-F47 function selection]

0: Disabled 1: Enabled Selecting "1" enables to avoid triggering [AL. 010 Undervoltage] by using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. In [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time)], the time until the occurrence of [AL. 010.1 Voltage drop in the control circuit power] can be set. For multi axis servo amplifiers, SEMI-F47 function cannot enable specific axis separately. Therefore, when using SEMI-F47 function, enable all axes.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0000h Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

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

[Pr. PA21.0_One-touch tuning function selection]

0: Disabled 1: Enabled When the servo parameter is set to "0", the one-touch tuning cannot be performed.

[Pr. PA22_Position control configuration selection (**PCS)]

[Pr. PA22.1_Super trace function selection]

0: Disabled 2: Enabled

[Pr. PA22.3_Scale measurement function selection]

The absolute position detection system cannot be used when an incremental type encoder is used. At this time, enabling the absolute position detection system triggers [AL. 037 Parameter error]. In the fully closed loop control mode, setting a value other than "0" triggers [AL. 037]. If the absolute position detection system is disabled or switched to the incremental system, the home position is erased. Setting "1" or "2" on the MR-J5W3-_B_ triggers [AL. 037]. If this servo parameter is set to a value other than "0" while [Pr. PA01.1 Operation mode selection] is set to "0" (standard control mode), [AL. 037] will occur. 0: Disabled 1: Use with absolute position detection system 2: Use with incremental system By setting [Pr. PF63.1 [AL. 01A.6 Servo motor combination error 4] selection] to "1" (disabled) while the absolute position detection system is enabled, an in-use batteryless absolute position scale measurement encoder can be replaced without changing the setting value of [Pr. PA03.2 Scale measurement encoder replacement preparation]. Connecting a scale measurement encoder that had not been connected at the startup of the absolute position detection system will cause [AL. 025 Absolute position erased], erasing absolute position data. Therefore, check if a correct scale measurement encoder is connected.

Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 1h Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 25

26

[Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)]

This servo parameter is enabled in the following conditions: [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (automatic setting mode) [Pr. PF80.0] = "1" (manual setting mode) and [Pr. PF82.0 Drive recorder - Trigger mode selection] = "0" (alarm trigger)

Ex.

To activate the drive recorder when [AL. 050 Overload 1] occurs, set "00005000h". To activate the drive recorder when [AL. 050.3 Thermal overload error 4 during operation] occurs, set this servo parameter to "00005003h".

[Pr. PA23.0-1_Alarm detail number setting]

Set this to execute the trigger with a desired alarm detail No. for the drive recorder function. When "00h" is selected, only the desired alarm No. setting will be enabled.

[Pr. PA23.2-4_Alarm number setting]

Set this to execute the trigger with a desired alarm No. for the drive recorder function. When "000h" is selected, the desired alarm trigger of the drive recorder is disabled.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 00h 00h to FFh C4

Initial value Setting range Ver. 000h 000h to FFFh C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

[Pr. PA24_Function selection A-4 (AOP4)]

[Pr. PA24.0_Vibration suppression mode selection]

0: Standard mode 1: 3 inertia mode 2: Low response mode 4: Path tracking mode When other than "3 inertia mode" is selected, vibration suppression control 2 cannot be used. Before changing the control mode in "3 inertia mode" or "low response mode", stop the motor. Before changing the control mode in "path tracking mode", stop the motor.

[Pr. PA25_One-touch tuning - Overshoot permissible level (OTHOV)]

Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range. When "0" is set, 50 % is applied.

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

[Pr. PA26.0_Torque limit function selection at instantaneous power failure]

0: Disabled 1: Enabled By setting "1", if an instantaneous power failure occurs during operation, limiting the torque at acceleration saves the electric energy charged in the capacitor in the servo amplifier. And consequently the time until [AL. 010.2 Voltage drop in the main circuit power] occurs can be delayed with instantaneous power failure tough drive function. Thus, the time to be set in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time)] can be extended. The torque limit function at instantaneous power failure is enabled when [Pr. PA20.2 SEMI-F47 function selection] is "1" (enabled). This function cannot be used on the MR-J5W_-_B_. When this parameter is enabled, [AL. 037 Parameter error] occurs. This function is disabled in the torque control mode.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 27

28

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

[Pr. PA28.4_Speed range limit selection]

Select the speed to be used for the range restriction of the speed data. If "1" (permissible speed) is set when the servo amplifier is connected with a servo motor of HK series, the maximum speed will be selected. 0: Maximum speed 1: Permissible speed

[Pr. PA34_Quick tuning - Permissible travel distance (QDIS)]

Set the permissible travel distance for quick tuning. If the travel distance for quick tuning exceeds the setting value, the quick tuning error occurs. When "0" is input, the permissible travel distance for quick tuning is 1.0 rev (when a linear servo motor is used, 10 mm).

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 0 [0.1 rev], [mm] 0 to 100 Each axis C4

1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])

1

1.3 Gain/filter setting servo parameters group ([Pr.

PB_ _ ]) [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)]

[Pr. PB01.0_Filter tuning mode selection]

Setting of the adaptive tuning is performed. Select the adjustment mode of the machine resonance suppression filter 1. 0: Disabled 1: Automatic setting 2: Manual setting When the servo parameter is set to "automatic setting", [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB14 Notch shape selection 1] will be set automatically. The automatic setting of machine resonance suppression filter 1 cannot be used if quick tuning is in progress. While quick tuning is in progress, adaptive filter II (adaptive tuning) does not start even if the automatic setting of machine resonance suppression filter 1 is used. The results obtained from the quick tuning are applied to [Pr. PB13] and [Pr. PB14]. Do not use the automatic setting in the torque control mode.

[Pr. PB01.3_Tuning accuracy selection]

0: Standard 1: High accuracy In the high accuracy mode, the sound during tuning may be larger than in the standard mode, but the frequency is estimated more accurately.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 29

30

[Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)]

[Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection]

Select the tuning mode of the vibration suppression control 1. 0: Disabled 1: Automatic setting 2: Manual setting

[Pr. PB02.1_Vibration suppression control 2 - Tuning mode selection]

Select the tuning mode of the vibration suppression control 2. To enable the setting value, set [Pr. PA24.0 Vibration suppression mode selection] to "1" (3 inertia mode). 0: Disabled 1: Automatic setting 2: Manual setting

[Pr. PB03_Torque feedback loop gain (TFBGN)]

Set the torque feedback gain. This function is enabled in the continuous operation to torque control mode. Decreasing the setting value of this servo parameter reduces the collision load during pressing. 6 rad/s is set when the setting value is 6 rad/s or less.

[Pr. PB04_Feed forward gain (FFC)]

Set the feed forward gain. When "100" is set, the droop pulses are almost 0 in operation at the constant speed. If the super trace control is enabled, the droop pulses are almost 0 in operation at uniform acceleration/deceleration, as well as at the constant speed. However, if sudden acceleration/deceleration is performed, overshoot becomes large. When the feed forward gain is set to 100 %, set a value not smaller than 1 s for the acceleration time constant until the rated speed is reached.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 36000 [rad/s] 0 to 36000 Each axis C4

Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)]

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. The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment mode selection]. Refer to the following table for details. When the servo parameter is set to automatic setting, the value varies within the range of 0.00 to 100.00.

[Pr. PB07_Model control gain (PG1)]

Set the response gain to the target position. Increasing the setting value improves responsiveness to the position command, but increasing the value too much raises the likelihood of vibration and noise. The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment mode selection]. Refer to the following table for details.

When the vibration suppression control is enabled, the settable range of [Pr. PB07 Model control gain] is limited. If [Pr. PB07] exceeds the settable range, the vibration suppression control is disabled.

Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis C4

[Pr. PA08.0 Gain adjustment mode selection] Servo parameter status "0" (2 gain adjustment mode 1 (interpolation mode)) Automatic setting

"1" (auto tuning mode 1)

"2" (auto tuning mode 2) Manual setting

"3" (manual mode)

"4" (2 gain adjustment mode 2)

"5" (quick tuning mode)

"6" (load to motor inertia ratio monitor mode) Automatic setting

Initial value Setting range Setting method Ver. 15.0 [rad/s] 1.0 to 8000.0 Each axis C4

[Pr. PA08.0] Servo parameter status "0" (2 gain adjustment mode 1 (interpolation mode)) Manual setting

"1" (auto tuning mode 1) Automatic setting

"2" (auto tuning mode 2)

"3" (manual mode) Manual setting

"4" (2 gain adjustment mode 2)

"5" (quick tuning mode) Automatic setting

"6" (load to motor inertia ratio monitor mode) Manual setting

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 31

32

[Pr. PB08_Position control gain (PG2)]

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. The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment mode selection]. Refer to the following table for details.

[Pr. PB09_Speed control gain (VG2)]

Set the gain of the speed loop. Set this servo parameter when vibration occurs on machines with low rigidity or with large backlash. Increasing the setting value improves responsiveness, but increasing the value too much raises the likelihood of vibration and noise. The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment mode selection]. Refer to the following for details. Page 32 [Pr. PB08_Position control gain (PG2)]

[Pr. PB10_Speed integral compensation (VIC)]

Set the integral time constant of the speed loop. Decreasing the setting value improves responsiveness, but raises the likelihood of vibration and noise. The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment mode selection]. Refer to the following for details. Page 32 [Pr. PB08_Position control gain (PG2)]

Initial value Setting range Setting method Ver. 37.0 [rad/s] 1.0 to 2000.0 Each axis C4

[Pr. PA08.0] Servo parameter status "0" (2 gain adjustment mode 1 (interpolation mode)) Automatic setting

"1" (auto tuning mode 1)

"2" (auto tuning mode 2)

"3" (manual mode) Manual setting

"4" (2 gain adjustment mode 2) Automatic setting

"5" (quick tuning mode)

"6" (load to motor inertia ratio monitor mode) Manual setting

Initial value Setting range Setting method Ver. 823 [rad/s] 20 to 65535 Each axis C4

Initial value Setting range Setting method Ver. 33.7 [ms] 0.1 to 1000.0 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB11_Speed differential compensation (VDC)]

Set the differential compensation. The enabling conditions vary depending on the setting value in [Pr. PB24.1 PI-PID switching control selection].

[Pr. PB12_Overshoot amount compensation (OVA)]

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. If the response level is too low or if the torque/thrust is limited, the efficiency of the servo parameter may decrease.

[Pr. PB13_Machine resonance suppression filter 1 (NH1)]

Set the notch frequency of the machine resonance suppression filter 1. 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. When [Pr. PB01.0 Filter tuning mode selection] is set to "1" (automatic setting), the values obtained from adaptive tuning are applied to the setting value of this servo parameter. When [Pr. PB01.0] is set to "2" (manual setting), set the notch frequency with this servo parameter.

Initial value Setting range Setting method Ver. 980 0 to 1000 Each axis C4

[Pr. PB24.1] The enabling conditions for this servo parameter "0" (switching is enabled by the PID switching signal from the controller) Enabled by turning on the PID switching signal from the controller

"3" (Continuous PID control (proportional control) enabled) Always enabled

Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis C4

Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 33

34

[Pr. PB14_Notch shape selection 1 (NHQ1)]

[Pr. PB14.1_Notch depth selection 1]

0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

[Pr. PB14.2_Notch width selection 1]

0: = 2 1: = 3 2: = 4 3: = 5

[Pr. PB15_Machine resonance suppression filter 2 (NH2)]

Set the notch frequency 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. When [Pr. PB16.0 Machine resonance suppression filter 2 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB16_Notch shape selection 2 (NHQ2)]

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.

[Pr. PB16.0_Machine resonance suppression filter 2 selection]

0: Disabled 1: Enabled

[Pr. PB16.1_Notch depth selection]

0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

[Pr. PB16.2_Notch width selection]

0: = 2 1: = 3 2: = 4 3: = 5

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 35

36

[Pr. PB17_Shaft resonance suppression filter (NHF)]

Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr. PB23.0 Shaft resonance suppression filter selection] is set to "0" (automatic setting), the value will be calculated automatically from the servo motor used and load to motor inertia ratio. Automatic setting is not carried out when the linear servo motor is used. When "1" (manual setting) is selected, set the shaft resonance suppression filter with this servo parameter. When [Pr. PB23.0] is set to "2" (disabled), this servo parameter setting is disabled. As a result, the filter performance may be reduced. When [Pr. PB49.0 Machine resonance suppression filter 4 selection] is set to "1" (enabled), the shaft resonance suppression filter cannot be used.

[Pr. PB17.0-1_Shaft resonance suppression filter setting - Frequency selection]

Refer to the following table for setting values. Set the value closest to the required frequency.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 00h Refer to the text C4

Setting value Frequency [Hz] 00 Disabled

01 Disabled

02 4500

03 3000

04 2250

05 1800

06 1500

07 1285

08 1125

09 1000

0A 900

0B 818

0C 750

0D 692

0E 642

0F 600

10 562

11 529

12 500

13 473

14 450

15 428

16 409

17 391

18 375

19 360

1A 346

1B 333

1C 321

1D 310

1E 300

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

1F 290

20 Disabled

21 Disabled

22 Disabled

23 Disabled

24 Disabled

25 Disabled

26 Disabled

27 Disabled

28 4500

29 4000

2A 3600

2B 3272

2C 3000

2D 2769

2E 2571

2F 2400

30 2250

31 2117

32 2000

33 1894

34 1800

35 1714

36 1636

37 1565

38 1500

39 1440

3A 1384

3B 1333

3C 1285

3D 1241

3E 1200

3F 1161

40 1125

41 1090

42 1058

43 1028

44 1000

45 972

46 947

47 923

48 900

49 878

4A 857

4B 837

4C 818

4D 800

4E 782

4F 765

50 750

51 734

52 720

53 705

Setting value Frequency [Hz]

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 37

38

54 692

55 679

56 666

57 654

58 642

59 631

5A 620

5B 610

5C 600

5D 590

5E 580

5F 571

60 562

61 553

62 545

63 537

64 529

65 521

66 514

67 507

68 500

69 493

6A 486

6B 480

6C 473

6D 467

6E 461

6F 455

70 450

71 444

72 439

73 433

74 428

75 423

76 418

77 413

78 409

79 404

7A 400

7B 395

7C 391

7D 387

7E 382

7F 378

80 375

81 371

82 367

83 363

84 360

85 356

86 352

87 349

88 346

Setting value Frequency [Hz]

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB17.2_Notch depth selection]

0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

[Pr. PB18_Low-pass filter setting (LPF)]

Set the low-pass filter. Refer to the table below for the status of this servo parameter and the setting values of the related servo parameter. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), this servo parameter returns to the initial value.

89 342

8A 339

8B 336

8C 333

8D 330

8E 327

8F 324

90 321

91 318

92 315

93 313

94 310

95 307

96 305

97 302

98 300

99 297

9A 295

9B 292

9C 290

9D 288

9E 285

9F 283

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 3141 [rad/s] 100 to 36000 Each axis C4

[Pr. PB23.1 Low-pass filter selection] [Pr. PB18 Low-pass filter setting] "0" (initial value) Automatic setting

"1" Setting value enabled

"2" Setting value disabled

Setting value Frequency [Hz]

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 39

40

[Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)]

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. When "2" (manual setting) is selected, set the vibration frequency with this servo parameter. If [Pr. PB25.0 Model adaptive control selection] is set to "2" (disabled), the vibration suppression control cannot be used. The available range of [Pr. PB19 Vibration suppression control 1 - Vibration frequency] depends on the value in [Pr. PB07 Model control gain]. If the setting value of [Pr. PB19] exceeds the available range, the vibration suppression control is disabled.

[Pr. PB20_Vibration suppression control 1 - Resonance frequency (VRF12)]

Set the resonance 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. When "2" (manual setting) is selected, set the resonance frequency with this servo parameter. If [Pr. PB25.0 Model adaptive control selection] is set to "2" (disabled), the vibration suppression control cannot be used. The available range of [Pr. PB20 Vibration suppression control 1 - Resonance frequency] changes depending on the value in [Pr. PB07 Model control gain]. If the setting value of [Pr. PB20] exceeds the available range, the vibration suppression control is disabled.

[Pr. PB21_Vibration suppression control 1 - Vibration frequency damping (VRF13)]

Set the damping of the vibration frequency for 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. When "2" (manual setting) is selected, set the damping of the vibration frequency with this servo parameter.

[Pr. PB22_Vibration suppression control 1 - Resonance frequency damping (VRF14)]

Set the damping of the resonance frequency for 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. When "2" (manual setting) is selected, set the damping of the resonance frequency with this servo parameter.

Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB23_Low-pass filter selection (VFBF)]

[Pr. PB23.0_Shaft resonance suppression filter selection]

Select the shaft resonance suppression filter. 0: Automatic setting 1: Manual setting 2: Disabled When [Pr. PB49.0 Machine resonance suppression filter 4 selection] is set to "1" (enabled), the shaft resonance suppression filter cannot be used.

[Pr. PB23.1_Low-pass filter selection]

Select the low-pass filter. 0: Automatic setting 1: Manual setting 2: Disabled When "5" (quick tuning mode) is selected in [Pr. PA08.0 Gain adjustment mode selection], this servo parameter is set to "1" (manual setting).

[Pr. PB23.3_Shaft resonance suppression filter 2 selection]

0: Disabled 1: Automatic setting

Initial value Setting range Setting method Ver. 00001000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 1h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 41

42

[Pr. PB24_Slight vibration suppression control (*MVS)]

[Pr. PB24.0_Slight vibration suppression control selection]

Select the slight vibration suppression control. 0: Disabled 1: Enabled The slight vibration suppression control is enabled when "3" (manual mode) is selected in [Pr. PA08.0 Gain adjustment mode selection]. The slight vibration suppression control selection can be used in the position control mode.

[Pr. PB24.1_PI-PID switching control selection]

0: PI control enabled (switching is enabled by the PID switching signal from the controller) 3: Continuous PID control (proportional control) enabled If the servo motor at a stop is rotated even for a pulse due to any external factor, it generates torque to compensate for a position mismatch. When the servo motor shaft is to be locked mechanically after positioning completion (stop), enabling the PID control and completing positioning simultaneously will suppress the unnecessary torque generated to compensate for a position mismatch.

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

[Pr. PB25.0_Model adaptive control selection]

0: Enabled (model adaptive control) 2: Disabled (PID control) When "Disabled" is set, vibration suppression control 1 and 2 cannot be used. The overshoot compensation will be disabled.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB26_Gain switching function (*CDP)]

Select the gain switching condition. Set the conditions to enable the following values: the gain switching values that have been set from [Pr. PB29 Gain switching - Load to motor inertia ratio/load to motor mass ratio] to [Pr. PB36 Gain switching - Vibration suppression control 1 - Resonance frequency damping] and from [Pr. PB56 Gain switching - Vibration suppression control 2 - Vibration frequency] to [Pr. PB60 Gain switching - Model control gain], and the values of gain switching 2 that have been set from [Pr. PB67 Gain switching 2 - Load to motor inertia ratio/load to motor mass ratio] to [Pr. PB79 Gain switching 2 - Model control gain].

[Pr. PB26.0_Gain switching selection]

0: Disabled 1: Control command from the controller 2: Command frequency 3: Droop pulses 4: Servo motor speed 5: Command direction When "1" is selected, the gain changes to "Gain after gain switching" by the control command from the controller.

[Pr. PB26.1_Gain switching condition selection]

0: Gain after "Gain switching" is enabled with the condition value or more for gain switching 1: Gain after "Gain switching" is enabled with the condition value or less for gain switching

[Pr. PB26.2_Gain switching time constant - Disabling condition selection]

0: Switching time constant enabled 1: Time constant disabled at switching 2: Time constant disabled at return

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 43

44

[Pr. PB26.4_Gain switching 2 selection]

0: Disabled 1: Control command from the controller 2: The same condition as [Pr. PB26.0 Gain switching selection] When "1" is selected, the gain changes to "Gain after gain switching 2" by the control command from the controller. When "1" is set in [Pr. PB26.0] while "2" has been selected for this servo parameter, the gain changes to "Gain after gain switching 2" by the control command from the controller.

[Pr. PB26.5_Gain switching selection during a stop]

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. PB26.0 Gain switching selection]) and [Pr. PB26.0] is set to "5" (command direction) in the position control mode.

[Pr. PB27_Gain switching condition (CDL)]

Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26 Gain switching function]. The set value unit differs depending on the switching condition item. The units are as follows: [kpulse/s] for command frequency, [pulse] for droop pulses, and [r/min] for servo motor speed. If using a linear servo motor, the unit of the servo motor speed is [mm/s].

[Pr. PB28_Gain switching time constant (CDT)]

Set the time constant until the gain switches in response to the conditions set in [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition].

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 10 [Refer to the text below for the unit.]

0 to 16777215 Each axis C4

Initial value Setting range Setting method Ver. 1 [ms] 0 to 100 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB29_Gain switching - Load to motor inertia ratio/load to motor mass ratio (GD2B)]

Set the load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled. The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB30_Gain switching - Position control gain (PG2B)]

Set the position control gain for when the gain switching 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. The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB31_Gain switching - Speed control gain (VG2B)]

Set the speed control gain for when the gain switching is enabled. When the setting value of this servo parameter is less than "20", the setting value of [Pr. PB09 Speed control gain] is applied. The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB32_Gain switching - Speed integral compensation (VICB)]

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. The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB33_Gain switching - Vibration suppression control 1 - Vibration frequency (VRF11B)]

Set the vibration frequency of vibration suppression control 1 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB19 Vibration suppression control 1 - Vibration frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 2000.0 Each axis C4

Initial value Setting range Setting method Ver. 0 [rad/s] 0 to 65535 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 5000.0 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 45

46

[Pr. PB34_Gain switching - Vibration suppression control 1 - Resonance frequency (VRF12B)]

Set the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB20 Vibration suppression control 1 - Resonance frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB35_Gain switching - Vibration suppression control 1 - Vibration frequency damping (VRF13B)]

Set the damping of the vibration frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB36_Gain switching - Vibration suppression control 1 - Resonance frequency damping (VRF14B)]

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: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB45_Command notch filter (CNHF)]

Set the command notch filter.

[Pr. PB45.0-1_Command notch filter setting frequency selection]

Refer to the following table for the relation of setting values to frequencies.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 00h Refer to the text C4

Setting value Frequency [Hz] 00 Disabled

01 2000

02 1000

03 666

04 500

06 400

07 333

08 285

09 250

0A 222

0B 200

0C 181

0D 166

0F 153

10 142

11 133

12 125

13 117

14 111

15 105

16 100

17 95

19 90

1A 86

1B 83

1C 80

1D 76

1E 74

1F 71

21 66

22 62

23 58

24 55

25 52

26 50

27 47

29 45

2A 43

2B 41

2C 40

2D 38

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 47

48

2E 37

2F 35

30 34.5

31 33.3

32 31.3

33 29.4

34 27.8

35 26.3

36 25.0

38 23.8

39 22.7

3A 21.7

3B 20.8

3C 20.0

3D 19.2

3E 18.5

3F 17.9

40 17.2

41 16.7

42 15.6

43 14.7

44 13.9

45 13.2

46 12.5

48 11.9

49 11.4

4A 10.9

4B 10.4

4C 10

4D 9.6

4E 9.3

4F 8.9

50 8.6

51 8.3

52 7.8

53 7.4

54 6.9

55 6.6

56 6.3

58 6.0

59 5.7

5A 5.4

5B 5.2

5C 5.0

5D 4.8

5E 4.6

5F 4.5

60 4.31

61 4.17

62 3.91

63 3.68

64 3.47

65 3.29

Setting value Frequency [Hz]

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB45.2_Notch depth selection]

Refer to the following table for details.

66 3.13

68 2.98

69 2.84

6A 2.72

6B 2.60

6C 2.50

6D 2.40

6E 2.31

6F 2.23

71 2.08

72 1.95

73 1.84

74 1.74

75 1.64

76 1.56

78 1.49

79 1.42

7A 1.36

7B 1.30

7C 1.25

7D 1.20

7E 1.16

7F 1.12

Initial value Setting range Ver. 0h Refer to the text C4

Setting value Depth [dB] 0 -40.0

1 -24.1

2 -18.1

3 -14.5

4 -12.0

5 -10.1

6 -8.5

7 -7.2

8 -6.0

9 -5.0

A -4.1

B -3.3

C -2.5

D -1.8

E -1.2

F -0.6

Setting value Frequency [Hz]

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 49

50

[Pr. PB46_Machine resonance suppression filter 3 (NH3)]

Set the notch frequency of the machine resonance suppression filter 3. When [Pr. PB47.0 Machine resonance suppression filter 3 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.

[Pr. PB47_Notch shape selection 3 (NHQ3)]

Set forms of the machine resonance suppression filter 3.

[Pr. PB47.0_Machine resonance suppression filter 3 selection]

0: Disabled 1: Enabled

[Pr. PB47.1_Notch depth selection]

0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

[Pr. PB47.2_Notch width selection]

0: = 2 1: = 3 2: = 4 3: = 5

Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB48_Machine resonance suppression filter 4 (NH4)]

Set the notch frequency of the machine resonance suppression filter 4. When [Pr. PB49.0 Machine resonance suppression filter 4 selection] is set to "1" (enabled), set the notch frequency with this servo parameter.

[Pr. PB49_Notch shape selection 4 (NHQ4)]

Set forms of the machine resonance suppression filter 4.

[Pr. PB49.0_Machine resonance suppression filter 4 selection]

0: Disabled 1: Enabled When this setting value is "Enabled", [Pr. PB17 Shaft resonance suppression filter] cannot be used.

[Pr. PB49.1_Notch depth selection]

0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

[Pr. PB49.2_Notch width selection]

0: = 2 1: = 3 2: = 4 3: = 5

Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 51

52

[Pr. PB50_Machine resonance suppression filter 5 (NH5)]

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.

[Pr. PB51_Notch shape selection 5 (NHQ5)]

Set forms of the machine resonance suppression filter 5. 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. When [Pr. PE41.0 Robust filter selection] is set to "1" (enabled), machine resonance suppression filter 5 cannot be used.

[Pr. PB51.0_Machine resonance suppression filter 5 selection]

0: Disabled 1: Enabled

[Pr. PB51.1_Notch depth selection]

0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

[Pr. PB51.2_Notch width selection]

0: = 2 1: = 3 2: = 4 3: = 5

Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)]

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. When "2" (manual setting) is selected, set the vibration frequency with this servo parameter. The setting value is enabled when [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). The available range of [Pr. PB52 Vibration suppression control 2 - Vibration frequency] depends on the value in [Pr. PB07 Model control gain]. If the setting value of [Pr. PB52] exceeds the available range, the vibration suppression control is disabled.

[Pr. PB53_Vibration suppression control 2 - Resonance frequency (VRF22)]

Set the resonance 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. When "2" (manual setting) is selected, set the resonance frequency with this servo parameter. The setting value is enabled when [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). The available range of [Pr. PB53 Vibration suppression control 2 - Resonance frequency] changes depending on the value in [Pr. PB07 Model control gain]. If the setting value of [Pr. PB53] exceeds the available range, the vibration suppression control is disabled.

[Pr. PB54_Vibration suppression control 2 - Vibration frequency damping (VRF23)]

Set the damping of the vibration frequency for 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. When "2" (manual setting) is selected, set the damping of the vibration frequency with this servo parameter. The setting value is enabled when [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode).

[Pr. PB55_Vibration suppression control 2 - Resonance frequency damping (VRF24)]

Set the damping of the resonance frequency for 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. When "2" (manual setting) is selected, set the damping of the resonance frequency with this servo parameter. The setting value is enabled when [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode).

Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 53

54

[Pr. PB56_Gain switching - Vibration suppression control 2 - Vibration frequency (VRF21B)]

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. PB52 Vibration suppression control 2 - Vibration frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB57_Gain switching - Vibration suppression control 2 - Resonance frequency (VRF22B)]

Set the resonance frequency for 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. PB53 Vibration suppression control 2 - Resonance frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB58_Gain switching - Vibration suppression control 2 - Vibration frequency damping (VRF23B)]

Set the damping of the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB59_Gain switching - Vibration suppression control 2 - Resonance frequency damping (VRF24B)]

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: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection].

[Pr. PB60_Gain switching - Model control gain (PG1B)]

Set the model control gain for when the gain switching is enabled. When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection]. Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB65_Gain switching 2 condition (CDL2)]

Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain switching selection]. The set value unit differs depending on the switching condition item. The units are as follows: [kpulse/s] for command frequency, [pulse] for droop pulses, and [r/min] for servo motor speed. If using a linear servo motor, the unit of the servo motor speed is [mm/s]. The setting value is to be larger than in [Pr. PB27 Gain switching condition]. When the setting value of this servo parameter is "0", the gain is not switched to the gain switching 2.

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 8000.0 Each axis C4

Initial value Setting range Setting method Ver. 10 [Refer to the text below for the unit.]

0 to 16777215 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 55

56

[Pr. PB66_Gain switching 2 time constant (CDT2)]

Set the time constant until the gain switches from "gain at normal use" or "gain at switching" to "gain at switching 2" in response to the conditions set in [Pr. PB26 Gain switching function] and [Pr. PB65 Gain switching 2 condition].

[Pr. PB67_Gain switching 2 - Load to motor inertia ratio/load to motor mass ratio (GD2C)]

Set the load to motor inertia ratio/load to motor mass ratio for when the gain switching 2 is enabled. This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB68_Gain switching 2 - Position control gain (PG2C)]

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. This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB69_Gain switching 2 - Speed control gain (VG2C)]

Set the speed control gain for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "20", the setting value of [Pr. PB09 Speed control gain] is applied. This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB70_Gain switching 2 - Speed integral compensation (VICC)]

Set the speed integral compensation 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. PB10 Speed integral compensation] is applied. This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

Initial value Setting range Setting method Ver. 1 [ms] 0 to 100 Each axis C4

Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 2000.0 Each axis C4

Initial value Setting range Setting method Ver. 0 [rad/s] 0 to 65535 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 5000.0 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB71_Gain switching 2 - Vibration suppression control 1 - Vibration frequency (VRF11C)]

Set the vibration frequency of vibration suppression control 1 for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB19 Vibration suppression control 1 - Vibration frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB72_Gain switching 2 - Vibration suppression control 1 - Resonance frequency (VRF12C)]

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. PB20 Vibration suppression control 1 - Resonance frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB73_Gain switching 2 - Vibration suppression control 1 - Vibration frequency damping (VRF13C)]

Set the damping of the vibration frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 57

58

[Pr. PB74_Gain switching 2 - Vibration suppression control 1 - Resonance frequency damping (VRF14C)]

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: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB75_Gain switching 2 - Vibration suppression control 2 - Vibration frequency (VRF21C)]

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. PB52 Vibration suppression control 2 - Vibration frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB76_Gain switching 2 - Vibration suppression control 2 - Resonance frequency (VRF22C)]

Set the resonance frequency for 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. PB53 Vibration suppression control 2 - Resonance frequency] is applied. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

[Pr. PB77_Gain switching 2 - Vibration suppression control 2 - Vibration frequency damping (VRF23C)]

Set the damping of the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB78_Gain switching 2 - Vibration suppression control 2 - Resonance frequency damping (VRF24C)]

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: [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode). [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode). [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting). [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB79_Gain switching 2 - Model control gain (PG1C)]

Set the model control gain for when the gain switching is enabled. When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied. This servo parameter is enabled in the following conditions: [Pr. PB26.0 Gain switching selection] is set to "1" (control command from the controller) while [Pr. PB26.4 Gain switching 2

selection] is set to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Alternatively, "1" (control command from the controller) is selected in [Pr. PB26.4].

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis C4

Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 8000.0 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 59

60

[Pr. PB81_Command filter (*CFIL)]

[Pr. PB81.4_Position command smoothing filter]

This function can be used only in position control mode. This filter and [Pr. PB45 Command notch filter] are mutually exclusive. "1" (enabled) can be set in this function only when [Pr. PB45.0-1 Command notch filter setting frequency selection] is set to "00" (disabled). When a setting value other than "00" (disabled) is set in [Pr. PB45.0-1], the filter is disabled regardless of the setting value. 0: Disabled 1: Enabled When "1" (enabled) is selected, set the filter time constant with [Pr. PB82 Position command smoothing filter time constant].

[Pr. PB82_Position command smoothing filter time constant (PFT)]

Set the position command smoothing filter time constant. This servo parameter can be used when [Pr. PB81.4 Position command smoothing filter] is set to "1" (enabled).

Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 100.0 Each axis C4

1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

1

1.4 Extension setting servo parameters group ([Pr.

PC_ _ ]) [Pr. PC01_Excessive error alarm trigger level (ERZ)]

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. If using a linear servo motor, set the level in units of mm. When the value is set to "0", the alarm trigger level for rotary servo motors and direct drive motors is 3 rev. The alarm trigger level for linear servo motors is 100 mm. The unit can be changed with [Pr. PC06.3 Excessive error alarm trigger level/excessive error warning trigger level - Unit selection].

[Pr. PC02_Electromagnetic brake sequence output (MBR)]

Set the delay time used between the MBR (Electromagnetic brake interlock) shut-off and the base circuit shut-off.

[Pr. PC03_Encoder output pulses selection (*ENRS)]

[Pr. PC03.0_Encoder output pulse - Phase selection]

0: Increasing A-phase 90 in CCW or positive direction 1: Increasing A-phase 90 in CW or negative direction

Initial value Setting range Setting method Ver. 0 [rev], [mm] 0 to 1000 Each axis C4

Initial value Setting range Setting method Ver. 0 [ms] 0 to 1000 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Setting value Servo motor rotation direction/linear servo motor travel direction

CCW or positive direction CW or negative direction 0

1

A-phase

B-phase

A-phase

B-phase

A-phase

B-phase

A-phase

B-phase

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 61

62

[Pr. PC03.1_Encoder output pulse setting selection]

Select the encoder output pulse setting. This servo parameter cannot be set for C-axis. If this servo parameter is set to "0" while [Pr. PC03.2 Encoder selection for encoder output pulse] is set to "1", [AL. 037 Parameter error] occurs. When an encoder other than an A/B/Z-phase differential output type encoder is connected, setting this servo parameter to "4" causes [AL. 037] to occur. 0: Output pulse setting 1: Dividing ratio setting 3: A-phase/B-phase pulse electronic gear setting 4: A/B-phase pulse through output setting

Settings of [Pr. PC03.1] and [Pr. PC03.2] When [Pr. PC03.2] = "0" (servo motor-side encoder)

*1 If this value is set when using the rotary servo motor, [AL. 037] occurs.

Initial value Setting range Ver. 0h Refer to the text C4

Setting value of [Pr. PC03.1] For rotary servo motors and direct drive motors

For linear servo motors

"0" (output pulse setting) Set the output pulses per revolution with [Pr. PA15 Encoder output pulses]. If [Pr. PC03.2] is set to "1" (load-side encoder), [AL. 037] will occur. Output pulse = Setting value of [Pr. PA15] [pulse/rev]

The output pulse setting cannot be used. When "0" is set, the condition is the same as when "1" is set.

"1" (dividing ratio setting) Set the dividing ratio relative to the resolution per servo motor revolution with [Pr. PA15].

Set the dividing ratio relative to the travel distance of the linear servo motor with [Pr. PA15].

"3" (A-phase/B-phase pulse electronic gear setting)

Set the A-phase/B-phase pulse electronic gear with [Pr. PA15] and [Pr. PA16 Encoder output pulses 2].

Set the A-phase/B-phase pulse electronic gear with [Pr. PA15] and [Pr. PA16 Encoder output pulses 2].

"4" (A/B-phase pulse through output setting) *1

A/B-phase pulses are output when an A/B/Z-phase differential output type encoder is used. If a different encoder is connected, [AL. 037] occurs.

The setting value in [Pr. PC03.0 Encoder output pulse - Phase selection] is not applied.

The setting values in [Pr. PA15] and [Pr. PA16] are not applied.

Output pulse = A/B-phase pulse of A/B/Z-phase differential output type encoder [pulse]

A/B-phase pulses are output when an A/B/Z-phase differential output type encoder is used. If a different encoder is connected, [AL. 037] occurs.

The setting value in [Pr. PC03.0 Encoder output pulse - Phase selection] is not applied.

The setting values in [Pr. PA15] and [Pr. PA16] are not applied.

Output pulse = A/B-phase pulse of A/B/Z-phase differential output type encoder [pulse]

Output pulse = Resolution per revolution

Setting value of [Pr. PA15] [pulse/rev] Output pulse =

Travel distance of linear servo motor Setting value of [Pr. PA15]

[pulse]

Output pulse =

Resolution per revolution Setting value of [Pr. PA16] Setting value of [Pr. PA15]

[pulse/rev]

Output pulse = Travel distance of linear servo motor

Setting value of [Pr. PA16] Setting value of [Pr. PA15]

[pulse]

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

When [Pr. PC03.2] = "1" (load-side encoder)

[Pr. PC03.2_Encoder selection for encoder output pulse]

Select the encoder that the servo amplifier will use to output encoder output pulses. This servo parameter can be used only in a fully closed loop system. If "1" is selected for systems other than a fully closed loop system or a semi closed loop system (scale measurement function enabled), [AL. 037 Parameter error] occurs. This servo parameter cannot be set for the C-axis of multi-axis servo amplifiers. For the settings, refer to the table for [Pr. PC03.1]. Page 62 [Pr. PC03.1_Encoder output pulse setting selection] 0: Servo motor-side encoder 1: Load-side encoder

Setting value of [Pr. PC03.1] When in the fully closed loop control mode When the scale measurement function is enabled

"0" (output pulse setting) [AL. 037] occurs.

"1" (dividing ratio setting) Set the dividing ratio relative to the resolution per servo motor revolution with [Pr. PA15].

Set the dividing ratio relative to the travel distance of the scale measurement encoder with [Pr. PA15].

"3" (A-phase/B-phase pulse electronic gear setting)

Set the A-phase/B-phase pulse electronic gear with [Pr. PA15] and [Pr. PA16].

Set the A-phase/B-phase pulse electronic gear with [Pr. PA15] and [Pr. PA16].

"4" (A/B-phase pulse through output setting)

A/B-phase pulses are output when an A/B/Z-phase differential output type encoder is used. If a different encoder is connected, [AL. 037] occurs.

The setting value in [Pr. PC03.0 Encoder output pulse - Phase selection] is not applied.

The setting values in [Pr. PA15] and [Pr. PA16] are not applied.

Output pulse = A/B-phase pulse of A/B/Z-phase differential output type encoder [pulse]

A/B-phase pulses are output when an A/B/Z-phase differential output type encoder is used. If a different encoder is connected, [AL. 037] occurs.

A/B/Z-phase differential output type encoders cannot be used in the linear servo motor control mode or the direct drive motor control mode.

The setting value in [Pr. PC03.0 Encoder output pulse - Phase selection] is not applied.

The setting values in [Pr. PA15] and [Pr. PA16] are not applied.

Output pulse = A/B-phase pulse of A/B/Z-phase differential output type encoder [pulse]

Initial value Setting range Ver. 0h Refer to the text C4

Output pulse = Resolution per revolution

Setting value of [Pr. PA15] [pulse/rev] Output pulse =

Travel distance of scale measurement encoder

Setting value of [Pr. PA15] [pulse]

Output pulse = Resolution per revolution

Setting value of [Pr. PA16] Setting value of [Pr. PA15]

[pulse/rev]

Output pulse = Travel distance of scale measurement encoder

Setting value of [Pr. PA16] Setting value of [Pr. PA15]

[pulse]

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 63

64

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

[Pr. PC04.3_Encoder cable communication method selection]

0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential output type encoder, set "0". Setting "1" triggers [AL. 037 Parameter error]. If the value is set incorrectly, [AL. 016 Encoder initial communication error 1] or [AL. 020 Encoder normal communication error 1] occurs. [AL. 037] occurs if this servo parameter is set to "1" while [Pr. PA01.4 Fully closed loop operation mode selection] is set to "1" (enabled (fully closed loop control mode)) on servo amplifiers other than the MR-J5-_B_-RJ.

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

[Pr. PC05.0_Motor-less operation selection]

Enable or disable motor-less operation. This operation can be used only in semi closed loop control while a rotary servo motor is used. 0: Disabled 1: Enabled

[Pr. PC05.4_Encoder communication circuit diagnosis mode selection]

Enable or disable the encoder communication circuit diagnosis mode. [AL. 118.1 Encoder communication circuit diagnosis in progress] occurs during the encoder communication circuit diagnosis mode. 0: Encoder communication circuit diagnosis mode disabled 1: Encoder communication circuit diagnosis mode enabled

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

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

[Pr. PC06.3_Excessive error alarm trigger level/excessive error warning trigger level - Unit selection]

Select the unit used when setting the excessive error alarm trigger level in [Pr. PC01 Excessive error alarm trigger level] and setting the excessive error warning trigger level in [Pr. PC38 Excessive error warning trigger level]. This servo parameter is enabled only in the position control mode. 0: [rev] or [mm] 1: [0.1 rev] or [0.1 mm] 2: [0.01 rev] or [0.01 mm] 3: [0.001 rev] or [0.001 mm]

[Pr. PC07_Zero speed (ZSP)]

Set an output range of the zero speed signal (ZSP). The zero speed signal detection has a hysteresis of 20 [r/min] (20 [mm/s]).

[Pr. PC08_Overspeed alarm detection level (OSL)]

Set an overspeed alarm detection level. When a value exceeding "servo motor maximum speed 120 %" is set, the value will be clamped at "servo motor maximum speed 120 %". When "0" is set, the value of "servo motor maximum speed 120 %" will be set. When HK series servo motor is connected, the value of "servo motor maximum speed 105 %" will be set.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis C4

Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 20000 Each axis C4

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 65

66

[Pr. PC09_Analog monitor 1 output (MOD1)]

[Pr. PC09.0-1_Analog monitor 1 output selection]

Select the signal to be output to analog monitor 1. For multi axis servo amplifiers, this servo parameter setting is disabled.

*1 Items with are available for each operation mode. Rotary: When rotary servo motors are used. Linear: When linear servo motors are used. DD: When direct drive motors are used.

*2 This is in the units of encoder pulses.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 00h Refer to the text C4

Setting value

Explanation Semi closed loop system *1 Fully closed loop system *1

Rotary Linear DD Rotary 00 Servo motor speed (8 V/max. speed)

01 Torque or thrust (8 V/max. torque or max. thrust)

02 Servo motor speed (+8 V/max. speed)

03 Torque or thrust (+8 V/max. torque or max. thrust)

04 Current command (8 V/max. current command)

05 Speed command (8 V/max. speed)

06 Servo motor-side droop pulses (10 V/100 pulses) *2

07 Servo motor-side droop pulses (10 V/1000 pulses) *2

08 Servo motor-side droop pulses (10 V/10000 pulses) *2

09 Servo motor-side droop pulses (10 V/100000 pulses) *2

0D Bus voltage (200 V class: +8 V/400 V, 400 V class: +8 V/800 V)

0E Speed command 2 (8 V/max. speed)

10 Load-side droop pulses (10 V/100 pulses) *2

11 Load-side droop pulses (10 V/1000 pulses) *2

12 Load-side droop pulses (10 V/10000 pulses) *2

13 Load-side droop pulses (10 V/100000 pulses) *2

14 Load-side droop pulses (10 V/1 Mpulses) *2

15 Motor/load side position deviation (10 V/100000 pulses)

16 Motor/load side speed deviation (8 V/max. speed)

17 Internal temperature of encoder (10 V/128 C)

18 Servo motor-side droop pulses (10 V/1 Mpulses) *2

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

[Pr. PC10_Analog monitor 2 output (MOD2)]

[Pr. PC10.0-1_Analog monitor 2 output selection]

Select the signal to be output to analog monitor 2. For multi axis servo amplifiers, this servo parameter setting is disabled. Refer to the following for setting values. Page 66 [Pr. PC09_Analog monitor 1 output (MOD1)]

[Pr. PC11_Analog monitor 1 offset (MO1)]

Set the offset voltage of MO1 (Analog monitor 1).

[Pr. PC12_Analog monitor 2 offset (MO2)]

Set the offset voltage of MO2 (Analog monitor 2).

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

[Pr. PC17.0_Homing condition selection]

0: Z-phase of the servo motor must be passed after the power supply is switched on. 1: Z-phase of the servo motor does not need to be passed after the power supply is switched on. When using an incremental type linear encoder, A/B/Z-phase differential output type linear encoder, and A/B/Z-phase differential output rotary encoder, set "0". Setting "1" triggers [AL. 037 Parameter error]. If [Pr. PA03.0 Absolute position detection system selection] is set to "0" (disabled) while a direct drive motor manufactured by Mitsubishi Electric is connected and a value of "1" is set, [AL. 037] will occur.

[Pr. PC17.1_Linear encoder multipoint Z-phase input function selection]

When multiple reference marks exist during the full stroke of the linear encoder, set "1". 0: Disabled 1: Enabled

Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 01h Refer to the text C4

Initial value Setting range Setting method Ver. 0 [mV] -999 to 999 Common C4

Initial value Setting range Setting method Ver. 0 [mV] -999 to 999 Common C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h 0h to 2h C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 67

68

[Pr. PC18_Function selection C-5 (*COP5)]

[Pr. PC18.3_[AL. 0E9 Main circuit off warning] selection]

0: Detect using the ready-on command and servo-on command 1: Detect using only the servo-on command

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

[Pr. PC19.4_Output open-phase detection selection]

Enable or disable the detection of output open-phase detection function. 0: Disabled 1: Enabled

[Pr. PC19.6_Output open phase - Judgment speed selection]

0: Servo motor speed 1: Speed command When "0" (servo motor speed) is set, the value of the servo motor speed is used for the speed judgment of the output open- phase detection. When "1" (speed command) is set, the speed command value is used for the speed judgment of the output open-phase detection. In the torque control mode, set "0" (servo motor speed). When "1" (speed command) is set, [AL. 139.2 Output open-phase error] does not occur.

Initial value Setting range Setting method Ver. 00000000h 00000000h to 00001100h Common Refer to the relevant detail No.

Initial value Setting range Ver. 0h 0h to 1h C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

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

[Pr. PC20.2_Undervoltage alarm selection]

Select the alarm or warning that occurs when the bus voltage drops to the undervoltage alarm trigger level. 0: [AL. 010 Undervoltage] occurs regardless of the servo motor speed. 1: [AL. 0E9 Main circuit off warning] occurs when the servo motor speed is 50 r/min (50 mm/s) or less, and [AL. 010] occurs when over 50 r/min (50 mm/s).

[Pr. PC20.4_Input open-phase detection selection]

Enable or disable the detection of input open-phase detection function. 0: Automatic 1: Warning enabled 2: Alarm enabled 3: Disabled When "0" (automatic) is set, the input open-phase detection function is enabled or disabled depending on the capacity or power supply input of the servo amplifier. Details are as follows.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Servo amplifier Servo amplifier main circuit input voltage

Servo amplifier capacity Input open-phase detection function

MR-J5-_B_ 3-phase AC 2 kW or less Disabled

1-phase AC Main circuit DC

2 kW or less Disabled

3-phase AC 3.5 kW or more Warning occurrence

Main circuit DC 3.5 kW or more Disabled

MR-J5W_-_B_ 3-phase AC 0.75 kW or less Disabled

1-phase AC Main circuit DC

0.75 kW or less Disabled

3-phase AC 1 kW or more Warning occurrence

Main circuit DC 1 kW or more Disabled

MR-J5-_B4_ 3-phase AC 3.5 kW or less Warning occurrence

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 69

70

[Pr. PC21_Alarm history clear (*BPS)]

[Pr. PC21.0_Alarm clear history selection]

0: Disabled 1: Enabled When "1" (enabled) is selected, the alarm history will be cleared at either the next power cycle, at software reset, or at controller reset. After the alarm history is cleared, "0" (disabled) will be set to this servo parameter automatically.

[Pr. PC24_Deceleration time constant at forced stop (RSBR)]

Set the deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 [r/min] (0 [mm/s]) in units of ms. When "0" is set, the deceleration time constant is the same as when "100" is set.

If the servo motor torque or thrust is saturated at the maximum value during forced stop deceleration because the set time is too short, the time to stop the servo motor will be longer than the set time constant.

[AL. 050 Overload 1] or [AL. 051 Overload 2] may occur during forced stop deceleration, depending on the set value. After an occurrence of an alarm to execute forced stop deceleration, if another alarm that does not execute forced stop

deceleration occurs, or if the control circuit power supply is shut off, dynamic braking will start regardless of the deceleration time constant setting.

Set a longer time than deceleration time at quick stop of the controller. If the setting time is too short, [AL. 052 Excessive error] may occur.

During forced stop deceleration, changes in the setting value are not reflected. If the setting value is changed during forced stop deceleration, the change will be reflected after the deceleration is completed.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 100 [ms] 0 to 20000 Each axis C4

[Pr. PC24]

Forced stop deceleration

Servo motor speed

Rated speed

Dynamic brake deceleration

Zero speed

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

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

[Pr. PC26.3_Load-side encoder cable communication method selection]

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". Setting "1" triggers [AL. 037 Parameter error]. If the value is set incorrectly, [AL. 070 Load-side encoder initial communication error 1] or [AL. 071 Load-side encoder normal communication error 1] occurs. Setting "1" on servo amplifiers other than the MR-J5-_B_-RJ triggers [AL. 037].

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

[Pr. PC27.0_Encoder pulse count polarity selection]

Select a polarity of the linear encoder or load-side encoder. 0: Encoder pulse increasing direction in the servo motor CCW or positive direction 1: Encoder pulse decreasing direction in the servo motor CCW or positive direction

[Pr. PC27.2_ABZ phase input interface encoder ABZ phase connection assessment function selection]

Select the non-signal detection status for the pulse train signal from the A/B/Z-phase input interface encoder used as a linear encoder or load-side encoder. This function is enabled when an A/B/Z-phase input interface encoder is used.

Initial value Setting range Setting method Ver. 00000050h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Setting value Detection of disconnection Alarm status

Z-phase-side non-signal Rotary type (scale measurement function enabled)

Fully closed loop control mode

Linear servo motor control mode

0 Enabled [AL. 071.6 Load-side encoder normal communication - Transmission data error 2] (Z- phase)

[AL. 071.6] (Z-phase) [AL. 020.6 Encoder normal communication - Transmission data error 2] (Z-phase)

1 Disabled

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 71

72

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

[Pr. PC29.0_[AL. 0E2.2 Servo motor temperature warning 2] selection]

Select whether to enable or disable [AL. 0E2.2 Servo motor temperature warning 2] for when a servo motor with a batteryless absolute position encoder is used. 0: Enabled 1: Disabled

[Pr. PC29.3_Torque POL reflection selection]

If this servo parameter setting is enabled, the [Pr. PA14 Travel direction selection] setting changes the torque command and torque feedback polarity. This servo parameter is enabled only when [Pr. PA14 Rotation direction selection] is set to "1". 0: Enabled 1: Disabled Torque information (other than continuous operation to torque control mode)

Torque information (continuous operation to torque control mode)

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Setting value Servo motor rotation direction/linear servo motor travel direction

[Pr. PA14] [Pr. PC29.3] Torque handled by the controller: positive

Torque handled by the controller: negative

0 0: Enabled CCW or positive direction CW or negative direction

1: Disabled

1 0: Enabled CW or negative direction CCW or positive direction

1: Disabled CCW or positive direction CW or negative direction

Setting value Servo motor rotation direction/linear servo motor travel direction

[Pr. PA14] [Pr. PC29.3] Torque handled by the controller: positive

Torque handled by the controller: negative

0 0: Enabled CCW or positive direction CW or negative direction

1: Disabled

1 0: Enabled

1: Disabled

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

[Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)]

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. When a negative value is set, compensation is performed to the command address decreasing direction. The vertical axis freefall prevention function is performed when all of the following conditions are met. The setting value of this servo parameter is other than "0". The forced stop deceleration function is enabled. An alarm has occurred or EM2 has turned off when the servo motor rotates at the zero speed or less. Alternatively,

SSCNET III/H communication shut-off has occurred. MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07 Output device selection 1] to [Pr. PD09 Output device

selection 3] while the base circuit shut-off delay time was set in [Pr. PC02 Electromagnetic brake sequence output].

[Pr. PC38_Excessive error warning trigger level (ERW)]

Set the excessive error warning trigger level. The unit can be changed with [Pr. PC06.3 Excessive error alarm trigger level/excessive error warning trigger level - Unit selection]. 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. If using a linear servo motor, set the level in units of mm. When "0" is set, [AL. 09B Excessive error warning] does not occur. If an error reaches the set value, [AL. 09B] occurs. If the error later becomes less than the setting value, the warning will be automatically canceled. The minimum pulse width of the warning signal output is 100 [ms]. Set as follows: [Pr. PC38 Excessive error warning trigger level] < [Pr. PC01 Excessive error alarm trigger level]. When set as [Pr. PC38] [Pr. PC01], [AL. 052 Excessive error] occurs before the warning.

[Pr. PC84_Servo amplifier replacement data 1 (SVDT1)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC85_Servo amplifier replacement data 2 (SVDT2)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

Initial value Setting range Setting method Ver. 0 [0.0001 rev], [0.01 mm] -25000 to 25000 Each axis C4

Initial value Setting range Setting method Ver. 0 [rev], [mm] 0 to 1000 Each axis C4

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 73

74

[Pr. PC86_Servo amplifier replacement data 3 (SVDT3)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC87_Servo amplifier replacement data 4 (SVDT4)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC88_Servo amplifier replacement data 5 (SVDT5)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC89_Servo amplifier replacement data 6 (SVDT6)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC90_Servo amplifier replacement data 7 (SVDT7)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])

1

[Pr. PC91_Servo amplifier replacement data 8 (SVDT8)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC92_Servo amplifier replacement data 9 (SVDT9)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC93_Servo amplifier replacement data 10 (SVDT10)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC94_Servo amplifier replacement data 11 (SVDT11)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

[Pr. PC95_Servo amplifier replacement data 12 (SVDT12)]

When [Pr. PF63.2 Servo amplifier replacement data save selection] is set to "1" (enabled), this servo parameter will be set automatically. Changing the setting value of this servo parameter triggers [AL. 01A Servo motor combination error] at servo amplifier replacement. When [Pr. PF63.2] is set to "0" (disabled), the value of this servo parameter is "00000000h".

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

Initial value Setting range Setting method Ver. 00000000h 00000000h to FFFFFFFFh Each axis D0

1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 75

76

1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD02_Input signal automatic ON selection 2 (*DIA2)]

[Pr. PD02.0_Input signal automatic ON selection 1]

Select input devices that turn on automatically.

[Pr. PD02.1_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD02.2_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD02.3_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD02.4_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD02.5_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD02.6_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD02.7_For manufacturer setting] This servo parameter is for manufacturer setting.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Setting digit (BIN) Functions _ _ _ x Upper stroke limit selection (FLS)

0: Disabled 1: Enabled

_ _ x _ Lower stroke limit selection (RLS) 0: Disabled 1: Enabled

_ x _ _

x _ _ _

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])

1

[Pr. PD07_Output device selection 1 (*DO1)]

Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.

[Pr. PD07.0-1_Device selection]

Refer to the following table for setting values.

Initial value Setting range Setting method Ver. 00000005h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Model Shaft Connector pin No. Initially assigned device MR-J5-_B_ CN3-13 MBR

MR-J5W2-_B_ A-axis CN3-12 MBR-A

B-axis CN3-25 MBR-B

MR-J5W3-_B_ A-axis CN3-12 MBR-A

B-axis CN3-25 MBR-B

C-axis CN3-13 MBR-C

Initial value Setting range Ver. 05h Refer to the text C4

Setting value Output signal device 00 Always off

02 RD

03 ALM

04 INP

05 MBR

07 TLC

08 WNG

09 BWNG

0A SA

0B VLC

0C ZSP

0E WNGSTOP

0F CDPS

10 CLDS

11 ABSV

17 MTTR

18 CDPS2

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 77

78

[Pr. PD08_Output device selection 2 (*DO2)]

Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.

[Pr. PD08.0-1_Device selection]

Refer to the following for setting values. Page 77 [Pr. PD07_Output device selection 1 (*DO1)]

[Pr. PD08.2_All-axis output condition selection]

0: AND output 1: OR output For AND output, the condition becomes significant (on or off) when the A, B, and C-axes all satisfy the condition. The device name at this time is C_ _ _. (Example: CINP) For OR output, the condition becomes significant (on or off) when any of A, B, or C-axis satisfies the condition. The device name at this time is X_ _ _. (Example: XINP) This servo parameter is enabled when [Pr. PD08.3 Output axis selection] is set to "0" (all axes) while a multi-axis servo amplifier is used.

[Pr. PD08.3_Output axis selection]

0: All axes 1: A-axis 2: B-axis 3: C-axis If the setting value is 1, the device name is _ _ _-A. (Example: INP-A) If the setting value is 2, the device name is _ _ _-B. (Example: INP-B) If the setting value is 3, the device name is _ _ _-C. (Example: INP-C)

Initial value Setting range Setting method Ver. 00000004h Refer to the relevant detail No. Common Refer to the relevant detail No.

Model Shaft Connector pin No. Initially assigned device MR-J5-_B_ CN3-9 INP

MR-J5W2-_B_ A-axis CN3-24 CINP

B-axis

MR-J5W3-_B_ A-axis CN3-24 CINP

B-axis

C-axis

Initial value Setting range Ver. 04h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])

1

[Pr. PD09_Output device selection 3 (*DO3)]

Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.

[Pr. PD09.0-1_Device selection]

Refer to the following for setting values. Page 77 [Pr. PD07_Output device selection 1 (*DO1)]

[Pr. PD09.2_All-axis output condition selection]

0: AND output 1: OR output For AND output, the condition becomes significant (on or off) when the A, B, and C-axes all satisfy the condition. The device name at this time is C_ _ _. (Example: CINP) For OR output, the condition becomes significant (on or off) when any of A, B, or C-axis satisfies the condition. The device name at this time is X_ _ _. (Example: XINP) This servo parameter is enabled when [Pr. PD09.3 Output axis selection] is set to "0" (all axes) while a multi-axis servo amplifier is used.

[Pr. PD09.3_Output axis selection]

0: All axes 1: A-axis 2: B-axis 3: C-axis If the setting value is 1, the device name is _ _ _-A. (Example: INP-A) If the setting value is 2, the device name is _ _ _-B. (Example: INP-B) If the setting value is 3, the device name is _ _ _-C. (Example: INP-C)

Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Common Refer to the relevant detail No.

Model Shaft Connector pin No. Initially assigned device MR-J5-_B_ CN3-15 ALM

MR-J5W2-_B_ A-axis CN3-11 CALM

B-axis

MR-J5W3-_B_ A-axis CN3-11 CALM

B-axis

C-axis

Initial value Setting range Ver. 03h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 79

80

[Pr. PD11_Input filter setting (*DIF)]

[Pr. PD11.0_Input signal filter selection]

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

Set the servo motor thermistor to either enabled or disabled.

[Pr. PD12.3_Servo motor thermistor - Enabled/disabled selection]

0: Enabled 1: Disabled This servo parameter is enabled when a servo motor with a built-in thermistor is used. When a servo motor without a thermistor is used, the servo parameter is disabled (temperature monitoring disabled/alarm disabled) regardless of the setting value. No alarm is detected in motor-less operation. When the temperature monitoring of the motor thermistor is disabled, "9999 C" is displayed.

Initial value Setting range Setting method Ver. 00000007h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 7h Refer to the text C4

Setting value Filtering time [ms] 0 No filter

1 0.500

2 1.000

3 1.500

4 2.000

5 2.500

6 3.000

7 3.500

8 4.000

9 4.500

A 5.000

B 5.500

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])

1

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

[Pr. PD13.2_INP output signal ON condition selection]

Select a condition for outputting INP (In-position). INP (In-position) immediately after servo-on or after forced stop is canceled is off. If no command is entered within approximately 1 ms, the servo amplifier considers command output to have been completed. 0: Within the in-position range 1: Within the in-position range and at the completion of command output

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

[Pr. PD14.1_Output device status at warning occurrence]

Select ALM (Malfunction) output status at warning occurrence.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Setting value Device status 0

1

OFF ON

OFF ON

WNG

ALM

Warning occurrence

OFF ON

OFF ON

WNG

ALM

Warning occurrence

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 81

82

[Pr. PD15_Driver communication setting (*IDCS)]

[Pr. PD15.0_Master axis operation selection]

0: Disabled (master-slave operation function is not used) 1: Enabled (set this servo amplifier for the master axis) To set the servo amplifier for the slave axis, set "0".

[Pr. PD15.1_Slave axis operation selection]

0: Disabled (master-slave operation function is not used) 1: Enabled (set this servo amplifier for the slave axis) To set the servo amplifier for the master axis, set "0".

[Pr. PD16_Driver communication setting - Master - Transmit data selection 1 (*MD1)]

Select the data to send from the master axis to the slave axis. Set this servo parameter to "00000038 (torque command)" when setting the servo amplifier as the master axis (when [Pr. PD15.0] is set to "1"). This servo parameter setting is disabled when the servo amplifier is set as the slave axis (when [Pr. PD15.0] is set to "0").

[Pr. PD17_Driver communication setting - Master - Transmit data selection 2 (*MD2)]

Select the data to send from the master axis to the slave axis. Set this servo parameter to "0000003A (speed limit command)" when setting the servo amplifier as the master axis (when [Pr. PD15.0] is set to "1"). This servo parameter setting is disabled when the servo amplifier is set as the slave axis (when [Pr. PD15.0] is set to "0").

[Pr. PD20_Driver communication setting - Slave - Master axis No. selection 1 (*SLA1)]

Set the axis number of the servo amplifier for the corresponding master axis of the slave axis. This servo parameter is enabled when the servo amplifier is set as the slave axis (when [Pr. PD15.1] is set to "1"). For axis numbers, refer to "Switches" in the User's Manual (Introduction). When the setting value of this servo parameter is "0", the setting is disabled.

Initial value Setting range Setting method Ver. 00000000h 00000000h to 00000011h Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h 0h to 1h C4

Initial value Setting range Ver. 0h 0h to 1h C4

Initial value Setting range Setting method Ver. 00000000h 00000000h to 0000FFFFh Each axis C4

Initial value Setting range Setting method Ver. 00000000h 00000000h to 0000FFFFh Each axis C4

Initial value Setting range Setting method Ver. 0 0 to 32 Each axis C4

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])

1

[Pr. PD30_Master-slave operation - Slave-side torque command coefficient (TLS)]

For the torque command value received from the master axis, set the coefficient to reflect to the internal torque command. This servo parameter is enabled when the servo amplifier is set as the slave axis (when [Pr. PD15.1] is set to "1"). The maximum value for this setting is 500. When a value higher than 500 is set, the setting is fixed at "500". When this servo parameter is set to "100", the coefficient is multiplied by 1. The torque distribution is 100 (master): 100 (slave). When this servo parameter is set to "90", the coefficient is multiplied by 0.9. The torque distribution is 100 (master): 90 (slave).

[Pr. PD31_Master-slave operation - Slave-side speed limit coefficient (VLC)]

For the speed limit command value received from the master axis, set the coefficient to reflect to the internal speed limit value. This servo parameter is enabled when the servo amplifier is set as the slave axis (when [Pr. PD15.1] is set to "1"). The maximum value for this setting is 500. When a value higher than 500 is set, the setting is fixed at "500". When this servo parameter is set to "100", the coefficient is multiplied by 1. The setting example is described below.

Ex.

[Pr. PD31] = "140" [Pr. PD32] = "300" and the master side is operated with an acceleration/deceleration of 1000 r/min:

[Pr. PD32_Master-slave operation - Slave-side speed limit adjusted value (VLL)]

Set the minimum internal speed limit value. This servo parameter is enabled when the servo amplifier is set as the slave axis (when [Pr. PD15.1] is set to "1"). The speed limit value will not be lower than the setting value of this servo parameter. This servo parameter ensures torque control range at low speed operation (by avoiding area likely to reach speed limit). Set to approximately 100 to 500 [r/min] in general. For setting examples, refer to [Pr. PD31 Master-slave operation - Slave-side speed limit coefficient]. Page 83 [Pr. PD31_Master-slave operation - Slave-side speed limit coefficient (VLC)]

Initial value Setting range Setting method Ver. 0 [%] 0 to 500 Each axis C4

Initial value Setting range Setting method Ver. 0 [%] 0 to 500 Each axis C4

Initial value Setting range Setting method Ver. 0 [r/min] 0 to 32767 Each axis C4

0 r/min 300 r/min

1000 r/min

1400 r/min

[Pr. PD32]

Speed limit command from the master side [Pr. PD31] [%]

Internal speed limit value on the slave side

Speed limit command from the master side (driver communication setting)

1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 83

84

1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

[Pr. PE01_Fully closed loop control function selection 1 (**FCT1)]

[Pr. PE01.0_Fully closed loop function selection]

Select the fully closed loop function. This servo parameter is enabled when [Pr. PA01.4 Fully closed loop operation mode selection] is set to "1" (enabled (fully closed loop control mode)). If this servo parameter is set to "1" while [Pr. PA03.0 Absolute position detection system selection] has been set to "1" (enabled (absolute position detection system)), [AL. 037 Parameter error] will occur. 0: Always enabled 1: Switching by fully closed loop selection command from the controller

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Fully closed loop selection Control method

Command from controller OFF Semi closed loop control

ON Fully closed loop control

1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

1

[Pr. PE03_Fully closed loop control function selection 2 (*FCT2)]

[Pr. PE03.0_Fully closed loop control error - Detection function selection]

0: Disabled 1: Speed deviation error detection 2: Position deviation error detection 3: Speed deviation error detection and position deviation error detection Refer to the following table for the combination with [Pr. PE03.1 Position deviation error - Detection method selection]. : Error detection enabled : Error detection disabled

[Pr. PE03.1_Position deviation error - Detection method selection]

0: Continuous detection 1: Detection only at stop (An error is detected if the command is "0".) 2: Detection only at stop 2 (An error is detected during servo-off or if the command is "0" while in servo-on state.) Refer to the following table for the combination with [Pr. PE03.0 Fully closed loop control error - Detection function selection]. Page 85 [Pr. PE03.0_Fully closed loop control error - Detection function selection]

[Pr. PE03.3_Fully closed loop control error - Reset selection]

0: Reset disabled (reset by cycling the power or software reset) 1: Reset enabled

Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 3h Refer to the text C4

Setting value Speed deviation error Position deviation error

In servo-on state In servo-off state

[Pr. PE03.1] [Pr. PE03.0] With commands No commands (= 0) 0 0

0 1

0 2

0 3

1 0

1 1

1 2

1 3

2 0

2 1

2 2

2 3

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 85

86

[Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)]

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. If the reduced electronic gear numerator exceeds 2147483648 (31 bits), [AL. 037 Parameter error] occurs.

[Pr. PE05_Fully closed loop control - Feedback pulse electronic gear 1 - Denominator (**FBD)]

If using the fully closed loop control, set the electronic gear denominator 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. If the reduced electronic gear denominator exceeds 1073741824 (30 bits), [AL. 037 Parameter error] occurs.

[Pr. PE06_Fully closed loop control - Speed deviation error detection level (BC1)]

Set the detection level for triggering [AL. 042.9 Fully closed loop control error based on speed deviation] of the fully closed loop control error detection. If the difference between the speed calculated by the servo motor encoder and the speed calculated by the load-side encoder exceeds the value of this servo parameter, the alarm occurs.

[Pr. PE07_Fully closed loop control - Position deviation error detection level (BC2)]

Set the detection level for triggering [AL. 042.8 Fully closed loop control error based on position deviation] of the fully closed loop control error detection. If the difference between the position of the servo motor encoder and the position of the load-side encoder exceeds the value of this servo parameter, the alarm occurs.

[Pr. PE08_Fully closed loop dual feedback filter (DUF)]

Set a dual feedback filter band.

Initial value Setting range Setting method Ver. 1 1 to 4294967295 Each axis C4

Initial value Setting range Setting method Ver. 1 1 to 4294967295 Each axis C4

Initial value Setting range Setting method Ver. 400 [r/min] 1 to 50000 Each axis C4

Initial value Setting range Setting method Ver. 100 [kpulse] 1 to 20000 Each axis C4

Initial value Setting range Setting method Ver. 10 [rad/s] 1 to 4500 Each axis C4

1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

1

[Pr. PE10_Fully closed loop function selection 3 (FCT3)]

[Pr. PE10.1_Fully closed loop control - Position deviation error detection level - Unit selection]

0: 1 kpulse unit 1: 1 pulse unit

[Pr. PE10.2_Droop pulse monitor selection for controller display]

0: Servo motor encoder 1: Load-side encoder 2: Deviation between the servo motor and load side

[Pr. PE10.3_Cumulative feedback pulse monitor selection for controller display]

Set this servo parameter when using a fully closed loop system or the scale measurement function. 0: Servo motor encoder 1: Load-side encoder

[Pr. PE41_Function selection E-3 (EOP3)]

[Pr. PE41.0_Robust filter selection]

0: Disabled 1: Enabled When this setting value is set to "Enabled", the machine resonance suppression filter 5 set in [Pr. PB51 Notch shape selection 5] cannot be used.

[Pr. PE41.6_Unbalanced torque offset setting selection]

0: Manual setting 1: Automatic setting If "1" (automatic setting) has been set and friction estimation by the machine diagnosis function has completed for both the forward and reverse rotations, the value of [Pr. PE47 Unbalanced torque offset] will be set automatically according to the estimated friction value. After [Pr. PE47] is set automatically, this servo parameter changes to "0" (Manual setting). The value of [Pr. PE47] will not be set automatically and this servo parameter keeps the value "1" (automatic setting) until friction estimation completes for both the forward and reverse rotations.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h 0h to 3h C4

Initial value Setting range Ver. 0h 0h to 1h C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 87

88

[Pr. PE44_Lost motion compensation positive-side compensation value selection (LMCP)]

Set the lost motion compensation for when negative speed switches to positive speed in increments of 0.01 % in relation to the rated torque as 100 %. This function is enabled in the position control mode.

[Pr. PE45_Lost motion compensation negative-side compensation value selection (LMCN)]

Set the lost motion compensation for when positive speed switches to negative speed in increments of 0.01 % in relation to the rated torque as 100 %. This function is enabled in the position control mode.

[Pr. PE46_Lost motion filter setting (LMFLT)]

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. PE45 Lost motion compensation negative-side compensation value selection]. When a value other than "0" is set, the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue. This function is enabled in the position control mode.

[Pr. PE47_Unbalanced torque offset (TOF)]

Set this to cancel the unbalanced torque of a vertical axis. Set this in relation to the rated torque of the servo motor as 100 %. The torque offset does not need to be set for a machine that does not generate unbalanced torque. This servo parameter can be used in applications where an unbalanced torque is generated constantly, such as when a linear servo motor or direct drive motor is operated horizontally with tension applied in one direction. The torque offset that has been set with this servo parameter is enabled in any control mode. In the torque control mode, input commands that take the torque offset into account. This servo parameter is suitable when the torque offset does not need to be changed dynamically.

Initial value Setting range Setting method Ver. 0 [0.01 %] 0 to 30000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.01 %] 0 to 30000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 ms] 0 to 30000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.01 %] -10000 to 10000 Each axis C4

1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

1

[Pr. PE48_Lost motion compensation function selection (*LMOP)]

This function is enabled in the position control mode.

[Pr. PE48.0_Lost motion compensation type selection]

0: Lost motion compensation disabled 1: Lost motion compensation enabled

[Pr. PE48.1_Lost motion compensation dead band unit setting]

0: 1 pulse unit 1: 1 kpulse unit

[Pr. PE49_Lost motion compensation timing (LMCD)]

Set the lost motion compensation timing in units of 0.1 ms. The timing to perform the lost motion compensation function can be delayed by a set time. This function is enabled in the position control mode.

[Pr. PE50_Lost motion compensation dead band (LMCT)]

Set the lost motion compensation dead band. When the fluctuation of droop pulses is equal to or less than the setting value, the speed is recognized as 0. The setting unit can be changed with [Pr. PE48 Lost motion compensation function selection]. Set the servo parameter per encoder unit. This function is enabled in the position control mode.

[Pr. PE51_Load-side encoder resolution setting (**EDV2)]

Set the resolution of the load-side encoder. When the resolution set in this servo parameter is either less than 212 or greater than 222, [AL. 037 Parameter error] occurs. This servo parameter is enabled when all of the following conditions are met. Fully closed loop control mode or the scale measurement function are enabled An A/B/Z-phase differential output rotary encoder is used on the load-side When an A/B/Z-phase differential output type encoder is connected, the value set to this servo parameter is used to determine whether it is a rotary encoder or a linear encoder. 0: Linear encoders Other than 0: Rotary encoders

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 0 [0.1 ms] 0 to 30000 Each axis C4

Initial value Setting range Setting method Ver. 0 [pulse], [kpulse] 0 to 65535 Each axis C4

Initial value Setting range Setting method Ver. 0 [pulse] 0 to 4294967295 Each axis C4

1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 89

90

1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

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

[Pr. PF02.0_Target alarm selection of the other axis error warning]

Select target alarms of the other axis error warning. For alarms occurring at all axes, [AL. 0EB The other axis error warning] will not occur regardless of alarm No. [AL. 0EB The other axis error warning] does not occur in 1-axis servo amplifiers. 0: [AL. 024 Main circuit error], [AL. 032 Overcurrent] 1: All alarms

[Pr. PF02.4_Memory writing frequency warning enable/disable selection]

Enable or disable [AL. 1F8.1 Memory writing frequency warning]. [AL. 1F8.1] indicates that the memory writing frequency has exceeded the guaranteed number of times. If the servo amplifier continues to be used while the alarm is disabled with this servo parameter, the memory may be corrupted and restoration of the data, such as servo parameters, may fail. 0: Enabled 1: Disabled

[Pr. PF02.5_Memory free space warning enable/disable selection]

Select whether to enable or disable [AL. 1F8.2 Memory free space warning]. [AL. 1F8.2] indicates that the memory free space is running low. If the servo amplifier continues to be used while the alarm is disabled with this servo parameter, [AL. 119.7 Memory free space 4-1] may occur and data restoration may fail. 0: Enabled 1: Disabled

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

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

[Pr. PF06.0_Electronic dynamic brake selection]

Enable or disable the electronic dynamic brake. 2: Disabled 3: Enabled only for specific servo motors For specific servo motors, refer to "Precautions relating to the dynamic brake characteristics" in the User's Manual (Hardware).

[Pr. PF06.1_STO timing error selection]

Select whether [AL. 063 STO timing error] is detected. 0: Detected. 1: Not detected. If the STO status is set at the servo motor speed shown below while "0" (detected) has been selected", [AL. 063 STO timing error] will be detected. The STO status means the status where STO1 or STO2 of CN8 has been turned off. Servo motor speed: 50 r/min or higher Linear servo motor speed: 50 mm/s or higher Direct drive motor speed: 5 r/min or higher

[Pr. PF12_Electronic dynamic brake operating time (DBT)]

Set an operating time for the electronic dynamic brake.

Initial value Setting range Setting method Ver. 00000013h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 3h Refer to the text C4

Initial value Setting range Ver. 1h Refer to the text C4

Initial value Setting range Setting method Ver. 2000 [ms] 0 to 10000 Each axis C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 91

92

[Pr. PF18_STO diagnosis error detection time (**STOD)]

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]. When "0" is set, [AL. 068.1] is not detected. The safety level depends on the setting value of this servo parameter and whether STO input diagnosis is performed by TOFB output as shown in the following table.

When the STO function is not used with the short-circuit connector connected to the CN8 connector, the safety level does not change even after setting this servo parameter.

[Pr. PF19_Friction failure prediction - Compensation coefficient 1 (TSL)]

Set compensation coefficient 1 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. When performing threshold manual setting on an equipment for which the threshold setting has been made once, set the value that has been calculated by the threshold automatic setting. Setting this servo parameter decreases the possibility of erroneous detection of friction failure prediction, even with the manual threshold setting.

[Pr. PF20_Friction failure prediction - Compensation coefficient 2 (TIC)]

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. When performing threshold manual setting on an equipment for which the threshold setting has been made once, set the value that has been calculated by the threshold automatic setting. Setting this servo parameter decreases the possibility of erroneous detection of friction failure prediction, even with the manual threshold setting.

Initial value Setting range Setting method Ver. 10 [s] 0 to 60 Common C4

Setting value STO input diagnosis by TOFB output

Safety level

0 Execute EN ISO 13849-1:2015 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2Do not execute

1 to 60 Execute EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, and EN 61800-5-2 SIL 3

Do not execute EN ISO 13849-1:2015 Category 3 PL d, IEC 61508 SIL 2, and EN 62061 SIL CL 2

Initial value Setting range Setting method Ver. 0 [0.0001 %/C] -32768 to 32767 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] -10000 to 10000 Each axis C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF21_Drive recorder switching time setting (DRT)]

Set the drive recorder switching time. When communication is shut off during the use of a graph function, the function will be switched to the drive recorder function after the time set in this servo parameter has passed. When "-1" is set, the drive recorder function is disabled. When "0" is set, the drive recorder function will be switched after 600 s (10 min). When any value of "1" to "9" is set, the drive recorder function will be switched after 10 s. When any value of "10" to "32767" is set, the drive recorder function will be switched after the time set in this servo parameter has passed.

[Pr. PF23_Vibration tough drive - Oscillation detection level (OSCL1)]

Set the oscillation detection level for readjusting the machine resonance suppression filter while the vibration tough drive is enabled. When the oscillation level is higher than the setting value of this servo parameter, reset [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance suppression filter 2]. When "0" is set, the oscillation detection level is 20 %.

[Pr. PF24_Function selection F-9 (*FOP9)]

[Pr. PF24.0_Oscillation detection alarm selection]

Select the alarm output at oscillation detection. Select whether to generate an alarm or a warning when an oscillation continues at a level set in [Pr. PF23 Vibration tough drive - Oscillation detection level]. This function is enabled regardless of the setting of [Pr. PA20.1 Vibration tough drive selection]. 0: Alarm ([AL. 054 Oscillation detection]) 1: Warning ([AL. 0F3.1 Oscillation detection warning]) 2: Oscillation detection function disabled (oscillation detection not processed)

Initial value Setting range Setting method Ver. 0 [s] -1 to 32767 Common C4

Initial value Setting range Setting method Ver. 20 [%] 0 to 100 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 93

94

[Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time) (CVAT)]

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). When the instantaneous power failure time exceeds 200 ms, and the instantaneous power failure voltage is less than 70 % of the rated input voltage, the power may be turned off normally even if a value larger than 200 ms is set in this servo parameter. This function is disabled when [Pr. PA20.2 SEMI-F47 function selection] is set to "0" (disabled).

[Pr. PF31_Machine diagnosis function - Friction estimate area judgment speed at low speed (FRIC)]

Set the servo motor speed to divide the friction estimation area between low-speed and high-speed in the friction estimation process of machine diagnosis. When the maximum operation speed is under the rated speed, it is recommended to set half the value of the maximum operation speed. When "0" is set, the judgment speed is half of the rated speed. The setting value will be clamped at the permissible maximum speed. By setting [Pr. PF34.6 Friction estimate area judgment speed setting] to "1" (automatic setting), this servo parameter value will be automatically calculated from the operation pattern during servo motor driving and overwrite the value. Set a value larger than [Pr. PC07 Zero speed] for this servo parameter. If the value is equal to or lower than zero speed, the friction estimation process does not function.

Initial value Setting range Setting method Ver. 200 [ms] 30 to 500 Common C4

Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 65535 Each axis C4

0 r/min (0 mm/s)

Maximum speed in operation

Setting value of [Pr. PF31]

Operation pattern

Servo motor speed

Forward direction

Reverse direction

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF34_Machine diagnosis function selection (*MFP)]

[Pr. PF34.0_Friction failure prediction warning selection]

0: Disabled 1: Enabled (automatic threshold setting) 2: Enabled (manual threshold setting) 3: Threshold reset When "2" is set, if the dynamic friction exceeds the set threshold, [AL. 0F7.2 Friction failure prediction warning] will occur. When "3" is set, the setting of the servo parameter will change to "1" automatically after the threshold is reset.

[Pr. PF34.1_Vibration failure prediction warning selection]

0: Disabled 1: Enabled (automatic threshold setting) 2: Enabled (manual threshold setting) 3: Threshold reset When "2" is set, if the vibration level exceeds the set threshold, [AL. 0F7.1 Vibration failure prediction warning] will occur. When "3" is set, the setting of the servo parameter will change to "1" automatically after the threshold is reset.

[Pr. PF34.2_Servo motor total travel distance failure prediction warning selection]

0: Disabled 1: Enabled 2: Servo motor total travel distance reset When "1" is set, if the value of the servo motor total travel distance + [Pr. PF47 Servo motor total travel distance offset] exceeds the value of [Pr. PF41 Failure prediction - Servo motor total travel distance], [AL. 0F7.3 Servo motor total travel distance failure prediction warning] will occur. When "2" is set, the setting of the servo parameter will change to "1" automatically after the servo motor total travel distance reset.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 95

96

[Pr. PF34.5_Static friction failure prediction warning selection]

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" is set, the setting of the servo parameter will change to "1" automatically after the threshold is reset.

[Pr. PF34.6_Friction estimate area judgment speed setting]

Select the setting method of "Machine diagnosis function - Friction estimate area judgment speed at low speed". 0: Manual setting 1: Automatic setting When "1" (automatic setting) is set, [Pr. PF31 Machine diagnosis function - Friction estimate area judgment speed at low speed] will be calculated according to the servo motor operation pattern. After the calculation, [Pr. PF31] is rewritten to the calculation result, and the servo parameter will change to "0" (manual setting). When "1" (automatic setting) is set, friction estimation stops.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF40_Machine failure prediction servo parameter (MFPP)]

[Pr. PF40.0_Friction failure prediction - Threshold multiplication]

Set a multiplying factor for calculating the threshold used in the friction failure prediction function. The smaller the multiplying factor for the friction failure prediction threshold, the smaller the threshold used for friction failure prediction, which makes it easier to predict failure earlier, but also increases the possibility of erroneous detection. When "0" is set, the threshold multiplying factor is 5.

[Pr. PF40.1_Vibration failure prediction - Threshold multiplication]

Set a multiplying factor for calculating the threshold used in the vibration failure prediction function. The smaller the multiplying factor for the vibration failure prediction threshold, the smaller the threshold used for vibration failure prediction, which makes it easier to predict failure earlier, but also increases the possibility of erroneous detection. When "0" is set, the threshold multiplying factor is 5.

[Pr. PF40.2_Friction failure prediction - Dynamic friction selection]

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" to "3", depending on the operation pattern.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h 0h to Fh C4

Initial value Setting range Ver. 0h 0h to Fh C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 97

98

[Pr. PF40.4_Static friction failure prediction - Threshold multiplication]

Set a multiplying factor for calculating the threshold used in the static friction failure prediction function. Setting a small threshold multiplication for static friction failure prediction will decrease the threshold used for static friction failure prediction. Thus, this will enable the prediction of a failure at an early stage, but will increase the possibility of erroneously detecting a failure. When "0" is set, the threshold multiplying factor is 5.

[Pr. PF40.5_Static friction failure prediction - Static friction selection]

Select the static friction to use for static friction failure prediction. 0: Automatic setting 1: At forward rotation torque 2: At reverse rotation torque 3: Average at forward rotation/reverse rotation torque When set to "0", the value changes to any of "1" to "3", depending on the operation pattern.

Initial value Setting range Ver. 0h 0h to Fh C4

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF41_Failure prediction - Servo motor total travel distance (FPMT)]

Set a servo motor total travel distance required for determining the threshold used in the friction failure prediction function and the servo motor total travel distance failure prediction function. When Servo motor total travel distance exceeds 1/2 of "Failure prediction - Servo motor total travel distance", the threshold will be automatically calculated for the friction failure prediction function. When [Pr. PF34.2 Servo motor total travel distance failure prediction warning selection] is set to "1" (enabled), if the servo motor total travel distance + the value of [Pr. PF47 Servo motor total travel distance offset] exceeds the value of this servo parameter, [AL. 0F7.3 Servo motor total travel distance failure prediction warning] occurs.

[Pr. PF42_Friction failure prediction - Average characteristics (PAV)]

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)). When [Pr. PF34.0 Friction failure prediction warning selection] is set to "1" (enabled (automatic threshold setting)), the value will be calculated automatically from the estimated friction torque at rated speed.

[Pr. PF43_Friction failure prediction - Standard deviation (PSD)]

Set the friction torque standard deviation 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)). When [Pr. PF34.0 Friction failure prediction warning selection] is set to "1" (enabled (automatic threshold setting)), the value will be calculated automatically from the estimated friction torque at rated speed.

[Pr. PF45_Vibration failure prediction - Average characteristics (VAV)]

Set a vibration level average during servo motor operation. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (enabled (manual threshold setting)). When [Pr. PF34.0 Friction failure prediction warning selection] is set to "1" (enabled (automatic threshold setting)), the value will be calculated automatically from the estimated friction torque at rated speed.

Initial value Setting range Setting method Ver. 0 [10 rev], [m] 0 to 4294967295 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] -10000 to 10000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 99

10

[Pr. PF46_Vibration failure prediction - Standard deviation (VSD)]

Set the vibration level standard deviation during servo motor operation. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (enabled (manual threshold setting)). When [Pr. PF34.0 Friction failure prediction warning selection] is set to "1" (enabled (automatic threshold setting)), the value will be calculated automatically from the estimated friction torque at rated speed.

[Pr. PF47_Servo motor total travel distance offset (TMO)]

Set an offset value for machine total travel distance. After the equipment is replaced, set this servo parameter.

[Pr. PF63_Function selection F-15 (*FOP15)]

[Pr. PF63.0_[AL. 01A.5 Servo motor combination error 3] selection]

Select whether to enable or disable [AL. 01A.5 Servo motor combination error 3] for when a servo motor with a batteryless absolute position encoder is replaced. 0: Enabled 1: Disabled With "1" (disabled) selected, connecting a servo motor that had not been connected at the startup of the absolute position detection system triggers [AL. 025.1 Servo motor encoder absolute position erased] instead of [AL. 01A.5 Servo motor combination error 3]. Connecting a servo motor other than the ones with a batteryless absolute position encoder triggers [AL. 01A.5].

[Pr. PF63.1_[AL. 01A.6 Servo motor combination error 4] selection]

Select whether to enable or disable [AL. 01A.6 Servo motor combination error 4] for when a servo motor with a batteryless absolute position encoder is replaced. 0: Enabled 1: Disabled With "1" (disabled) selected, connecting a servo motor that had not been connected at the startup of the absolute position detection system triggers [AL. 025.2 Scale measurement encoder - Absolute position erased] instead of [AL. 01A.6 Servo motor combination error 4]. Connecting a servo motor other than the ones with a batteryless absolute position encoder triggers [AL. 01A.6].

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis C4

Initial value Setting range Setting method Ver. 0 [10 rev], [m] 0 to 4294967295 Each axis C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text D0

Initial value Setting range Ver. 0h Refer to the text D0

0 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF63.2_Servo amplifier replacement data save selection]

Whether or not to store the servo amplifier replacement data can be set for equipment which uses an absolute position detection system with a servo motor with a batteryless absolute position encoder. 0: Disabled ([AL. 025 Absolute position erased] occurs at servo amplifier replacement.) 1: Enabled ([AL. 025 Absolute position erased] does not occur at servo amplifier replacement.) With "1" (enabled) set, [AL. 025] does not occur even when the power is turned on after servo amplifier replacement. This enables positioning operation without performing homing again. For a multi-axis servo amplifier, the latest setting value of this servo parameter is applied to all axes as the setting method is "Common". The setting cannot be changed separately for specific axes. When the setting value of this servo parameter is "1" (enabled), values are automatically set for [Pr. PC84 Servo amplifier replacement data 1] to [Pr. PC95 Servo amplifier replacement data 12].

[Pr. PF66_Gear setting for backlash estimation (BLG)]

[Pr. PF66.0-3_Gear for backlash estimation - Numerator]

Set the gear ratio numerator of the gear connected to the servo motor in hexadecimal. If multiple gears are connected to the servo motor, set the gear ratio up to where the load is applied. If the gear ratio numerator and the denominator cannot be expressed by numbers up to "216-1", round up the gear ratio and set a value equal to or less than "216-1" for both the numerator and the denominator.

[Pr. PF66.4-7_Gear for backlash estimation - Denominator]

Set the gear ratio denominator of the gear connected to the servo motor in hexadecimal. If multiple gears are connected to the servo motor, set the gear ratio up to where the load is applied. If the gear ratio numerator and the denominator cannot be expressed by numbers up to "216-1", round up the gear ratio and set a value equal to or less than "216-1" for both the numerator and the denominator.

Initial value Setting range Ver. 0h Refer to the text D0

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0000h 0000h to FFFFh C4

Initial value Setting range Ver. 0000h 0000h to FFFFh C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 101

10

[Pr. PF67_Backlash nominal value (BLN)]

To set the threshold for gear failure prediction, a backlash nominal value must be set. Input a backlash value presented by the manufacturer of the gear connected to the servo motor. When [Pr. PF66.0-3 Gear for backlash estimation - Numerator] or [Pr. PF66.4-7 Gear for backlash estimation - Denominator] is set to "0", input the backlash nominal value after converting the value into the rotation angle on the servo motor side. When [Pr. PF66.0-3] or [Pr. PF66.4-7] is set to a value other than "0", input a value considering the gear ratio for backlash estimation. When the setting value of this servo parameter is "0", even if backlash estimation is performed, [AL. 0F7 Machine diagnosis warning] will not be generated.

[Pr. PF68_Backlash threshold multiplication (BLTT)]

Set the threshold multiplication that will be used for setting the threshold for gear failure prediction. The threshold used for the gear failure prediction is expressed by the following equation. Backlash threshold = [Pr. PF67 Backlash nominal value]/100 [Pr. PF68 Backlash threshold multiplication]/10 When the setting value of this servo parameter is "0", a value twice the value of [Pr. PF67 Backlash nominal value]/100 is set as the backlash threshold. When the backlash threshold is "0", [AL. 0F7 Machine diagnosis warning] will not be generated even if the backlash estimation is performed.

[Pr. PF69_Static friction failure prediction - Average characteristics (SPAV2)]

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). When [Pr. PF34.5 Static friction failure prediction warning selection] is set to "1" (automatic threshold setting), the value will be calculated automatically from the estimated static friction torque.

[Pr. PF70_Static friction failure prediction - Standard deviation (SPSD2)]

Set a standard deviation of static friction torque. This servo parameter is enabled when [Pr. PF34.5 Static friction failure prediction warning selection] is set to "2" (manual threshold setting). When [Pr. PF34.5 Static friction failure prediction warning selection] is set to "1" (automatic threshold setting), the value will be calculated automatically from the estimated friction torque at rated speed.

Initial value Setting range Setting method Ver. 0 [0.01 degree] 0 to 3600000 Each axis C4

Initial value Setting range Setting method Ver. 0 0 to 3600000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis C4

2 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF71_Belt failure prediction function selection (BFP)]

[Pr. PF71.0_Belt tension deterioration prediction function selection]

0: Disabled 1: Execute only belt tension estimation 2: Belt tension deterioration prediction function enabled After the equipment goes into full-scale operation, enable the belt tension deterioration prediction function.

[Pr. PF71.1_Belt tension deterioration prediction friction selection]

Select a static friction setting used for belt tension deterioration prediction. 0: Automatic setting 1: At forward rotation torque 2: At reverse rotation torque 3: Average at forward rotation/reverse rotation torque When set to "0", the value changes to any of "1" to "3", depending on the operation pattern.

[Pr. PF72_Belt tension on installation (SBT)]

Set a belt tension for when the belt is attached to the equipment. The servo parameter indicates the reference belt tension threshold used in the belt diagnosis function.

[Pr. PF73_Belt tension when extended (ABT)]

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. After the belt has been attached to the equipment, the time taken for the belt to stretch depends on the belt type. For the time taken for the belt to stretch, refer to the catalog or other documents from the manufacturer. The belt tension deterioration prediction function is disabled when the setting is: [Pr. PF72 Belt tension on installation] < [Pr. PF73 Belt tension when extended].

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 0 [0.1 N] 0 to 1000000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 N] 0 to 1000000 Each axis C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 103

10

[Pr. PF74_Static friction during installation (SSF)]

Set a static friction for when the belt is attached to the equipment. Set the static friction with any of the following values estimated by the friction estimation function depending on the value of [Pr. PF71.1 Belt tension deterioration prediction friction selection]: static friction at forward rotation, static friction at reverse rotation, or the average of the estimated frictions.

[Pr. PF75_Static friction when extended (ASF)]

Set a static friction for when the belt stretches or for when the belt is looser than at the time of the attachment. Set the static friction with any of the following values estimated by the friction estimation function depending on the value of [Pr. PF71.1 Belt tension deterioration prediction friction selection]: static friction at forward rotation, static friction at reverse rotation, or the average of the estimated frictions. The belt tension deterioration prediction function is disabled when the setting is: [Pr. PF74 Static friction during installation] < [Pr. PF75 Static friction when extended].

[Pr. PF76_Belt tension irregular threshold (BTS)]

Set a threshold to generate [AL. 0F7 Machine diagnosis warning]. Set this servo parameter as a percentage of [Pr. PF72 Belt tension on installation]. When using the belt diagnosis function, input a value other than "0".

Belt tension threshold = [Pr. PF76 Belt tension irregular threshold]/100 [Pr. PF72 Belt tension on installation]

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis C4

Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 1000 Each axis C4

Static friction that triggers a warning [Pr. PF75 Static friction when extended]

Belt tension threshold

[Pr. PF72 Belt tension on installation] [Pr. PF73 Belt tension when extended]

[Pr. PF74 Static friction during installation]

4 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF80_Drive recorder - Operation condition selection (DRMC)]

[Pr. PF80.0_Drive recorder - Operation mode selection]

0: Automatic setting mode 1: Manual setting mode When "0" (automatic setting mode) is set, the setting values of [Pr. PF81 Drive recorder - Sampling operation selection] to [Pr. PF94 Drive recorder - Digital channel setting 4] are disabled. The drive recorder will be activated automatically at the same time as an alarm occurs. When obtaining desired analog data from the drive recorder, set this servo parameter to "1" (manual setting mode) to set the trigger conditions and sampling cycle, and then start sampling with [Pr. PF81.0 Drive recorder - Sampling start selection]. To disable the drive recorder, set [Pr. PF21 Drive recorder switching time setting] to "-1" (drive recorder function disabled).

[Pr. PF80.2-3_Drive recorder - Sampling cycle selection]

Set the sampling cycle of the drive recorder. When [Pr. PF80.0] is set to "0" (automatic setting mode), the setting value of this servo parameter is disabled.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 00h Refer to the text C4

Setting value 8 kHz class 00 Automatic (250 s)

05 250 s

06 500 s

07 1 ms

08 2 ms

09 4 ms

0A 8 ms

0B 16 ms

0C 32 ms

0D 64 ms

0E 128 ms

0F 256 ms

10 512 ms

11 1.024 s

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 105

10

[Pr. PF81_Drive recorder - Sampling operation selection (DRMS)]

[Pr. PF81.0_Drive recorder - Sampling start selection]

Set this servo parameter to start drive recorder sampling. When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), the setting value of the servo parameter is disabled. When this servo parameter is set to "1" or "2", if the settings of [Pr. PF80.2-3 Drive recorder - Sampling cycle selection] and [Pr. PF82 Drive recorder - Trigger operation selection] to [Pr. PF94 Drive recorder - Digital channel setting 4] are changed, the changed settings are not applied to the drive recorder. To apply the settings, cycle the power, reset the software, or set this servo parameter to "0" (stop sampling), then set "1" or "2" again. The storage area of the servo amplifier has a limit for the number of writings. If the trigger conditions that have been set in [Pr. PF82] are frequently met, do not continue using this servo parameter when it is set to "2" (continuous sampling). 0: Stop sampling 1: Start a single sampling 2: Start a consecutive sampling When "1" (start a single sampling) is set, if the trigger conditions are fulfilled after sampling starts, the drive recorder will operate to save data once. After the data has been saved, this servo parameter will be "0" automatically. When "2" (start a consecutive sampling) is set, if the trigger conditions are fulfilled after sampling starts, the drive recorder will operate to save data. After that, sampling will start again.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

6 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF82_Drive recorder - Trigger operation selection (DRTM)]

[Pr. PF82.0_Drive recorder - Trigger mode selection]

Select the trigger mode for the drive recorder. When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), the setting value of the servo parameter is disabled. 0: Alarm trigger 1: Analog trigger/digital trigger When "0" (alarm trigger) is set, trigger settings other than [Pr. PA23 Drive recorder desired alarm trigger setting] and [Pr. PF84.4-5 Drive recorder - Trigger position setting] are disabled. Refer to the following table for the unavailable servo parameters.

[Pr. PF82.1_Drive recorder - Trigger binding condition selection]

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. When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), or [Pr. PF80.0] is set to "1" and [Pr. PF82.0 Drive recorder - Trigger mode selection] is set to "0" (alarm trigger), the setting value of this servo parameter is disabled. 0: Disabled 1: Logical AND of trigger signals 2: Logical OR of trigger signals

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Servo parameter Name PF82.1 Drive recorder - Trigger binding condition selection

PF82.2 Drive recorder - Trigger operation selection 1

PF82.3 Drive recorder - Trigger operation selection 2

PF84.0-1 Drive recorder - Trigger channel selection 1

PF84.2-3 Drive recorder - Trigger channel selection 2

PF85 Drive recorder - Trigger level setting 1

PF86 Drive recorder - Trigger level setting 2

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 107

10

[Pr. PF82.2_Drive recorder - Trigger operation selection 1]

Select whether sampling starts when the signal output for the drive recorder channel set in [Pr. PF84.0-1 Drive recorder - Trigger channel selection 1] exceeds or falls below the set trigger level. When [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode), or [Pr. PF80.0] is set to "1" and [Pr. PF82.0] is set to "0", the setting value of this servo parameter is disabled. 0: Rising 1: Falling

[Pr. PF82.3_Drive recorder - Trigger operation selection 2]

Select whether sampling starts when the signal output for the drive recorder channel set in [Pr. PF84.2-3 Drive recorder - Trigger channel selection 2] exceeds or falls below the set trigger level. The servo parameter is disabled in the following conditions. [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode) [Pr. PF82.0 Drive recorder - Trigger mode selection] is set to "0" (alarm trigger) [Pr. PF82.1 Drive recorder - Trigger binding condition selection] is set to "0" (disabled) 0: Rising 1: Falling

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

8 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)]

[Pr. PF83.0_Drive recorder - Trigger axis common selection]

For when the trigger conditions of the drive recorder are met on a multi-axis servo amplifier, select whether to store only the data of the axis in which the conditions are met, or to store the data of all axis. 0: Disabled 1: Enabled When "0" (disabled) is set, the drive recorder data is stored on the axis in which the trigger conditions are met. If "1" (enabled) is set, the trigger conditions will be regarded as having been met on all axes even if the trigger conditions have only been met on Axis A, B, or C. The trigger conditions are not regarded as having been met on axes for which "0" (automatic setting mode) is set in [Pr. PF80.0 Drive recorder - Operation mode selection]. The servo parameter is disabled in the following conditions. MR-J5-_B_ The axis of a multi-axis servo amplifier which has [Pr. PF80.0] set "0" (automatic setting) is used. The axis of a multi-axis servo amplifier which has [Pr. PF80.0] set to "1" (manual setting mode) and [Pr. PF82.0] set to "0"

(alarm trigger) is used.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 109

11

[Pr. PF84_Drive recorder - Trigger channel selection (DRTC)]

[Pr. PF84.0-1_Drive recorder - Trigger channel selection 1]

Set the trigger channel No. 1 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) [Pr. PF82.0 Drive recorder - Trigger mode selection] is set to "0" (alarm trigger)

[Pr. PF84.2-3_Drive recorder - Trigger channel selection 2]

Set the trigger channel No. 2 of the drive recorder. The setting value is the same as that of [Pr. PF84.0-1]. The servo parameter is disabled in the following conditions. [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode) [Pr. PF82.0 Drive recorder - Trigger mode selection] is set to "0" (alarm trigger) [Pr. PF82.1 Drive recorder - Trigger binding condition selection] is set to "0" (disabled)

[Pr. PF84.4-5_Drive recorder - Trigger position setting]

Convert trigger position 1 (0 % to 100 % of the total sampling time of the drive recorder) to a hexadecimal value, and set the value. When trigger position 1 exceeds 100 %, the value will be clamped to 100 %. For example, to set the trigger position to 30 %, set "1Eh" in this servo parameter.

Initial value Setting range Setting method Ver. 005A8101h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 01h Refer to the text C4

Setting value Meaning 01 Analog channel 1

02 Analog channel 2

03 Analog channel 3

04 Analog channel 4

05 Analog channel 5

06 Analog channel 6

07 Analog channel 7

81 Digital channel 1

82 Digital channel 2

83 Digital channel 3

84 Digital channel 4

85 Digital channel 5

86 Digital channel 6

87 Digital channel 7

88 Digital channel 8

Initial value Setting range Ver. 81h Refer to the text C4

Initial value Setting range Ver. 5Ah 00h to 6Fh C4

0 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)]

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" because the torque unit is [0.1 %]. The servo parameter is disabled in the following conditions. [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode) [Pr. PF80.0] is set to "1" (manual setting mode) and [Pr. PF82.0 Drive recorder - Trigger mode selection] is set to "0" (alarm

trigger) A digital channel is set in the first trigger of [Pr. PF84.0-1 Drive recorder - Trigger channel selection 1].

[Pr. PF86_Drive recorder - Trigger level setting 2 (DRTL2)]

Set the trigger level of trigger channel No. 2 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" because the torque unit is [0.1 %]. The servo parameter is disabled in the following conditions. [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode) [Pr. PF80.0] is set to "1" (manual setting mode) and [Pr. PF82.0 Drive recorder - Trigger mode selection] is set to "0" (alarm

trigger) [Pr. PF82.1 Drive recorder - Trigger binding condition selection] is set to "0" (disabled) A digital channel is set in the second trigger of [Pr. PF84.2-3 Drive recorder - Trigger channel selection 2].

Initial value Setting range Setting method Ver. 0 -2147483648 to 2147483647 Each axis C4

Initial value Setting range Setting method Ver. 0 -2147483648 to 2147483647 Each axis C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 111

11

[Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)]

[Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

Select the data to be assigned to analog channel 1 of the drive recorder. The servo parameter is disabled in the following conditions. [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (automatic setting mode) Refer to the following table for setting values. Values not listed below are undefined. Only set the values that are listed in the following table.

Initial value Setting range Setting method Ver. 00020201h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 201h Refer to the text C4

Setting value Data type Unit *1 Category 000 No assigned function

001 Servo motor speed r/min 16-bit data

002 Torque/instantaneous torque 0.1 %

003 Current command 0.1 %

005 Command pulse frequency (speed unit) r/min

007 Droop pulses (1 pulse unit) pulse

008 Speed command r/min

009 Bus voltage V

00C Effective load ratio 0.1 %

00D Regenerative load ratio 0.1 %

00E Position within one-revolution 16 pulse

00F ABS counter rev

010 Load to motor inertia ratio 0.01 multiplier

011 Torque equivalent to disturbance 0.1 %

012 Overload alarm margin 0.1 %

014 Settling time ms

015 Overshoot amount pulse

01C Load-side encoder droop pulses (1 pulse unit) pulse

01E Motor-side/load-side position deviation (1 pulse unit) pulse

020 Motor-side/load-side speed deviation r/min

021 Servo motor speed (unit of 0.1 r/min) 0.1 r/min

022 Command pulse frequency (speed unit of 0.1 r/min) 0.1 r/min

023 Speed command (unit of 0.1 r/min) 0.1 r/min

024 Torque command 0.1 %

025 Speed limit value r/min

026 Speed limit value (unit of 0.1 r/min) 0.1 r/min

035 Internal temperature of encoder C

03B Load-side encoder information 1 16 pulse

03C Load-side encoder information 2 rev

04C U-phase current feedback (unit of the rated current) 0.1 %

04D V-phase current feedback (unit of the rated current) 0.1 %

04E W-phase current feedback (unit of the rated current) 0.1 %

2 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

*1 "mm/s" is used instead of "r/min" for linear servo motors.

[Pr. PF87.4-6_Drive recorder - Analog channel 2 selection]

Select the analog channel 2 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 112 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

201 Servo motor speed + 0.1 r/min 32-bit data

202 Command pulse frequency + kpulse/s

203 Command pulse frequency (speed unit) + 0.1 r/min

204 Droop pulses (1 pulse unit) + pulse

205 Speed command + 0.1 r/min

206 Position within one-revolution + pulse

207 Load-side encoder information 1 + pulse

208 Load-side encoder information 2+ rev

209 Load-side droop pulses + pulse

20B Feedback position + pulse

20C Excessive error alarm margin + pulse

218 Droop pulses (100 pulse unit) + 100 pulse

219 Load-side encoder droop pulses (100 pulses unit) + 100 pulse

21A Excessive error alarm margin (100 pulses unit) + 100 pulse

21B Droop pulses (model position deviation) + pulse

220 Speed command 2+ 0.1 r/min

23C Droop pulses (command unit) + pulse

Initial value Setting range Ver. 002h Refer to the text C4

Setting value Data type Unit *1 Category

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 113

11

[Pr. PF88_Drive recorder - Analog channel setting 2 (DRAC2)]

[Pr. PF88.0-2_Drive recorder - Analog channel 3 selection]

Select the analog channel 3 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 112 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

[Pr. PF88.4-6_Drive recorder - Analog channel 4 selection]

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 112 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

Initial value Setting range Setting method Ver. 02040003h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 003h Refer to the text C4

Initial value Setting range Ver. 204h Refer to the text C4

4 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF89_Drive recorder - Analog channel setting 3 (DRAC3)]

[Pr. PF89.0-2_Drive recorder - Analog channel 5 selection]

Select the analog channel 5 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 112 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

[Pr. PF89.4-6_Drive recorder - Analog channel 6 selection]

Select the analog channel 6 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 112 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

[Pr. PF90_Drive recorder - Analog channel setting 4 (DRAC4)]

[Pr. PF90.0-2_Drive recorder - Analog channel 7 selection]

Select the analog channel 7 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 112 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]

Initial value Setting range Setting method Ver. 00090205h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 205h Refer to the text C4

Initial value Setting range Ver. 009h Refer to the text C4

Initial value Setting range Setting method Ver. 0000000Ch Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 00Ch Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 115

11

[Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)]

[Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

Refer to the following table for setting values. Values not listed below are undefined. Only set the values that are listed in the following table.

Initial value Setting range Setting method Ver. 001F0000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0000h Refer to the text C4

Setting value Symbol Name Classification 0000 CSON Servo-on command DI

0005 PC Proportional control

0006 RES Reset

0007 CSV1 Control mode setting 1

0008 CSV2 Control mode setting 2

0009 CTL1 Torque limit selection 1

000A CTL2 Torque limit selection 2

0012 EM2/1 Forced stop

0013 CRDY Ready-on command

0016 STO1 STO1

0017 STO2 STO2

001A CDP2 Gain switching selection 2

001B CDP Gain switching selection

001C CLD Fully closed loop selection

001F EMG Controller emergency stop

0021 CABS Absolute position reference point data set request

0022 CZCT ZCT recreation request

0026 CSV3 Continuous operation to torque control mode command

6 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF91.4-7_Drive recorder - Digital channel 2 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

8000 RD Ready DO

8001 SA Speed reached

8002 ZSP Zero speed detection

8003 TLC Limiting torque

8004 VLC Limiting speed

8005 INP In-position completion

8007 WNG Warning

8008 ALM Malfunction

8009 OP Z-phase output

800A MBR Electromagnetic brake interlock

800B DB External dynamic brake

800F BWNG Battery warning

8010 ALM2 Malfunction 2

8013 RDY In ready-on state

8015 STO In STO state

8016 SMPD Magnetic pole detection completion

8017 ZPASS Z-phase already passed

8018 CDPS2 Variable gain enabled 2

8019 CDPS Variable gain enabled

801A CLDS Fully closed loop control in progress

801B ABSV Absolute position erased

801D IPF Instantaneous power failure

801E SPC Proportional control in progress

801F MTTR Tough drive in progress

8020 SSV1 Currently selected control mode 1

8021 SSV2 Currently selected control mode 2

8022 STL1 Receiving torque limit selection 1

8023 STL2 Receiving torque limit selection 2

8024 SABSE Incorrect absolute position reference point data set

8025 SABS Absolute position reference point data set request completed

8026 WNGSTOP Motor stop warning

8030 FLS Upper stroke limit input in progress

8031 RLS Lower stroke limit input in progress

8032 DOG DOG signal input in progress

8037 SSV3 Continuous operation to torque control mode

Initial value Setting range Ver. 001Fh Refer to the text C4

Setting value Symbol Name Classification

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 117

11

[Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)]

[Pr. PF92.0-3_Drive recorder - Digital channel 3 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

[Pr. PF92.4-7_Drive recorder - Digital channel 4 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

[Pr. PF93_Drive recorder - Digital channel setting 3 (DRDC3)]

[Pr. PF93.0-3_Drive recorder - Digital channel 5 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

[Pr. PF93.4-7_Drive recorder - Digital channel 6 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

Initial value Setting range Setting method Ver. 80058010h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 8010h Refer to the text C4

Initial value Setting range Ver. 8005h Refer to the text C4

Initial value Setting range Setting method Ver. 8000800Ah Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 800Ah Refer to the text C4

Initial value Setting range Ver. 8000h Refer to the text C4

8 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

1

[Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)]

[Pr. PF94.0-3_Drive recorder - Digital channel 7 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

[Pr. PF94.4-7_Drive recorder - Digital channel 8 selection]

Refer to the following for values that can be assigned. Page 116 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]

[Pr. PF95_Drive recorder - Clear history (*DRCLR)]

[Pr. PF95.0_Drive recorder - Clear history selection]

0: Disabled 1: Enabled When "0" (enabled) is set, the drive recorder history will be cleared at the next power-on or software reset. After the drive recorder history is cleared, "0" (disabled) will be set to this servo parameter automatically.

Initial value Setting range Setting method Ver. 801D8015h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 8015h Refer to the text C4

Initial value Setting range Ver. 801Dh Refer to the text C4

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 119

12

1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])

[Pr. PL01_Function selection L-1 (**LIT1)]

Select a function of the linear servo motor or direct drive motor.

[Pr. PL01.0_Servo motor magnetic pole detection selection]

Select the magnetic pole detection method for the linear servo motor or direct drive motor. 0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power or after resetting the communication 5: Magnetic pole detection at every servo-on The setting value "0" is enabled only with absolute position linear encoders. Do not set any value other than "0", "1", and "5".

[Pr. PL01.2_Homing stop interval setting]

Select the stop interval at dog type homing. This servo parameter is enabled only for linear servo motors. 0: 213 (= 8192) pulses 1: 217 (= 131072) pulses 2: 218 (= 262144) pulses 3: 220 (= 1048576) pulses 4: 222 (= 4194304) pulses 5: 224 (= 16777216) pulses 6: 226 (= 67108864) pulses

[Pr. PL02_Linear encoder resolution setting - Numerator (**LIM)]

Set the linear encoder resolution with [Pr. PL02] and [Pr. PL03]. Set a numerator in [Pr. PL02]. This servo parameter is enabled for linear servo motors.

Initial value Setting range Setting method Ver. 00000301h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 1h Refer to the text C4

Initial value Setting range Ver. 3h Refer to the text C4

Initial value Setting range Setting method Ver. 1000 [m] 1 to 65535 Each axis C4

0 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])

1

[Pr. PL03_Linear encoder resolution setting - Denominator (**LID)]

Set the linear encoder resolution with [Pr. PL02] and [Pr. PL03]. Set a denominator in [Pr. PL03]. This servo parameter is enabled for linear servo motors.

[Pr. PL04_Function selection L-2 (*LIT2)]

Select a function of the linear servo motor or direct drive motor.

[Pr. PL04.0_[AL. 042 Servo control error] detection function selection]

Refer to the following table for setting values.

[Pr. PL04.3_[AL. 042 Servo control error] detection controller reset condition selection]

0: Reset disabled (reset by powering off/on or software reset enabled) 1: Reset enabled

Initial value Setting range Setting method Ver. 1000 [m] 1 to 65535 Each axis C4

Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 3h Refer to the text C4

Setting value Thrust/torque deviation error Speed deviation error Position deviation error 0 Disabled Disabled Disabled

1 Enabled

2 Enabled Disabled

3 Enabled

4 Enabled Disabled Disabled

5 Enabled

6 Enabled Disabled

7 Enabled

Initial value Setting range Ver. 0h Refer to the text C4

1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 121

12

[Pr. PL05_Position deviation error detection level (LB1)]

Set a position deviation error detection level of the servo control error detection. When the difference between a model feedback position and actual feedback position is larger than the setting value, [AL. 042.1 Servo control error based on position deviation] will occur. Note that when "0" is set, the level varies depending on the setting value in [Pr. PA01.1 Operation mode selection]. When a linear servo motor is used: 50 mm When a direct drive motor is used: 0.09 rev

[Pr. PL06_Speed deviation error detection level (LB2)]

Set the speed deviation error detection level of the servo control error detection. When the difference between a model feedback speed and actual feedback speed is larger than the setting value, [AL. 042.2 Servo control error based on speed deviation] will occur. Note that when "0" is set, the level varies depending on the setting value in [Pr. PA01.1 Operation mode selection]. When a linear servo motor is used: 1000 mm/s When a direct drive motor is used: 100 r/min

[Pr. PL07_Torque deviation error detection level (LB3)]

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 based on torque/thrust deviation] occurs.

Initial value Setting range Setting method Ver. 0 [mm], [0.01 rev] 0 to 1000 Each axis C4

Initial value Setting range Setting method Ver. 0 [mm/s], [r/min] 0 to 20000 Each axis C4

Initial value Setting range Setting method Ver. 100 [%] 0 to 1000 Each axis C4

2 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])

1

[Pr. PL08_Function selection L-3 (*LIT3)]

Select a function of the linear servo motor or direct drive motor.

[Pr. PL08.0_Magnetic pole detection method selection]

0: Position detection method 4: Minute position detection method If detecting magnetic poles in a vertical axis, configure a system with equipment such as a counterweight to prevent the linear servo motor from moving with the force of gravity.

[Pr. PL08.2_Magnetic pole detection - Stroke limit enabled/disabled selection]

0: Enabled 1: Disabled

[Pr. PL09_Magnetic pole detection voltage level (LPWM)]

Set a direct current exciting voltage level in the magnetic pole detection. If [AL. 032 Overcurrent], [AL. 050 Overload 1], or [AL. 051 Overload 2] occurs during the magnetic pole detection, set a smaller value. If [AL. 027 Initial magnetic pole detection error] occurs during the magnetic pole detection, set a larger value.

Initial value Setting range Setting method Ver. 00001010h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Ver. 0h Refer to the text C4

Initial value Setting range Setting method Ver. 30 [%] 0 to 100 Each axis C4

1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 123

12

[Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)]

This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4" (minute position detection method).

[Pr. PL17.0_Response selection]

Select the responsiveness of the minute position detection method. To make the travel distance at the magnetic pole detection smaller, set a larger value. Refer to the following table for setting values.

Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.

Initial value Setting range Ver. 0h Refer to the text C4

Setting value of [Pr. PL17.0] Responsiveness 0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

Low response

Middle response

High response

4 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])

1

[Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection]

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. Select a value closest to the actual load. Refer to the following table for setting values.

Initial value Setting range Ver. 0h Refer to the text C4

Setting value of [Pr. PL17.1] Load to motor mass ratio/load to motor inertia ratio 0 10 times or less

1 10 multiplier

2 20 multiplier

3 30 multiplier

4 40 multiplier

5 50 multiplier

6 60 multiplier

7 70 multiplier

8 80 multiplier

9 90 multiplier

A 100 multiplier

B 110 multiplier

C 120 multiplier

D 130 multiplier

E 140 multiplier

F 150 times or more

1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 125

12

[Pr. PL18_Magnetic pole detection - Minute position detection method - Identification signal amplitude (IDLV)]

Set an identification signal amplitude to be used in the minute position detection method. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4". When the setting value of this servo parameter is "0", the amplitude will be 100 [%].

Initial value Setting range Setting method Ver. 0 [%] 0 to 200 Each axis C4

6 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])

2

2 LISTS OF SERVO PARAMETER SUPPORTED MODES

2.1 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 Operation mode Standard Standard control mode

Linear Linear servo motor control mode

DD Direct drive motor control mode

Semi closed Semi closed loop control mode

Fully closed Fully closed loop control mode

Control mode P_SSC Position control mode

S_SSC Speed control mode

T_SSC Torque control mode

2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.1 Structure 127

12

2.2 Lists of supported control modes Basic setting servo parameters group ([Pr. PA_ _ ]) No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PA01 PA01.1

PA01.4

PA02 PA02.0-1

PA02.4

PA02.5

PA03 PA03.0

PA03.1

PA03.2

PA04 PA04.2

PA04.3

PA06

PA07

PA08 PA08.0

PA08.4

PA08.5

PA08.6

PA09

PA10

PA14

PA15

PA16

PA17

PA18 PA18.0-3

PA20 PA20.1

PA20.2

PA21 PA21.0

PA22 PA22.1

PA22.3

PA23 PA23.0-1

PA23.2-4

PA24 PA24.0

PA25

PA26 PA26.0

PA28 PA28.4

PA34

8 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes

2

Gain/filter setting servo parameters group ([Pr. PB_ _ ]) No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PB01 PB01.0

PB01.3

PB02 PB02.0

PB02.1

PB03

PB04

PB06

PB07

PB08

PB09

PB10

PB11

PB12

PB13

PB14 PB14.1

PB14.2

PB15

PB16 PB16.0

PB16.1

PB16.2

PB17 PB17.0-1

PB17.2

PB18

PB19

PB20

PB21

PB22

PB23 PB23.0

PB23.1

PB23.3

PB24 PB24.0

PB24.1

PB25 PB25.0

PB26 PB26.0

PB26.1

PB26.2

PB26.4

PB26.5

PB27

PB28

PB29

PB30

PB31

PB32

PB33

PB34

PB35

PB36

2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 129

13

PB45 PB45.0-1

PB45.2

PB46

PB47 PB47.0

PB47.1

PB47.2

PB48

PB49 PB49.0

PB49.1

PB49.2

PB50

PB51 PB51.0

PB51.1

PB51.2

PB52

PB53

PB54

PB55

PB56

PB57

PB58

PB59

PB60

PB65

PB66

PB67

PB68

PB69

PB70

PB71

PB72

PB73

PB74

PB75

PB76

PB77

PB78

PB79

PB81 PB81.4

PB82

No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC

0 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes

2

Extension setting servo parameters group ([Pr. PC_ _ ]) No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PC01

PC02

PC03 PC03.0

PC03.1

PC03.2

PC04 PC04.3

PC05 PC05.0

PC05.4

PC06 PC06.3

PC07

PC08

PC09 PC09.0-1

PC10 PC10.0-1

PC11

PC12

PC17 PC17.0

PC17.1

PC18 PC18.3

PC19 PC19.4

PC19.6

PC20 PC20.2

PC20.4

PC21 PC21.0

PC24

PC26 PC26.3

PC27 PC27.0

PC27.2

PC29 PC29.0

PC29.3

PC31

PC38

PC84

PC85

PC86

PC87

PC88

PC89

PC90

PC91

PC92

PC93

PC94

PC95

2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 131

13

I/O setting servo parameters group ([Pr. PD_ _ ]) No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PD02 PD02.0-7

PD07 PD07.0-1

PD08 PD08.0-1

PD08.2

PD08.3

PD09 PD09.0-1

PD09.2

PD09.3

PD11 PD11.0

PD12 PD12.3

PD13 PD13.2

PD14 PD14.1

PD15 PD15.0

PD15.1

PD16

PD17

PD20

PD30

PD31

PD32

2 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes

2

Extension setting 2 servo parameters group ([Pr. PE_ _ ]) No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PE01 PE01.0

PE03 PE03.0

PE03.1

PE03.3

PE04

PE05

PE06

PE07

PE08

PE10 PE10.1

PE10.2

PE10.3

PE41 PE41.0

PE41.6

PE44

PE45

PE46

PE47

PE48 PE48.0

PE48.1

PE49

PE50

PE51

2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 133

13

Extension setting 3 servo parameters group ([Pr. PF_ _ ]) No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PF02 PF02.0

PF02.4

PF02.5

PF06 PF06.0

PF06.1

PF12

PF18

PF19

PF20

PF21

PF23

PF24 PF24.0

PF25

PF31

PF34 PF34.0

PF34.1

PF34.2

PF34.5

PF34.6

PF40 PF40.0

PF40.1

PF40.2

PF40.4

PF40.5

PF41

PF42

PF43

PF45

PF46

PF47

PF63 PF63.0

PF63.1

PF63.2

PF66 PF66.0-3

PF66.4-7

PF67

PF68

PF69

PF70

PF71 PF71.0

PF71.1

PF72

PF73

PF74

PF75

PF76

PF80 PF80.0

PF80.2-3

4 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes

2

Motor extension setting servo parameters group ([Pr. PL_ _ ])

PF81 PF81.0

PF82 PF82.0

PF82.1

PF82.2

PF82.3

PF83 PF83.0

PF84 PF84.0-1

PF84.2-3

PF84.4-5

PF85

PF86

PF87 PF87.0-2

PF87.4-6

PF88 PF88.0-2

PF88.4-6

PF89 PF89.0-2

PF89.4-6

PF90 PF90.0-2

PF91 PF91.0-3

PF91.4-7

PF92 PF92.0-3

PF92.4-7

PF93 PF93.0-3

PF93.4-7

PF94 PF94.0-3

PF94.4-7

PF95 PF95.0

No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC PL01 PL01.0

PL01.2

PL02

PL03

PL04 PL04.0

PL04.3

PL05

PL06

PL07

PL08 PL08.0

PL08.2

PL09

PL17 PL17.0

PL17.1

PL18

No. Detail No. Operation mode Control mode

Semi closed Fully closed

Standard Linear DD Standard P_SSC S_SSC T_SSC

2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 135

13

3 LISTS OF SERVO PARAMETER INITIAL VALUES

3.1 Basic setting servo parameters group ([Pr. PA_ _ ]) No. Initial value PA01 00003000h

PA02 00000000h

PA03 00000000h

PA04 00002000h

PA05 10000

PA06 1

PA07 1

PA08 00000001h

PA09 16

PA10 25600

PA11 1000.0

PA12 1000.0

PA13 00000000h

PA14 0

PA15 4000

PA16 1

PA17 00000000h

PA18 00000000h

PA19 000000ABh

PA20 00000000h

PA21 00000001h

PA22 00000000h

PA23 00000000h

PA24 00000000h

PA25 0

PA26 00000000h

PA27 00000000h

PA28 00000000h

PA29 0

PA30 0

PA31 0

PA32 00000001h

PA33 0.0

PA34 0

PA35 00000000h

PA36 00000000h

PA37 00000000h

PA38 00000000h

PA39 00000000h

PA40 00000000h

PA41 00000000h

PA42 00000000h

PA43 00000000h

PA44 00000000h

PA45 00000000h

6 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.1 Basic setting servo parameters group ([Pr. PA_ _ ])

3

PA46 00000000h

PA47 00000000h

PA48 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.1 Basic setting servo parameters group ([Pr. PA_ _ ]) 137

13

3.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

No. Initial value PB01 00000000h

PB02 00000000h

PB03 36000

PB04 0

PB05 500

PB06 7.00

PB07 15.0

PB08 37.0

PB09 823

PB10 33.7

PB11 980

PB12 0

PB13 4500

PB14 00000000h

PB15 4500

PB16 00000000h

PB17 00000000h

PB18 3141

PB19 100.0

PB20 100.0

PB21 0.00

PB22 0.00

PB23 00001000h

PB24 00000000h

PB25 00000000h

PB26 00000000h

PB27 10

PB28 1

PB29 7.00

PB30 0.0

PB31 0

PB32 0.0

PB33 0.0

PB34 0.0

PB35 0.00

PB36 0.00

PB37 1600

PB38 0.000

PB39 0.000

PB40 0.000

PB41 00000000h

PB42 00000000h

PB43 00000000h

PB44 0.00

PB45 00000000h

PB46 4500

PB47 00000000h

PB48 4500

8 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

3

PB49 00000000h

PB50 4500

PB51 00000000h

PB52 100.0

PB53 100.0

PB54 0.00

PB55 0.00

PB56 0.0

PB57 0.0

PB58 0.00

PB59 0.00

PB60 0.0

PB61 0.0

PB62 00000000h

PB63 00000000h

PB64 00000000h

PB65 10

PB66 1

PB67 7.00

PB68 0.0

PB69 0

PB70 0.0

PB71 0.0

PB72 0.0

PB73 0.00

PB74 0.00

PB75 0.0

PB76 0.0

PB77 0.00

PB78 0.00

PB79 0.0

PB80 177.0

PB81 00000001h

PB82 0.0

PB83 00000000h

PB84 00000000h

PB85 00000000h

PB86 00000000h

PB87 0

PB88 00000000h

PB89 00000000h

PB90 00000000h

PB91 00000000h

PB92 00000000h

PB93 00000000h

PB94 00000000h

PB95 00000000h

PB96 00000000h

PB97 00000000h

PB98 00000000h

PB99 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 139

14

3.3 Extension setting servo parameters group ([Pr. PC_ _ ])

No. Initial value PC01 0

PC02 0

PC03 00000000h

PC04 00000000h

PC05 00000000h

PC06 00000000h

PC07 50

PC08 0

PC09 00000000h

PC10 00000001h

PC11 0

PC12 0

PC13 0

PC14 0

PC15 0

PC16 00000000h

PC17 00000000h

PC18 00000000h

PC19 00000000h

PC20 00000000h

PC21 00000000h

PC22 0

PC23 00000000h

PC24 100

PC25 0

PC26 00000050h

PC27 00000000h

PC28 00000000h

PC29 00000000h

PC30 0

PC31 0

PC32 0

PC33 0

PC34 100

PC35 00000000h

PC36 00000000h

PC37 00000000h

PC38 0

PC39 0.0

PC40 0.0

PC41 00000000h

PC42 00000000h

PC43 0.0

PC44 0.0

PC45 00000000h

PC46 00000000h

PC47 00000000h

PC48 00000000h

0 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.3 Extension setting servo parameters group ([Pr. PC_ _ ])

3

PC49 00000000h

PC50 00000000h

PC51 00000000h

PC52 00000000h

PC53 00000000h

PC54 00000000h

PC55 00000000h

PC56 00000000h

PC57 00000000h

PC58 00000000h

PC59 00000000h

PC60 00000000h

PC61 00000000h

PC62 00000000h

PC63 00000000h

PC64 00000000h

PC65 50.00

PC66 10

PC67 00C00000h

PC68 00000000h

PC69 10

PC70 400

PC71 10

PC72 20.00

PC73 10

PC74 10.0

PC75 10

PC76 00000011h

PC77 1000.0

PC78 00000000h

PC79 00000000h

PC80 00000000h

PC81 00000000h

PC82 0

PC83 0

PC84 00000000h

PC85 00000000h

PC86 00000000h

PC87 00000000h

PC88 00000000h

PC89 00000000h

PC90 00000000h

PC91 00000000h

PC92 00000000h

PC93 00000000h

PC94 00000000h

PC95 00000000h

PC96 00000000h

PC97 00000000h

PC98 00000000h

PC99 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.3 Extension setting servo parameters group ([Pr. PC_ _ ]) 141

14

3.4 I/O setting servo parameters group ([Pr. PD_ _ ]) No. Initial value PD01 00000000h

PD02 00000000h

PD03 00000020h

PD04 00000021h

PD05 00000022h

PD06 00000000h

PD07 00000005h

PD08 00000004h

PD09 00000003h

PD10 00000000h

PD11 00000007h

PD12 00000000h

PD13 00000000h

PD14 00000000h

PD15 00000000h

PD16 00000000h

PD17 00000000h

PD18 00000000h

PD19 00000000h

PD20 0

PD21 0

PD22 0

PD23 0

PD24 00000000h

PD25 00000000h

PD26 00000000h

PD27 00000000h

PD28 00000000h

PD29 00000000h

PD30 0

PD31 0

PD32 0

PD33 00000000h

PD34 00000000h

PD35 00000000h

PD36 00000000h

PD37 00110001h

PD38 00000000h

PD39 00000000h

PD40 0

PD41 00001000h

PD42 00000000h

PD43 00000000h

PD44 00000000h

PD45 00000000h

PD46 00000000h

PD47 00000000h

PD48 00000000h

PD49 0

PD50 0

2 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.4 I/O setting servo parameters group ([Pr. PD_ _ ])

3

PD51 00000000h

PD52 00000000h

PD53 00000000h

PD54 00000000h

PD55 00000000h

PD56 00000000h

PD57 00000000h

PD58 00000000h

PD59 00000000h

PD60 00000000h

PD61 00000000h

PD62 00000000h

PD63 00000000h

PD64 00000000h

PD65 00000000h

PD66 00000000h

PD67 00000000h

PD68 00000000h

PD69 00000000h

PD70 00000000h

PD71 00000000h

PD72 00000000h

PD73 00000000h

PD74 00000000h

PD75 00000000h

PD76 00000000h

PD77 00000000h

PD78 00000000h

PD79 00000000h

PD80 00000000h

PD81 00000000h

PD82 00000000h

PD83 00000000h

PD84 00000000h

PD85 00000000h

PD86 00000000h

PD87 00000000h

PD88 00000000h

PD89 00000000h

PD90 00000000h

PD91 00000000h

PD92 00000000h

PD93 00000000h

PD94 00000000h

PD95 00000000h

PD96 00000000h

PD97 00000000h

PD98 00000000h

PD99 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.4 I/O setting servo parameters group ([Pr. PD_ _ ]) 143

14

3.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

No. Initial value PE01 00000000h

PE02 00000000h

PE03 00000003h

PE04 1

PE05 1

PE06 400

PE07 100

PE08 10

PE09 00000000h

PE10 00000000h

PE11 00000000h

PE12 00000000h

PE13 00000000h

PE14 00000111h

PE15 20

PE16 00000000h

PE17 00000100h

PE18 00000000h

PE19 00000000h

PE20 00000000h

PE21 00000000h

PE22 00000000h

PE23 00000000h

PE24 00000000h

PE25 00000000h

PE26 00000000h

PE27 00000000h

PE28 00000000h

PE29 00000000h

PE30 00000000h

PE31 00000000h

PE32 00000000h

PE33 00000000h

PE34 1

PE35 1

PE36 0.0

PE37 0.00

PE38 0.00

PE39 20

PE40 00000000h

PE41 00000000h

PE42 0

PE43 0.0

PE44 0

PE45 0

PE46 0

PE47 0

PE48 00000000h

4 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

3

PE49 0

PE50 0

PE51 0

PE52 00000000h

PE53 0.0

PE54 00000000h

PE55 00000000h

PE56 00000000h

PE57 00000000h

PE58 00000000h

PE59 00000000h

PE60 00000000h

PE61 0.000

PE62 0.000

PE63 0.000

PE64 0.000

PE65 0.0

PE66 0.0

PE67 0.0

PE68 00000000h

PE69 00000000h

PE70 0.00

PE71 0

PE72 1.0000

PE73 00000000h

PE74 00000000h

PE75 00000000h

PE76 00000000h

PE77 00000000h

PE78 0

PE79 0

PE80 00000000h

PE81 00000000h

PE82 00000000h

PE83 00000000h

PE84 00000000h

PE85 00000000h

PE86 00000000h

PE87 00000000h

PE88 00000000h

PE89 00000000h

PE90 00000000h

PE91 00000000h

PE92 00000000h

PE93 00000000h

PE94 00000000h

PE95 00000000h

PE96 00000000h

PE97 00000000h

PE98 00000000h

PE99 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 145

14

3.6 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

No. Initial value PF01 00000000h

PF02 00000000h

PF03 00000000h

PF04 0

PF05 00000000h

PF06 00000013h

PF07 00000000h

PF08 00000000h

PF09 00000000h

PF10 00000000h

PF11 00000000h

PF12 2000

PF13 00000000h

PF14 10

PF15 00000000h

PF16 00000000h

PF17 00000000h

PF18 10

PF19 0

PF20 0

PF21 0

PF22 200

PF23 20

PF24 00000000h

PF25 200

PF26 0

PF27 0

PF28 0

PF29 00000000h

PF30 0

PF31 0

PF32 50

PF33 00000000h

PF34 00000000h

PF35 00000000h

PF36 00000000h

PF37 00000000h

PF38 00000000h

PF39 00000000h

PF40 00000000h

PF41 0

PF42 0

PF43 0

PF44 0

PF45 0

PF46 0

PF47 0

PF48 00000000h

6 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.6 Extension setting 3 servo parameters group ([Pr. PF_ _ ])

3

PF49 100

PF50 100

PF51 00000000h

PF52 00000000h

PF53 0

PF54 0

PF55 0

PF56 0

PF57 00000000h

PF58 00000000h

PF59 00000000h

PF60 00000000h

PF61 00000000h

PF62 00000000h

PF63 00000000h

PF64 0

PF65 00000000h

PF66 00000000h

PF67 0

PF68 0

PF69 0

PF70 0

PF71 00000000h

PF72 0

PF73 0

PF74 0

PF75 0

PF76 0

PF77 00000000h

PF78 00000000h

PF79 00110010h

PF80 00000000h

PF81 00000000h

PF82 00000000h

PF83 00000000h

PF84 005A8101h

PF85 0

PF86 0

PF87 00020201h

PF88 02040003h

PF89 00090205h

PF90 0000000Ch

PF91 001F0000h

PF92 80058010h

PF93 8000800Ah

PF94 801D8015h

PF95 00000000h

PF96 00000000h

PF97 00000000h

PF98 00000000h

PF99 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.6 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 147

14

3.7 Motor extension setting servo parameters group ([Pr. PL_ _ ])

No. Initial value PL01 00000301h

PL02 1000

PL03 1000

PL04 00000003h

PL05 0

PL06 0

PL07 100

PL08 00001010h

PL09 30

PL10 5

PL11 100

PL12 500

PL13 00000000h

PL14 00000000h

PL15 20

PL16 0

PL17 00000000h

PL18 0

PL19 0

PL20 0

PL21 0

PL22 0

PL23 00000000h

PL24 0

PL25 0

PL26 00000000h

PL27 00000000h

PL28 00000000h

PL29 0

PL30 00000000h

PL31 00000000h

PL32 00000000h

PL33 00000000h

PL34 00000000h

PL35 00000000h

PL36 00000000h

PL37 00000000h

PL38 00000000h

PL39 00000000h

PL40 00000000h

PL41 00000000h

PL42 00000000h

PL43 00000000h

PL44 00000000h

PL45 00000000h

PL46 00000000h

PL47 00000000h

PL48 00000000h

8 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.7 Motor extension setting servo parameters group ([Pr. PL_ _ ])

3

PL49 00000000h

PL50 0

PL51 0

PL52 12

PL53 0

PL54 00000000h

PL55 00000000h

PL56 00000000h

PL57 00000000h

PL58 00000000h

PL59 00000000h

PL60 00000000h

PL61 00000000h

PL62 00000000h

PL63 00000000h

PL64 00000000h

PL65 00000000h

PL66 00000000h

PL67 00000000h

PL68 00000000h

PL69 00000000h

PL70 00000000h

PL71 00000000h

PL72 00000000h

PL73 00000000h

PL74 00000000h

PL75 00000000h

PL76 00000000h

PL77 00000000h

PL78 00000000h

PL79 00000000h

PL80 00000000h

PL81 00000000h

PL82 00000000h

PL83 00000000h

PL84 00000000h

PL85 00000000h

PL86 00000000h

PL87 00000000h

PL88 00000000h

PL89 00000000h

PL90 00000000h

PL91 00000000h

PL92 00000000h

PL93 00000000h

PL94 00000000h

PL95 00000000h

PL96 00000000h

PL97 00000000h

PL98 00000000h

PL99 00000000h

No. Initial value

3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.7 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 149

15

4 SERVO PARAMETER SETTING METHOD Servo parameters can be set using the methods shown below. Set the servo parameters using one of these methods.

4.1 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.

4.2 Controller Servo parameters can be set using a controller that is compatible with SSCNET III/H. For details on how to use a controller, refer to the manual for the controller being used.

0 4 SERVO PARAMETER SETTING METHOD 4.1 Engineering tool

4

MEMO

4 SERVO PARAMETER SETTING METHOD 4.2 Controller 151

152

REVISIONS *The manual number is given on the bottom left of the back cover.

2022 MITSUBISHI ELECTRIC CORPORATION

Revision date *Manual number Description July 2022 IB(NA)-0300581ENG-A First edition

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

153

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. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced. [Term] For terms of warranty, please contact your original place of purchase. [Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases; 1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware

or software problem 2. a failure caused by any alteration, etc. to the Product made on your side without our approval 3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety

device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) 6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters 7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of

the Product from our company 8. any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

announcement of the stop of production for each model can be seen in our Sales and Service, etc. (2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for

damages to products other than Mitsubishi products. (4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product (1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or

malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.

(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used. In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

(3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

154

TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.

IB(NA)-0300581ENG-A

IB(NA)-0300581ENG-A(2207)MEE MODEL: MODEL CODE:

Specifications are subject to change without notice. Compliance with the indicated global