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Mitsubishi MR-J5W-G Parameter User's Manual PDF
Summary of Content for Mitsubishi MR-J5W-G Parameter User's Manual PDF
MR-J5-G/MR-J5W-G User's Manual (Parameters)
-MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1
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 (20 minutes or more
for converter units/drive units) 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).
When reading this manual to use a drive unit, substitute "drive unit" for "servo amplifier".
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 using communication functions.
The manual is necessary for specifying the causes of alarms and warnings.
Partner Encoder
Function
Adjustment
Object Dictionary
Troubleshooting
Introduction
Hardware
Communication Function
Parameters It describes the parameters of the servo amplifier.
It describes the objects for 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 13 1.1 Explanation of servo parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
[Pr. PA01_Operation mode (**STY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 [Pr. PA02_Regenerative option (**REG)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 [Pr. PA03_Absolute position detection system (*ABS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 [Pr. PA04_Function selection A-1 (*AOP1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 [Pr. PA06_Electronic gear numerator (*CMX)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 [Pr. PA07_Electronic gear denominator (*CDV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 [Pr. PA08_Auto tuning mode (ATU)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 [Pr. PA09_Auto tuning response (RSP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 [Pr. PA10_In-position range (INP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 [Pr. PA11_Forward rotation torque limit (TLP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 [Pr. PA12_Reverse rotation torque limit (TLN)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 [Pr. PA14_Travel direction selection (*POL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 [Pr. PA15_Encoder output pulses (*ENR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 [Pr. PA16_Encoder output pulses 2 (*ENR2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 [Pr. PA17_Servo motor series setting (**MSR)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 [Pr. PA18_Servo motor type setting (**MTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 [Pr. PA19_Servo parameter writing prohibited (*BLK)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 [Pr. PA20_Tough drive setting (*TDS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 [Pr. PA21_Function selection A-3 (*AOP3)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 [Pr. PA22_Position control configuration selection (**PCS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 [Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 [Pr. PA24_Function selection A-4 (AOP4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 [Pr. PA25_One-touch tuning - Overshoot permissible level (OTHOV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 [Pr. PA26_Function selection A-5 (*AOP5)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 [Pr. PA28_Function selection A-6 (**AOP6)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 [Pr. PA34_Quick tuning - Permissible travel distance (QDIS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 [Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] . . . 37 [Pr. PB03_Torque feedback loop gain (TFBGN)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 [Pr. PB04_Feed forward gain (FFC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 [Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 [Pr. PB07_Model control gain (PG1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 [Pr. PB08_Position control gain (PG2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 [Pr. PB09_Speed control gain (VG2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 [Pr. PB10_Speed integral compensation (VIC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 [Pr. PB11_Speed differential compensation (VDC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 [Pr. PB12_Overshoot amount compensation (OVA)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 [Pr. PB13_Machine resonance suppression filter 1 (NH1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 [Pr. PB14_Notch shape selection 1 (NHQ1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 [Pr. PB15_Machine resonance suppression filter 2 (NH2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
C O
N TE
N TS
[Pr. PB16_Notch shape selection 2 (NHQ2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 [Pr. PB17_Shaft resonance suppression filter (NHF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 [Pr. PB18_Low-pass filter setting (LPF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 [Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 [Pr. PB20_Vibration suppression control 1 - Resonance frequency (VRF12)] . . . . . . . . . . . . . . . . . . . . . . . . . . 47 [Pr. PB21_Vibration suppression control 1 - Vibration frequency damping (VRF13)] . . . . . . . . . . . . . . . . . . . . . 47 [Pr. PB22_Vibration suppression control 1 - Resonance frequency damping (VRF14)] . . . . . . . . . . . . . . . . . . . 47 [Pr. PB23_Low-pass filter selection (VFBF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 [Pr. PB24_Slight vibration suppression control (*MVS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 [Pr. PB25_Function selection B-1 (*BOP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 [Pr. PB26_Gain switching function (*CDP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 [Pr. PB27_Gain switching condition (CDL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [Pr. PB28_Gain switching time constant (CDT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [Pr. PB29_Gain switching - Load to motor inertia ratio/load to motor mass ratio (GD2B)] . . . . . . . . . . . . . . . . . 52 [Pr. PB30_Gain switching - Position control gain (PG2B)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [Pr. PB31_Gain switching - Speed control gain (VG2B)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [Pr. PB32_Gain switching - Speed integral compensation (VICB)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 [Pr. PB33_Gain switching - Vibration suppression control 1 - Vibration frequency (VRF11B)] . . . . . . . . . . . . . . 53 [Pr. PB34_Gain switching - Vibration suppression control 1 - Resonance frequency (VRF12B)] . . . . . . . . . . . . 53 [Pr. PB35_Gain switching - Vibration suppression control 1 - Vibration frequency damping (VRF13B)]. . . . . . . 53 [Pr. PB36_Gain switching - Vibration suppression control 1 - Resonance frequency damping (VRF14B)] . . . . 54 [Pr. PB45_Command notch filter (CNHF)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 [Pr. PB46_Machine resonance suppression filter 3 (NH3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 [Pr. PB47_Notch shape selection 3 (NHQ3)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 [Pr. PB48_Machine resonance suppression filter 4 (NH4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 [Pr. PB49_Notch shape selection 4 (NHQ4)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 [Pr. PB50_Machine resonance suppression filter 5 (NH5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 [Pr. PB51_Notch shape selection 5 (NHQ5)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 [Pr. PB52_Vibration suppression control 2 - Vibration frequency (VRF21)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 [Pr. PB53_Vibration suppression control 2 - Resonance frequency (VRF22)] . . . . . . . . . . . . . . . . . . . . . . . . . . 61 [Pr. PB54_Vibration suppression control 2 - Vibration frequency damping (VRF23)] . . . . . . . . . . . . . . . . . . . . . 61 [Pr. PB55_Vibration suppression control 2 - Resonance frequency damping (VRF24)] . . . . . . . . . . . . . . . . . . . 61 [Pr. PB56_Gain switching - Vibration suppression control 2 - Vibration frequency (VRF21B)] . . . . . . . . . . . . . . 61 [Pr. PB57_Gain switching - Vibration suppression control 2 - Resonance frequency (VRF22B)] . . . . . . . . . . . . 62 [Pr. PB58_Gain switching - Vibration suppression control 2 - Vibration frequency damping (VRF23B)]. . . . . . . 62 [Pr. PB59_Gain switching - Vibration suppression control 2 - Resonance frequency damping (VRF24B)] . . . . 62 [Pr. PB60_Gain switching - Model control gain (PG1B)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 [Pr. PB65_Gain switching 2 condition (CDL2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 [Pr. PB66_Gain switching 2 time constant (CDT2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 [Pr. PB67_Gain switching 2 - Load to motor inertia ratio/load to motor mass ratio (GD2C)]. . . . . . . . . . . . . . . . 63 [Pr. PB68_Gain switching 2 - Position control gain (PG2C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 [Pr. PB69_Gain switching 2 - Speed control gain (VG2C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 [Pr. PB70_Gain switching 2 - Speed integral compensation (VICC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 [Pr. PB71_Gain switching 2 - Vibration suppression control 1 - Vibration frequency (VRF11C)] . . . . . . . . . . . . 64 [Pr. PB72_Gain switching 2 - Vibration suppression control 1 - Resonance frequency (VRF12C)] . . . . . . . . . . 64 [Pr. PB73_Gain switching 2 - Vibration suppression control 1 - Vibration frequency damping (VRF13C)] . . . . . 65 [Pr. PB74_Gain switching 2 - Vibration suppression control 1 - Resonance frequency damping (VRF14C)] . . . 65 [Pr. PB75_Gain switching 2 - Vibration suppression control 2 - Vibration frequency (VRF21C)] . . . . . . . . . . . . 65 [Pr. PB76_Gain switching 2 - Vibration suppression control 2 - Resonance frequency (VRF22C)] . . . . . . . . . . 66 [Pr. PB77_Gain switching 2 - Vibration suppression control 2 - Vibration frequency damping (VRF23C)] . . . . . 66 [Pr. PB78_Gain switching 2 - Vibration suppression control 2 - Resonance frequency damping (VRF24C)] . . . 66
5
6
[Pr. PB79_Gain switching 2 - Model control gain (PG1C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [Pr. PB81_Command filter (*CFIL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [Pr. PB82_Position command smoothing filter time constant (PFT)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [Pr. PC01_Excessive error alarm trigger level (ERZ)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [Pr. PC02_Electromagnetic brake sequence output (MBR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [Pr. PC03_Encoder output pulses selection (*ENRS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [Pr. PC04_Function selection C-1 (**COP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 [Pr. PC05_Function selection C-2 (**COP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 [Pr. PC06_Function selection C-3 (*COP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 [Pr. PC07_Zero speed (ZSP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 [Pr. PC08_Overspeed alarm detection level (OSL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 [Pr. PC09_Analog monitor 1 output (MOD1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [Pr. PC10_Analog monitor 2 output (MOD2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC11_Analog monitor 1 offset (MO1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC12_Analog monitor 2 offset (MO2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC16_Function selection C-3A (*COP3A)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC17_Function selection C-4 (**COP4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC19_Function selection C-6 (*COP6)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 [Pr. PC20_Function selection C-7 (*COP7)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PC21_Alarm history clear (*BPS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 [Pr. PC24_Deceleration time constant at forced stop (RSBR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 [Pr. PC26_Function selection C-8 (**COP8)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 [Pr. PC27_Function selection C-9 (**COP9)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PC29_Function selection C-B (*COPB)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 [Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 [Pr. PC38_Excessive error warning trigger level (ERW)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 [Pr. PC41_Function selection C-J (*COPJ)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 [Pr. PC46_Drive unit function selection 2 (*DUOP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 [Pr. PC65_Zero speed 2 level (ZSP2L)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 [Pr. PC66_Zero speed 2 filtering time (ZSP2F)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 [Pr. PC67_Following error output level (FEW)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 [Pr. PC69_Following error output filtering time (FEWF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 [Pr. PC70_In-position 2 - Output range (INP2R)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 [Pr. PC71_In-position 2 - Output filtering time (INP2F)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 [Pr. PC72_Speed reached 2 - Output range (SA2R)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 [Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 [Pr. PC76_Function selection C-E (*COPE)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 [Pr. PC78_Function selection C-F (*COPF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 [Pr. PC79_Function selection C-G (*COPG)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 [Pr. PD01_Input signal automatic ON selection 1 (*DIA1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 [Pr. PD03_Input device selection 1 (*DI1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 [Pr. PD04_Input device selection 2 (*DI2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 [Pr. PD05_Input device selection 3 (*DI3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 [Pr. PD07_Output device selection 1 (*DO1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 [Pr. PD08_Output device selection 2 (*DO2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 [Pr. PD09_Output device selection 3 (*DO3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 [Pr. PD11_Input filter setting (*DIF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 [Pr. PD12_Function selection D-1 (*DOP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 [Pr. PD13_Function selection D-2 (*DOP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
C O
N TE
N TS
[Pr. PD14_Function selection D-3 (*DOP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 [Pr. PD15_Driver communication setting (**IDCS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 [Pr. PD22_Driver communication setting - Slave - Master axis 1 - Station No. setting ( *SM1N)]. . . . . . . . . . . 103 [Pr. PD23_Driver communication setting - Slave - Master axis 1 - Transmission and receive setting ( *SM1C)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 [Pr. PD26_Master-slave operation simultaneous stop function operation setting (*MSTO)] . . . . . . . . . . . . . . . 104 [Pr. PD30_Master-slave operation - Slave-side torque command coefficient (TLS)] . . . . . . . . . . . . . . . . . . . . 104 [Pr. PD31_Master-slave operation - Slave-side speed limit coefficient (VLC)] . . . . . . . . . . . . . . . . . . . . . . . . . 105 [Pr. PD32_Master-slave operation - Slave-side speed limit adjusted value (VLL)] . . . . . . . . . . . . . . . . . . . . . . 105 [Pr. PD38_Input device selection 4 (*DI4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 [Pr. PD39_Input device selection 5 (*DI5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 [Pr. PD41_Function selection D-4 (*DOP4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 [Pr. PD51_Input device selection 3-2 (*DI3W2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 [Pr. PD60_DI pin polarity selection (*DIP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. PE01_Fully closed loop control function selection 1 (**FCT1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. PE03_Fully closed loop control function selection 2 (*FCT2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)] . . . . . . . . . . . . 114 [Pr. PE05_Fully closed loop control - Feedback pulse electronic gear 1 - Denominator (**FBD)] . . . . . . . . . . 114 [Pr. PE06_Fully closed loop control - Speed deviation error detection level (BC1)] . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PE07_Fully closed loop control - Position deviation error detection level (BC2)] . . . . . . . . . . . . . . . . . . . . 114 [Pr. PE08_Fully closed loop dual feedback filter (DUF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PE10_Fully closed loop function selection 3 (FCT3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PE41_Function selection E-3 (EOP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PE44_Lost motion compensation positive-side compensation value selection (LMCP)] . . . . . . . . . . . . . . 115 [Pr. PE45_Lost motion compensation negative-side compensation value selection (LMCN)] . . . . . . . . . . . . . 116 [Pr. PE46_Lost motion filter setting (LMFLT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PE47_Unbalanced torque offset (TOF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PE48_Lost motion compensation function selection (*LMOP)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PE49_Lost motion compensation timing (LMCD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [Pr. PE50_Lost motion compensation dead band (LMCT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [Pr. PE51_Load-side encoder resolution setting (**EDV2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [Pr. PE53_Maximum torque limit 1 (TLMX1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PF02_Function selection F-2 (*FOP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PF06_Function selection F-5 (*FOP5)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 [Pr. PF12_Electronic dynamic brake operating time (DBT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 [Pr. PF18_STO diagnosis error detection time (**STOD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 [Pr. PF19_Friction failure prediction - Compensation coefficient 1 (TSL)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 [Pr. PF20_Friction failure prediction - Compensation coefficient 2 (TIC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 [Pr. PF21_Drive recorder switching time setting (DRT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 [Pr. PF23_Vibration tough drive - Oscillation detection level (OSCL1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 [Pr. PF24_Function selection F-9 (*FOP9)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 [Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time) (CVAT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 [Pr. PF29_Function selection F-10 (*FOP10)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 [Pr. PF31_Machine diagnosis function - Friction estimate area judgment speed at low speed (FRIC)] . . . . . . 123 [Pr. PF32_Oscillation detection alarm time (*VIBT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 [Pr. PF34_Machine diagnosis function selection (*MFP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 [Pr. PF40_Machine failure prediction servo parameter (MFPP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 [Pr. PF41_Failure prediction - Servo motor total travel distance (FPMT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7
8
[Pr. PF42_Friction failure prediction - Average characteristics (PAV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 [Pr. PF43_Friction failure prediction - Standard deviation (PSD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 [Pr. PF45_Vibration failure prediction - Average characteristics (VAV)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 [Pr. PF46_Vibration failure prediction - Standard deviation (VSD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 [Pr. PF47_Servo motor total travel distance offset (TMO)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 [Pr. PF62_Function selection F-14 (FOP14)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 [Pr. PF63_Function selection F-15 (*FOP15)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 [Pr. PF66_Gear setting for backlash estimation (BLG)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 [Pr. PF67_Backlash nominal value (BLN)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 [Pr. PF68_Backlash threshold multiplication (BLTT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 [Pr. PF69_Static friction failure prediction - Average characteristics (SPAV2)] . . . . . . . . . . . . . . . . . . . . . . . . . 131 [Pr. PF70_Static friction failure prediction - Standard deviation (SPSD2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 [Pr. PF71_Belt failure prediction function selection (BFP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 [Pr. PF72_Belt tension on installation (SBT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 [Pr. PF73_Belt tension when extended (ABT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 [Pr. PF74_Static friction during installation (SSF)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 [Pr. PF75_Static friction when extended (ASF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 [Pr. PF76_Belt tension irregular threshold (BTS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 [Pr. PF80_Drive recorder - Operation condition selection (DRMC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 [Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 [Pr. PF82_Drive recorder - Trigger operation selection (DRTM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 [Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)] . . . . . . . . . . . . . . . . . . . . . . 138 [Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 [Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 [Pr. PF86_Drive recorder - Trigger level setting 2 (DRTL2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 [Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 [Pr. PF88_Drive recorder - Analog channel setting 2 (DRAC2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 [Pr. PF89_Drive recorder - Analog channel setting 3 (DRAC3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 [Pr. PF90_Drive recorder - Analog channel setting 4 (DRAC4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 [Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 [Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 [Pr. PF93_Drive recorder - Digital channel setting 3 (DRDC3)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 [Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 [Pr. PF95_Drive recorder - Clear history (*DRCLR)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 [Pr. PL01_Function selection L-1 (**LIT1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 [Pr. PL02_Linear encoder resolution setting - Numerator (**LIM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 [Pr. PL03_Linear encoder resolution setting - Denominator (**LID)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 [Pr. PL04_Function selection L-2 (*LIT2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 [Pr. PL05_Position deviation error detection level (LB1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 [Pr. PL06_Speed deviation error detection level (LB2)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 [Pr. PL07_Torque deviation error detection level (LB3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 [Pr. PL08_Function selection L-3 (*LIT3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 [Pr. PL09_Magnetic pole detection voltage level (LPWM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 [Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] . . . . . . 153 [Pr. PL18_Magnetic pole detection - Minute position detection method - Identification signal amplitude (IDLV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 [Pr. PT01_Command mode selection (**CTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 [Pr. PT02_Function selection T-1 (*TOP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 [Pr. PT03_Feed function selection (*FTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
C O
N TE
N TS
[Pr. PT05_Homing speed (ZRF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 [Pr. PT06_Creep speed (CRF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 [Pr. PT07_Home position shift distance (ZST)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 [Pr. PT08_Homing position data (ZPS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 [Pr. PT09_Travel distance after proximity dog (DCT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 [Pr. PT10_Stopper type homing - Stopping time (ZTM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 [Pr. PT11_Stopper type homing - Torque limit value (ZTT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 [Pr. PT12_Rough match output range (CRP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 [Pr. PT15_Software position limit + (LMP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 [Pr. PT17_Software position limit - (LMN)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 [Pr. PT19_Position range output 1 address + (*LPP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 [Pr. PT21_Position range output 1 address - (*LNP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 [Pr. PT26_Function selection T-2 (*TOP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 [Pr. PT29_Function selection T-3 (*TOP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 [Pr. PT34_Positioning operation data default (**PDEF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 [Pr. PT38_Function selection T-7 (**TOP7)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 [Pr. PT41_Function selection T-8 (TOP8)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 [Pr. PT45_Homing method (HMM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 [Pr. PT49_Speed acceleration time constant (STA)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 [Pr. PT50_Speed deceleration time constant (STB)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 [Pr. PT51_S-pattern acceleration/deceleration time constants (STC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 [Pr. PT53_Torque slope (TQS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 [Pr. PT55_Function selection T-10 (*TOP10)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 [Pr. PT56_Homing acceleration time constant (HMA)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 [Pr. PT57_Homing deceleration time constant (HMB)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 [Pr. PT65_Profile speed command (PVC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 [Pr. PT66_Maximum profile speed (MPVC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 [Pr. PT67_Speed limit (VLMT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 [Pr. PT68_Function selection T-11 (TOP11)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
1.10 Network setting servo parameters group ([Pr. PN_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 [Pr. PN02_Communication error - Detection time (CERT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 [Pr. PN03_Communication mode setting (**NWMD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 [Pr. PN05_Communication error - Detection frequency setting (CERI)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175 [Pr. PN13_Network protocol setting (**NPS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 [Pr. PN20_Parameter automatic backup update interval (**PABI)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 [Pr. PN22_Function selection N-5] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 [Pr. PV01_Profile speed command extension setting (PVC2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 [Pr. PV03_Maximum profile speed extension setting (MPVCE)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 [Pr. PV05_Profile acceleration (PACC)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 [Pr. PV07_Profile deceleration (PDEC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 [Pr. PV09_Deceleration at forced stop (RSBDEC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 [Pr. PV11_Homing speed extension setting (ZRFE)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 [Pr. PV13_Creep speed extension setting (CRFE)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 [Pr. PV15_Homing acceleration (HMACC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 [Pr. PV17_Homing deceleration (HMDEC)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 [Pr. PV19_Speed reached 2 - Output range - Extension setting (SA2RE)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 [Pr. PV20_Zero speed 2 level extension setting (ZSP2LE)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 [Pr. PV21_Speed limit extension setting (VLMTE)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 [Pr. PV23_Speed unit conversion - Electronic gear numerator (*VCMX)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 [Pr. PV24_Speed unit conversion - Electronic gear denominator (*VCDV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
9
10
[Pr. PV25_Acceleration unit conversion - Electronic gear numerator (*ACMX)] . . . . . . . . . . . . . . . . . . . . . . . . 182 [Pr. PV26_Acceleration unit conversion - Electronic gear denominator (*ACDV)] . . . . . . . . . . . . . . . . . . . . . . 182 [Pr. PV29_Acceleration limit (ACCLMT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 [Pr. PV31_Deceleration limit (DECLMT)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 [Pr. PV33_Master-slave operation - Speed limit adjusted value extension setting (VLLE)] . . . . . . . . . . . . . . . 183
CHAPTER 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 184 2.1 Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 2.2 Lists of supported control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 Positioning control setting servo parameters group ([Pr. PT_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 Network setting servo parameters group ([Pr. PN_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
CHAPTER 3 LISTS OF SERVO PARAMETER INITIAL VALUES 195 3.1 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 3.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 3.3 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 3.4 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 3.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 3.6 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 3.7 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 3.8 Positioning control setting servo parameters group ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 3.9 Network setting servo parameters group ([Pr. PN_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 3.10 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
CHAPTER 4 SERVO PARAMETER SETTING METHOD 212 4.1 Engineering tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 4.2 Object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
CHAPTER 5 NETWORK PARAMETER DETAILS 214 5.1 Network basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
[Pr. NPA01_IP address setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 [Pr. NPA02_IP address] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 [Pr. NPA04_Subnet mask] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 [Pr. NPA08_Host name]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 [Pr. NPA12_Communication speed] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
5.2 User authentication parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 [Pr. NPB01_User authentication and authorization setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 [Pr. NPB04_User name No.1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 [Pr. NPB05_Authorization level No.1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 [Pr. NPB06_Password No.1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 [Pr. NPB07_User name No.2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 [Pr. NPB08_Authorization level No.2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
C O
N TE
N TS
[Pr. NPB09_Password No.2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB10_User name No.3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB11_Authorization level No.3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB12_Password No.3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB13_User name No.4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB14_Authorization level No.4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB15_Password No.4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB16_User name No.5] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 [Pr. NPB17_Authorization level No.5] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB18_Password No.5] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB19_User name No.6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB20_Authorization level No.6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB21_Password No.6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB22_User name No.7] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB23_Authorization level No.7] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB24_Password No.7] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 [Pr. NPB25_User name No.8] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 [Pr. NPB26_Authorization level No.8] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 [Pr. NPB27_Password No.8] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
CHAPTER 6 NETWORK PARAMETER SETTING METHOD 223 6.1 Engineering tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
CHAPTER 7 FUNCTIONAL SAFETY PARAMETER DETAILS 225 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
[Pr. PSA01_Safety sub-function mode selection (**SOA)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 [Pr. PSA02_Functional safety setting (**SMD)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 [Pr. PSA03_SS1/SS2 deceleration monitor time (**SST)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 [Pr. PSA04_Safety sub-function - Stop speed (**SSS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 [Pr. PSA05_SOS permissible travel distance (**SSDP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 [Pr. PSA06_SOS permissible travel distance unit selection (**SAOP1)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 [Pr. PSA07_SLS deceleration monitor time 1 (**SLSDT1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 [Pr. PSA08_SLS deceleration monitor time 2 (**SLSDT2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 [Pr. PSA09_SLS deceleration monitor time 3 (**SLSDT3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 [Pr. PSA10_SLS deceleration monitor time 4 (**SLSDT4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 [Pr. PSA11_SLS speed 1 (**SLSS1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 [Pr. PSA12_SLS speed 2 (**SLSS2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 [Pr. PSA13_SLS speed 3 (**SLSS3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 [Pr. PSA14_SLS speed 4 (**SLSS4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 [Pr. PSA15_Safety sub-function - Speed detection delay time (**SLST)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 [Pr. PSA17_Safety sub-function - Position detection delay time (**SOSPT)] . . . . . . . . . . . . . . . . . . . . . . . . . . 230 [Pr. PSA18_SSM speed (**SSMS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 [Pr. PSA19_SSM hysteresis width (**SSMHW)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 [Pr. PSA20_Servo motor encoder resolution (**SMER)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 [Pr. PSA22_Position feedback error detection time (**SAADT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 [Pr. PSA23_Servo motor rated speed (**SMRS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 [Pr. PSA24_SS1/SS2 deceleration monitor time constant (**SSTC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 [Pr. PSA25_SS1/SS2 deceleration monitor speed offset (**SSOF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 [Pr. PSA26_SS1/SS2 deceleration monitor delay time (**SSDT)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 [Pr. PSA27_SDI positive direction monitor delay time (**SDIDTP)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
11
12
[Pr. PSA28_SDI negative direction monitor delay time (**SDIDTN)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 7.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
[Pr. PSB01_SLI permissible travel distance - Unit selection (**SLIPUS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 [Pr. PSB02_SLI permissible travel distance - Positive direction 1 (**SLIPP1)] . . . . . . . . . . . . . . . . . . . . . . . . . 233 [Pr. PSB06_SLI permissible travel distance - Negative direction 1 (**SLIPN1)] . . . . . . . . . . . . . . . . . . . . . . . . 233 [Pr. PSB10_SLT torque upper limit value 1 (**SLTP1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 [Pr. PSB11_SLT torque upper limit value 2 (**SLTP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 [Pr. PSB12_SLT torque upper limit value 3 (**SLTP3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 [Pr. PSB13_SLT torque upper limit value 4 (**SLTP4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 [Pr. PSB14_SLT torque lower limit value 1 (**SLTN1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 [Pr. PSB15_SLT torque lower limit value 2 (**SLTN2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 [Pr. PSB16_SLT torque lower limit value 3 (**SLTN3)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 [Pr. PSB17_SLT torque lower limit value 4 (**SLTN4)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 [Pr. PSB18_SLT torque detection delay time (**SLTT)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
7.3 Network parameters group ([Pr. PSC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 [Pr. PSC01_Transmission interval monitor time (**SNC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 [Pr. PSC03_Functional safety - Rotation direction selection/travel direction selection (**SNPOL)] . . . . . . . . . 236 [Pr. PSC06_Safety verification code (**SAC)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
7.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 [Pr. PSD01_Input device automatic activation selection (**SDIA)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 [Pr. PSD02_Input device selection DI1 (**SDI1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 [Pr. PSD08_Output device selection DO1 (**SDO1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 [Pr. PSD12_Input device - Noise elimination filter time DI1 (**SDIF1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 [Pr. PSD18_Permissible time for mismatches DI1 (**SDIDT1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 [Pr. PSD29_Output device - Test pulse diagnosis execution selection (**SDOP)] . . . . . . . . . . . . . . . . . . . . . . 242 [Pr. PSD30_Output device - Test pulse off time (**SDOPW)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 [Pr. PSD31_Output device - Feedback diagnosis execution selection (**SDOD1)] . . . . . . . . . . . . . . . . . . . . . 243
7.5 Extension setting 3 parameters group ([Pr. PSL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 [Pr. PSL02_Functional safety - Linear encoder resolution setting - Numerator (**SLIM)] . . . . . . . . . . . . . . . . . 243 [Pr. PSL03_Functional safety - Linear encoder resolution setting - Denominator (**SLID)] . . . . . . . . . . . . . . . 243
CHAPTER 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 244 8.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244 8.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246 8.3 Network parameters group ([Pr. PSC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 8.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 8.5 Extension setting 3 parameters group ([Pr. PSL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
CHAPTER 9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD 252 9.1 Engineering tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .254 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .256
1
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, objects, 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. Some servo parameters correspond to the objects that can be updated periodically in cyclic communication. For example, [Pr. PT45 Homing method] corresponds to [Homing method (Obj. 6098h)]. When a relevant object is mapped in cyclic communication, the controller overwrites the servo parameter value written with engineering tools. Thus, do not write a value with the engineering tools.
1 SERVO PARAMETER DETAILS 13
14
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
1
[Pr. PA01.0_Control mode selection]
Select a control mode. 0: Network standard mode 6: Positioning mode (point table method) The control modes that can be used for each network are as follows.
*1 Available on servo amplifiers with firmware version C0 or later. Setting a value other than "0" and "6" triggers [AL. 037 Parameter error].
[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-_G_. In that case, use the MR-J5-_G_-RJ. When this servo parameter is set to "1" in the linear servo motor control mode, [AL. 037 Parameter error] occurs. Setting "1" (enabled) on the MR-J5W3-_G_ or MR-J5D3-_G_ 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 B8
Network Supported control mode
[Pr. PN13.0-3 Network protocol setting] *1 [Pr. PA01.0] = "0" [Pr. PA01.0] = "6" 0000h (CC-Link IE TSN) csp/csv/cst/pp/pv/tq/hm/ct/slt pt/jg/hm
0004h (CC-Link IE Field Network Basic) pp/pv/tq/hm pt/jg/hm
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 15
16
[Pr. PA01.7_High-speed mode selection]
When using the servo amplifier in the motion mode (high-speed), set "1" (enabled). Setting "1" on the MR-J5W_-_G triggers [AL. 037 Parameter error]. 0: Disabled 1: Enabled When this servo parameter is set to "1" and other servo parameters are set as follows, [AL. 037 Parameter error] occurs. [Pr. PA01.0 Control mode selection] = "6" (positioning mode (point table method)) [Pr. PA01.4 Fully closed loop operation mode selection] = "1" (enabled (fully closed loop control mode)) [Pr. PA22.3 Scale measurement function selection] = "1" (use with absolute position detection system) [Pr. PA22.3 Scale measurement function selection] = "2" (use with incremental system) [Pr. PT01.1 Speed/acceleration/deceleration unit selection] = "1" (command unit/s) [Pr. PT01.2 Unit for position data] = "2" (degree) [Pr. PT02.7 Internal position command - Process speed selection] = "1" (high-speed) [Pr. PD15.0 Master axis operation selection] = "1" (enabled (set this servo amplifier for the master axis.)) [Pr. PD15.1 Slave axis operation selection] = "1" (enabled (set this servo amplifier for the slave axis.)) [Pr. PN03.1 CC-Link IE TSN Class setting] = "1" (Class A ver. 2.0) When this servo parameter is set to "1" and the control mode is set to the profile position mode (pp), profile velocity mode (pv), or profile torque mode (tq), [AL. 19E Network warning 2] occurs.
Initial value Setting range Ver. 0h Refer to the text A6
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
[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). The setting value of this servo parameter is disabled for the MR-J5D_-_G_. 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.) "1C" and "1D" are available on servo amplifiers with firmware version B6 or later.
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 A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 17
18
[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]. The setting value of this servo parameter is disabled for the MR-J5D_-_G_. 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 19
20
[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. This servo parameter corresponds to [Motor revolutions (Obj. 6091h: 01h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. If the electronic gear is set to a value outside the setting range, noise may be generated during acceleration/deceleration, or operation may not be performed at the preset speed and/or acceleration/deceleration time constants. The setting range of the electronic gear ([Pr. PA06]/[Pr. PA07 Electronic gear denominator]) is as follows.
When [Pr. PT01.2 Unit for position data] is set to "2" (degree), the following two conditions must be met as well: When the electronic gear (CMX/CDV) is reduced to the lowest terms, its numerator and denominator are 16384 (214) or
less. When (CMX encoder resolution [pulse])/(CDV 360000) is reduced to the lowest terms, its numerator and denominator
are 2147483647 (231-1) or less.
[Pr. PA07_Electronic gear denominator (*CDV)]
Set the electronic gear denominator. Refer to the condition range of [Pr. PA06 Electronic gear numerator] for the electronic gear settings. Page 20 [Pr. PA06_Electronic gear numerator (*CMX)] This servo parameter corresponds to [Shaft revolutions (Obj. 6091h: 02h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
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 A0
Initial value Setting range Ver. 2h Refer to the text A0
Initial value Setting range Setting method Ver. 1 1 to 2147483647 Each axis A0
Encoder resolution [pulse] Setting range (CMX/CDV) 67108864 1/16 to 8388608
Initial value Setting range Setting method Ver. 1 1 to 2147483647 Each axis A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
[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 A0
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_ _ ]) 21
22
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
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
Set the auto tuning response.
Initial value Setting range Setting method Ver. 16 Refer to the text Each axis A0
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_ _ ]) 23
24
[Pr. PA10_In-position range (INP)]
Set the in-position range in the command pulse unit. With the setting of [Pr. PC06.0 In-position range unit selection], the unit can be changed to the servo motor encoder pulse unit. In-position range setting
*1 Available on servo amplifiers with firmware version B8 or later. Selecting an encoder for in-position range control
In-position range unit
*1 The command unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data].
[Pr. PA11_Forward rotation torque limit (TLP)]
The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter when limiting the torque of the servo motor for CCW power running or CW regeneration, or when limiting the thrust of the linear servo motor for positive direction power running or negative direction regeneration. If this servo parameter is set to "0.0", the servo motor does not generate torque or thrust. The polarity of the torque limit can be changed with the setting values of [Pr. PA14 Travel direction selection] and [Pr. PC29.3 Torque POL reflection selection]. This parameter corresponds to [Positive torque limit value (Obj. 60E0h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. Depending on the settings in [Pr. PC29.3] and [Pr. PA14], the corresponding object changes to [Negative torque limit value (Obj. 60E1h)]. If a value larger than the maximum torque or maximum thrust of the servo motor is set, the value will be limited to the maximum torque or maximum thrust of the servo motor.
Initial value Setting range Setting method Ver. 25600 [Refer to the text below for the unit.]
0 to 16777215 Each axis A0
Control mode In-position setting range Profile mode/Cyclic synchronous mode Range where in-position (INP) is output
Positioning mode (point table method) *1 Range where MEND (traveling completion) and INP (in-position) are output
[Pr. PA01.4 Fully closed loop operation mode selection] setting value
In-position range unit
0 (semi closed loop control mode) Command resolution unit (motor-side encoder)
1 (fully closed loop control mode) Command resolution unit (load-side encoder)
[Pr. PC06.0 In-position range unit selection] setting value
Unit
0 (command unit) Position command unit *1
1 (servo motor encoder pulse unit) pulse
Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration, or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration. If this servo parameter is set to "0.0", the servo motor does not generate torque or thrust. The polarity of the torque limit can be changed with the setting values of [Pr. PA14 Travel direction selection] and [Pr. PC29.3 Torque POL reflection selection]. This servo parameter corresponds to [Negative torque limit value (Obj. 60E1h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. Depending on the settings in [Pr. PC29.3] and [Pr. PA14], the corresponding object changes to [Positive torque limit value (Obj. 60E0h)]. If a value larger than the maximum torque or maximum thrust of the servo motor is set, the value will be limited to the maximum torque or maximum thrust of the servo motor.
Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 25
26
[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 mode and positioning mode. Position information
Speed information
Torque information
The servo motor rotation direction is as follows.
The positive and negative directions of the linear servo motor are as follows.
Initial value Setting range Setting method Ver. 0 0 to 1 Each axis A0
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
Forward rotation (CCW)
Forward rotation (CCW) Reverse rotation (CW)
Reverse rotation (CW)
Secondary side
Primary side
Positive direction
Negative direction Secondary side
Primary side
Positive direction
Negative direction
Positive direction
Negative direction
Positive direction
Negative direction
Secondary side
Primary side
Table
Primary side
Secondary side
LM-H3 series/LM-F series LM-U2 series/LM-AU series LM-K2 series LM-AJ series
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
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 when selecting "3" (A-phase/B-phase pulse electronic gear setting) 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 A0
Initial value Setting range Setting method Ver. 1 1 to 67108864 Each axis A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 27
28
[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 A0
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_ _ ])
1
[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 28 [Pr. PA17_Servo motor series setting (**MSR)]
LM-AJ LM-AJP1B-07K-JSS0 000000DAh 1201h
LM-AJP1D-14K-JSS0 1401h
LM-AJP2B-12S-JSS0 2201h
LM-AJP2D-23T-JSS0 2401h
LM-AJP3B-17N-JSS0 3201h
LM-AJP3D-35R-JSS0 3401h
LM-AJP4B-22M-JSS0 4201h
LM-AJP4D-45N-JSS0 4401h
LM-AU LM-AUP3A-03V-JSS0 000000DBh 3102h
LM-AUP3B-06V-JSS0 3202h
LM-AUP3C-09V-JSS0 3302h
LM-AUP3D-11R-JSS0 3402h
LM-AUP4A-04R-JSS0 4102h
LM-AUP4B-09R-JSS0 4202h
LM-AUP4C-13P-JSS0 4302h
LM-AUP4D-18M-JSS0 4402h
LM-AUP4F-26P-JSS0 4602h
LM-AUP4H-35M-JSS0 4802h
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 A0
Linear servo motor series Linear servo motor (primary side) Servo parameter
Setting value of [Pr. PA17] Setting value of [Pr. PA18.0-3]
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 29
30
[Pr. PA19_Servo parameter writing prohibited (*BLK)]
Select a reference range and writing range for the servo parameter. Refer to the following table for setting values.
The settings of this servo parameter are disabled if they are read/written via engineering tools (such as MR Configurator2). The settings of this servo parameter are disabled for parameter objects.
Initial value Setting range Setting method Ver. 000000ABh Refer to the text Each axis A0
PA19 Setting value operation
PA PB PC PD PE PF PO PS PL, PU
PT, PV PN
Setting values not listed below
Readable
Writable
0000000A Readable 19 only
Writable 19 only
0000000B Readable
Writable
0000000C Readable
Writable
0000000D Readable
Writable
0000000E Readable
Writable
0000000F Readable
Writable
000000AA Readable
Writable
000000AB (initial value)
Readable
Writable
0000100B Readable
Writable 19 only
0000100C Readable
Writable 19 only
0000100D Readable
Writable 19 only
0000100E Readable
Writable 19 only
0000100F Readable
Writable 19 only
000010AA Readable
Writable 19 only
000010AB Readable
Writable 19 only
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
[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. Setting this servo parameter to "1" on the MR-J5D_-_G_ triggers [AL. 037 Parameter error].
[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.
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
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 A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 31
32
[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-_G_ triggers [AL. 037]. 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. 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 A5
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
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 A0
Initial value Setting range Ver. 000h 000h to FFFh A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 33
34
[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. PA24.5_Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection]
Select whether to enable or disable estimation with higher precision for the load to motor inertia ratio/load to motor mass ratio. 0: Disabled 1: Enabled When this servo parameter is set to "0" (disabled), [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] may be estimated at a value smaller than the accurate estimation depending on the operation pattern. Therefore, this servo parameter is recommended to be set to "1" (enabled). Setting this servo parameter to "1" (enabled) with the equipment on which the gain is adjusted may change the actual movement. Check the movement of the equipment after changing the settings.
[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.
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 A0
Initial value Setting range Ver. 0h Refer to the text C4
Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
1
[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_-_G_. When this parameter is enabled, [AL. 037 Parameter error] occurs. This function is disabled in the cyclic synchronous torque mode (cst), profile torque mode (tq), and slave axis torque mode (slt).
[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 A0
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 A0
Initial value Setting range Setting method Ver. 0 [0.1 rev], [mm] 0 to 100 Each axis A0
1 SERVO PARAMETER DETAILS 1.2 Basic setting servo parameters group ([Pr. PA_ _ ]) 35
36
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 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 36000 [rad/s] 0 to 36000 Each axis B0
Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 37
38
[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 A0
[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 A0
[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_ _ ])
1
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 39 [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 39 [Pr. PB08_Position control gain (PG2)]
Initial value Setting range Setting method Ver. 37.0 [rad/s] 1.0 to 2000.0 Each axis A0
[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 A0
Initial value Setting range Setting method Ver. 33.7 [ms] 0.1 to 1000.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 39
40
[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 A0
[Pr. PB24.1] The enabling conditions for this servo parameter "0" (switching is enabled by PID switching signal (C_PC) from controller and the input device (PC))
Enabled by turning on the PID switching signal from controller (C_PC), or by turning on the PC (Proportional control)
"3" (Continuous PID control (proportional control) enabled) Always enabled
Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Each axis A0
Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 41
42
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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 A0
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_ _ ]) 43
44
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_ _ ])
1
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_ _ ]) 45
46
[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 A0
Initial value Setting range Setting method Ver. 3141 [rad/s] 100 to 36000 Each axis A0
[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_ _ ])
1
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 A0
Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 47
48
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 1h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
[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 mode and positioning mode.
[Pr. PB24.1_PI-PID switching control selection]
0: PI control enabled (switching is enabled by PID switching signal (C_PC) from controller and the input device (PC)) 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
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 A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 49
50
[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: Signal (CDP/C_CDP) 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 using the control command (C_CDP) from the controller or the input device CDP (Gain switching). When "2" is selected, set [Pr. PT01.2 Unit for position data] to "3" (pulse). Setting [Pr. PT01.2] to a value other than "3" disables gain switching.
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
0: Disabled 1: Signal (CDP2/C_CDP2) 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 using the control command (C_CDP2) from the controller or the input device CDP2 (Gain switching 2). 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 (C_CDP2) from the controller or the input device CDP2 (Gain switching 2).
[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 mode and positioning mode.
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 51
52
[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].
[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).
Initial value Setting range Setting method Ver. 10 [Refer to the text below for the unit.]
0 to 16777215 Each axis A0
Initial value Setting range Setting method Ver. 1 [ms] 0 to 100 Each axis A0
Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 2000.0 Each axis A0
Initial value Setting range Setting method Ver. 0 [rad/s] 0 to 65535 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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" (signal (CDP/C_CDP)) 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. 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" (signal (CDP/C_CDP)) 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" (signal (CDP/C_CDP)) 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 [ms] 0.0 to 5000.0 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 53
54
[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" (signal (CDP/C_CDP)) 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. 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. 0.00 0.00 to 0.30 Each axis A0
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 A0
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
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
22 62
23 58
24 55
25 52
26 50
27 47
29 45
2A 43
2B 41
2C 40
2D 38
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
Setting value Frequency [Hz]
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 55
56
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
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
Setting value Frequency [Hz]
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
Refer to the following table for details.
[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.
Initial value Setting range Ver. 0h Refer to the text A0
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
Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 57
58
[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
[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.
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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
[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.
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 4500 [Hz] 10 to 9000 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 59
60
[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
[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.
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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).
[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" (signal (CDP/C_CDP)) 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. 100.0 [Hz] 0.1 to 300.0 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 61
62
[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" (signal (CDP/C_CDP)) 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" (signal (CDP/C_CDP)) 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. 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" (signal (CDP/C_CDP)) 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" (signal (CDP/C_CDP)) 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 A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 8000.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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.
[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).
Initial value Setting range Setting method Ver. 10 [Refer to the text below for the unit.]
0 to 16777215 Each axis A0
Initial value Setting range Setting method Ver. 1 [ms] 0 to 100 Each axis A0
Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 2000.0 Each axis A0
Initial value Setting range Setting method Ver. 0 [rad/s] 0 to 65535 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 63
64
[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).
[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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). 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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). 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 [ms] 0.0 to 5000.0 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.
[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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). 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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). 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 A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 65
66
[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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.
[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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). 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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)). 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 A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis A0
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
1
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" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)).
[Pr. PB81_Command filter (*CFIL)]
[Pr. PB81.4_Position command smoothing filter]
This function can be used only in position mode and positioning 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). When [Pr. PA01.7 High-speed mode selection] is set to "1" (enabled), values exceeding 50 [ms] are clamped to 50 [ms].
Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 8000.0 Each axis A0
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 A5
Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 100.0 Each axis A5
1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 67
68
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 A0
Initial value Setting range Setting method Ver. 0 [ms] 0 to 1000 Each axis A0
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 A0
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_ _ ])
1
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 A0
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
When a servo amplifier with a firmware version earlier than B2 is being used, [AL. 037] occurs.
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_ _ ]) 69
70
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 69 [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 A0
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_ _ ])
1
[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. For servo amplifiers other than the MR-J5-_G_-RJ, [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)).
[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 A0
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 71
72
[Pr. PC06_Function selection C-3 (*COP3)]
[Pr. PC06.0_In-position range unit selection]
Select a unit of the in-position range. If [Pr. PA01.4 Fully closed loop operation mode selection] is set to "1" (fully closed loop system), the in-position range is in the load-side encoder pulse unit. This servo parameter is enabled only in the position mode and positioning mode. 0: Command input pulse unit 1: Servo motor encoder pulse unit
[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 mode and positioning 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis A0
Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 20000 Each axis A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
[Pr. PC09.0-1_Analog monitor 1 output selection]
Select the signal to be output to analog monitor 1.
*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. *3 The maximum torque or maximum thrust is enabled by the setting of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse
rotation torque limit], whichever is larger. *4 Available on servo amplifiers with firmware version A5 or later.
[Pr. PC09.3_Analog monitor 1 output axis selection]
0: A-axis 1: B-axis 2: C-axis
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 A0
Setting value
Explanation Semi closed loop system *1 Fully closed loop system *1
Rotary Linear DD Rotary DD 00 Servo motor speed (8 V/max. speed)
01 Torque or thrust (8 V/max. torque or max. thrust) *3
02 Servo motor speed (+8 V/max. speed)
03 Torque or thrust (+8 V/max. torque or max. thrust) *3
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 *4 Load-side droop pulses (10 V/100 pulses) *2
11 *4 Load-side droop pulses (10 V/1000 pulses) *2
12 *4 Load-side droop pulses (10 V/10000 pulses) *2
13 *4 Load-side droop pulses (10 V/100000 pulses) *2
14 *4 Load-side droop pulses (10 V/1 Mpulses) *2
15 *4 Motor/load side position deviation (10 V/100000 pulses)
16 *4 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
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 73
74
[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. Refer to the following for setting values. Page 73 [Pr. PC09_Analog monitor 1 output (MOD1)]
[Pr. PC10.3_Analog monitor 2 output axis selection]
0: A-axis 1: B-axis 2: C-axis
[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).
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 0 [mV] -999 to 999 Common A0
Initial value Setting range Setting method Ver. 0 [mV] -999 to 999 Common A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
[Pr. PC16.4_Servo motor incorrect wiring detection function selection]
Set the servo motor incorrect wiring detection function to either enabled or disabled. Setting this servo parameter to "1" on the MR-J5D_-_G_ triggers [AL. 037 Parameter error]. 0: Servo motor incorrect wiring detection disabled 1: Servo motor incorrect wiring detection enabled
[Pr. PC16.5_Servo motor incorrect wiring detection function execution method selection]
Set the execution method for the servo motor incorrect wiring detection function. 0: Detect servo motor incorrect wiring at initial servo-on after enabling servo motor incorrect wiring detection 1: Detect servo motor incorrect wiring at initial servo-on after cycling the power When [Pr. PC16.4] is set to "0" (servo motor incorrect wiring detection disabled), the servo motor incorrect wiring detection function is not executed regardless of the setting value in this servo parameter. When this servo parameter is set to "0", servo motor incorrect wiring detection is executed at initial servo-on, and then after the detection is completed, [Pr. PC16.4] will be set to "0" (disabled).
[Pr. PC17_Function selection C-4 (**COP4)]
[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. 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
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 A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 75
76
[Pr. PC19_Function selection C-6 (*COP6)]
[Pr. PC19.0_[AL. 099 Stroke limit warning] selection]
Enable or disable [AL. 099 Stroke limit warning]. When "Disabled" is selected, [AL. 099] does not occur while LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off, but the operation will be stopped with the stroke limit. 0: Enabled 1: Disabled
[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 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 Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
[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 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. Setting this servo parameter to "1" or "2" on the MR-J5D_-_G_ triggers [AL. 037 Parameter error]. 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Servo amplifier Servo amplifier main circuit input voltage
Servo amplifier capacity Input open-phase detection function
MR-J5-_G(-RJ_) 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_-_G_ 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-_G4(-RJ_) 3-phase AC 3.5 kW or less Warning occurrence
MR-J5D_-_G_ Disabled
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 77
78
[Pr. PC20.6_Input open-phase status output selection]
Select the conditions to turn on bit 10 (S_PNL) of [Status DO 5 (Obj. 2D15h)]. When turning on the bit in an input open-phase state due to incorrect wiring or disconnection, set this servo parameter to "0" or "2". When turning on the bit in an input open-phase state due to turning off of the main circuit power supply, set this servo parameter to "1" or "3". 0: Turn on during servo-on and when one phase is open 1: Turn on during servo-on and when one, two, or all phases are open 2: Turn on when one phase is open 3: Turn on when one, two, or all phases are open While [Pr. PC20.4 Input open-phase detection selection] is set to "3" (disabled), bit 10 (S_PNLT) of [Status DO 5] does not turn on when one phase is open. To turn on bit 10 (S_PNLT) of [Status DO 5] when one phase is open, set [Pr. PC20.4] to "1" (warning enabled) or "2" (alarm enabled). For the MR-J5D_-_G_, bit 10 (S_PNLT) of [Status DO 5] is always off. While the detection function is enabled in [Pr. PC20.4], bit 10 (S_PNLT) of [Status DO 5] is always on if being used with 1- phase AC input. When using the bit with 1-phase AC input, set [Pr. PC20.4] to "3" (disabled).
[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.
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 A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
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.
This servo parameter corresponds to [Quick stop deceleration (Obj. 6085h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This servo parameter is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This servo parameter and [Pr. PV09 Deceleration at forced stop] are mutually exclusive. 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.
[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-_G_-RJ and MR-J5D1-_G_ triggers [AL. 037].
Initial value Setting range Setting method Ver. 100 [ms] 0 to 20000 Each axis A0
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 A0
[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_ _ ]) 79
80
[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. If the scale measurement function is enabled in the linear servo motor control mode, the polarity of the servo motor-side encoder changes. 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.
[Pr. PC27.5_Scale measurement encoder selection]
Select a scale measurement encoder when using an A/B/Z-phase differential output type encoder. This setting is enabled only when an A/B/Z-phase differential output type encoder is connected to CN2L or CN2AL. If this servo parameter is set to "1" in the standard control mode or direct drive motor control mode while connected to an A/B/ Z-phase differential output linear encoder, [AL. 01A Servo motor combination error] occurs. If this servo parameter is set to "1" in the standard control mode or linear servo motor control mode while connected to an A/ B/Z-phase differential output rotary encoder, [AL. 01A Servo motor combination error] occurs. 0: Use the A/B/Z-phase differential output type encoder as a scale measurement encoder 1: Use a serial encoder as a scale measurement encoder
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
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
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
[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] when a servo motor with a batteryless absolute position encoder is used. 0: Enabled 1: Disabled
[Pr. PC29.3_Torque POL reflection selection]
When this servo parameter setting is enabled, setting of [Pr. PA14 Travel direction selection] changes the polarities in the following items: torque command ([Target torque (Obj. 6071h)] and [Torque demand value (Obj. 6074h)]), torque limit value ([Positive torque limit value (Obj. 60E0h)] and [Negative torque limit value (Obj. 60E1h)]), and torque feedback ([Torque actual value (Obj. 6077h)]). 0: Enabled 1: Disabled
Initial value Setting range Setting method Ver. 00101000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 1h Refer to the text A0
Setting value Selection of servo motor rotation direction/linear servo motor travel direction
[Pr. PC29.3] [Pr. PA14] Torque handled by the controller: positive
Torque handled by the controller: negative
0: Enabled 0 CCW or positive direction (Forward rotation in power running mode, reverse rotation in regenerative mode)
CW or negative direction (Reverse rotation in power running mode, forward rotation in regenerative mode)
1 CW or negative direction (Reverse rotation in power running mode, forward rotation in regenerative mode)
CCW or positive direction (Forward rotation in power running mode, reverse rotation in regenerative mode)
1: Disabled 0 CCW or positive direction (Forward rotation in power running mode, reverse rotation in regenerative mode)
CW or negative direction (Reverse rotation in power running mode, forward rotation in regenerative mode)
1
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 81
82
[Pr. PC29.5_[AL. 0E3 Absolute position counter warning] selection] Initial value Setting range Ver. 1h Refer to the text A0
Setting digit (BIN) Functions _ _ _ x [AL. 0E3 Absolute position counter warning] selection
0: Disabled 1: Enabled While this servo parameter is set to "0" (disabled), [AL. 0E3] does not occur even when the rotation amount exceeds the maximum value of the multi- revolution counter or falls below the minimum value. Set this servo parameter to "0" (disabled) when configuring the absolute position detection system in cyclic synchronous mode with a motion module manufactured by Mitsubishi Electric. While the infinite feed function ("2" (degree unit) in [Pr. PT01.2 Unit for position data]) is used, [AL. 0E3.1 Multi-revolution counter travel distance excess warning] does not occur even when this servo parameter is set to "1" (enabled).
_ _ x _
_ x _ _
x _ _ _
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
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 control mode is set for the position mode or positioning mode. 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. Or, the Quick stop
command was issued. 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.
Initial value Setting range Setting method Ver. 0 [0.0001 rev], [0.01 mm] -25000 to 25000 Each axis A0
Initial value Setting range Setting method Ver. 0 [rev], [mm] 0 to 1000 Each axis A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 83
84
[Pr. PC41_Function selection C-J (*COPJ)]
[Pr. PC41.0_[AL. 090.1 Homing incomplete] detection selection]
Enable or disable [AL. 090.1 Homing incomplete]. This function is enabled in the cyclic synchronous position mode. When setting this servo parameter to "1" (disabled), set [Pr. PC29.5 [AL. 0E3 Absolute position counter warning] selection] to "0" (disabled). 0: Enabled 1: Disabled
[Pr. PC41.3_Electromagnetic brake sequence output function selection]
When shifting the PDS state from the Operation enabled state to servo-off, select a state after transition which enables [Pr. PC02 Electromagnetic brake sequence output]. The state changes to the one selected with this servo parameter after the time set in [Pr. PC02] has passed. 0: Switched on 1: Switched on/Ready to switch on/Switch on disabled When [Pr. PC46.2 Protection coordination multiple connections selection] is set to "1" (connect multiple MR-J5D_-_G_ to the converter unit), setting this servo parameter to "1" triggers [AL. 037 Parameter error].
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 A5
Initial value Setting range Ver. 0h Refer to the text C0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
[Pr. PC46.1_Converter stop mode selection]
Select the converter stop mode. 0: Converter main circuit MC off in occurrence of the converter stop alarm 1: Converter main circuit MC off in occurrence of an alarm This servo parameter can be used only with the MR-J5D_-_G_. The setting value of this servo parameter is disabled for servo amplifiers other than the MR-J5D_-_G_. When this servo parameter is set to "1", all alarms are applicable to converter main circuit stop. Alternatively, the motor stop method of all the alarms changes to DB (Dynamic brake stop). For the alarms applicable to converter main circuit stop and motor stop methods, refer to "List of alarm No./warning No." in the following manual. MR-J5 User's Manual (Troubleshooting)
[Pr. PC46.2_Protection coordination multiple connection selection]
When connecting multiple MR-J5D_-_G_ to one converter unit using a protection coordination cable, set this servo parameter to "1". 0: Connect one MR-J5D_-_G_ to one converter unit. 1: Connect multiple MR-J5D_-_G_ to one converter unit. This servo parameter can be used only with the MR-J5D_-_G_. The setting value of this servo parameter is disabled for servo amplifiers other than the MR-J5D_-_G_. When this servo parameter is set to "1", the motor stop method of the alarm changes to DB (Dynamic brake stop) if all axes are specified for the stop system. For the motor stop method, refer to "List of alarm No./warning No." in the following manual. MR-J5 User's Manual (Troubleshooting)
[Pr. PC46.3_Protection coordination end terminal setting]
When connecting multiple MR-J5D_-_G_ to one converter unit using a protection coordination cable, set this servo parameter to "1" on the end terminal drive unit. 0: Terminal settings disabled 1: Terminal settings enabled (end terminal) This servo parameter can be used only with the MR-J5D_-_G_. The setting value of this servo parameter is disabled for servo amplifiers other than the MR-J5D_-_G_. This servo parameter is enabled only when [Pr. PC46.2 Protection coordination multiple connections selection] is set to "1" (connect multiple MR-J5D_-_G_ to the converter unit). The setting value of this servo parameter is disabled when [Pr. PC46.2] is set to "0" (connect one MR-J5D_-_G_ to one converter unit). If the setting value of this servo parameter does not match the connection status of the protection coordination cable, [AL. 11B Protection coordination connection error] occurs.
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 C0
Initial value Setting range Ver. 0h Refer to the text C0
Initial value Setting range Ver. 0h Refer to the text C0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 85
86
[Pr. PC65_Zero speed 2 level (ZSP2L)]
Set the level of speed at which zero speed 2 turns on. If the state where the absolute value of the servo motor speed exceeds the setting value of this servo parameter continues for the time set in [Pr. PC66 Zero speed 2 filtering time] or longer, bit 12 (Speed) of [Statusword (Obj. 6041h)] turns off. This function is enabled in the profile velocity mode. This servo parameter corresponds to [Velocity threshold (Obj. 606Fh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This servo parameter is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This servo parameter and [Pr. PV20 Zero speed 2 level extension setting] are mutually exclusive.
[Pr. PC66_Zero speed 2 filtering time (ZSP2F)]
This servo parameter sets the zero speed 2 filtering time. If the state where the absolute value of the servo motor speed exceeds [Pr. PC65 Zero speed 2 level] continues for the setting value of this servo parameter or longer, bit 12 (Speed) of [Statusword (Obj. 6041h)] turns off. This function is enabled in the profile velocity mode. This servo parameter corresponds to [Velocity threshold time (Obj. 6070h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PC67_Following error output level (FEW)]
Set the output level of the following error output. When the state of "droop pulses the parameter setting value" continues for the time set in [Pr. PC69 Following error output filtering time], bit 13 (Following error) of [Statusword (Obj. 6041h)] turns on. If "FFFFFFFFh" is set, the following error output will be disabled. Set the value in hexadecimal. This function is enabled in the cyclic synchronous position mode, profile position mode, point table mode, and JOG operation mode. This servo parameter corresponds to [Following error window (Obj. 6065h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data].
Initial value Setting range Setting method Ver. 50.00 [r/min], [mm/s] 0.00 to 655.35 Each axis A5
Initial value Setting range Setting method Ver. 10 [ms] 0 to 65535 Each axis A5
Initial value Setting range Setting method Ver. 00C00000h [Refer to the text below for the unit.]
00000000h to FFFFFFFFh Each axis A0
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
Set the time until the following error output turns on. When the state in which droop pulses [Pr. PC67 Following error output level] continues for the time set in the servo parameter setting value, bit 13 (Following error) of [Statusword (Obj. 6041h)] turns on. This function is enabled in the cyclic synchronous position mode, profile position mode, point table mode, and JOG operation mode. This servo parameter corresponds to [Following error time out (Obj. 6066h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. When the setting value of [Pr. PC67] is "FFFFFFFFh", the following error output is disabled.
[Pr. PC70_In-position 2 - Output range (INP2R)]
Set the position range where the in-position 2 output turns on. If the state where the error between the command position and the actual position is within the setting value of this servo parameter continues for the time set in [Pr. PC71 In-position 2 - Output filtering time] or longer, bit 10 (Target reached) of [Statusword (Obj. 6041h)] turns on. However, if "4294967295" is set, bit 10 (Target reached) of [Statusword (Obj. 6041h)] is always turned on. This function is enabled in the profile position mode, point table mode, and JOG operation mode. This servo parameter corresponds to [Position window (Obj. 6067h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data].
[Pr. PC71_In-position 2 - Output filtering time (INP2F)]
This servo parameter sets the time until the in-position 2 output turns on. If the state where the error between the command position and the actual position is within [Pr. PC70 In-position 2 - Output range] continues for the setting value of this servo parameter or longer, bit 10 (Target reached) of [Statusword (Obj. 6041h)] turns on. When [Pr. PC70] is set to "4294967295", bit 10 (Target reached) of [Statusword (Obj. 6041h)] is always turned on. This function is enabled in the profile position mode, point table mode, and JOG operation mode. This servo parameter corresponds to [Position window time (Obj. 6068h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 10 [ms] 0 to 65535 Each axis A0
Initial value Setting range Setting method Ver. 400 [Refer to the text below for the unit.]
0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 10 [ms] 0 to 65535 Each axis A5
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 87
88
[Pr. PC72_Speed reached 2 - Output range (SA2R)]
This servo parameter sets the range of speed at which speed reached 2 output turns on. If the state where the error between the command speed and the servo motor speed is within the setting value of this servo parameter continues for the time set in [Pr. PC73 Speed reached 2 - Output filtering time] or longer, bit 10 (Target velocity reached) of [Statusword (Obj. 6041h)] turns on. This function is enabled in the profile velocity mode. This servo parameter corresponds to [Velocity window (Obj. 606Dh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This servo parameter is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This servo parameter and [Pr. PV19 Speed reached 2 - Output range - Extension setting] are mutually exclusive.
[Pr. PC73_Speed reached 2 - Output filtering time (SA2F)]
This servo parameter sets the time until the speed reached 2 output turns on. If the state where the error between the speed command and the servo motor speed is within [Pr. PC72 Speed reached 2 - Output filtering time] continues for the setting value of this servo parameter or longer, bit 10 (Target velocity reached) of [Statusword (Obj. 6041h)] turns on. This function is enabled in the profile velocity mode. This servo parameter corresponds to [Velocity window time (Obj. 606Eh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 20.00 [r/min], [mm/s] 0.00 to 655.35 Each axis A5
Initial value Setting range Setting method Ver. 10 [ms] 0 to 65535 Each axis A5
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
[Pr. PC76.1_ZSP disabled selection at control switching]
Select whether to switch the control mode from or to the position mode within the ZSP range. 0: Enabled (control switching is performed within the range of ZSP) 1: Disabled (control switching is performed regardless of the range of ZSP) If set to "Disabled", control switching may cause a shock.
[Pr. PC76.2_Internal command speed POL reflection selection]
When this function is enabled, the polarity in [Velocity demand value (Obj. 606Bh)] can be changed with the setting value of [Pr. PA14 Travel direction selection]. 0: Automatic setting (1: POL setting enabled) 1: POL setting enabled 2: POL setting disabled
[Pr. PC76.3_Limit switch status read selection]
The outputs of LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) read by [Digital inputs (Obj. 60FDh)] can be reversed. Refer to the following table for information regarding this servo parameter and outputs.
[Pr. PC78_Function selection C-F (*COPF)]
[Pr. PC78.1_Maximum torque limit 1 selection]
Select whether to enable or disable the maximum torque limit 1. 0: Disabled 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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text B2
Pr. PC76.3 LSP/LSN [Digital inputs (Obj. 60FDh)] 0 OFF 0
ON 1
1 OFF 1
ON 0
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 A5
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 89
90
[Pr. PC79_Function selection C-G (*COPG)]
For DI pin numbers corresponding to setting digits, refer to the following table. If this servo parameter is set incorrectly, [AL. 037 Parameter error] may occur. MR-J5-_G_/MR-J5W_-_G_
*1 Available on servo amplifiers with firmware version C0 or later and manufactured in June 2021 or later. MR-J5D_-_G_
Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Servo parameter number
Setting digit (BIN)
Name DI pin
MR-J5_- _G_
MR-J5_- _G_-RJ
MR-J5W_-_G_
A-axis B-axis C-axis [Pr. PC79.0] _ _ _ x For manufacturer setting
_ _ x _ DI1 status read selection CN3-2 CN3-2 CN3-7 CN3-20 CN3-1
_ x _ _ DI2 status read selection CN3-12 CN3-12 CN3-8 CN3-21 CN3-2
x _ _ _ DI3 status read selection CN3-19 CN3-19 CN3-9 CN3-22 CN3-15
[Pr. PC79.1] _ _ _ x DI4 status read selection CN3-10 *1 CN3-10
_ _ x _ DI5 status read selection CN3-1 *1 CN3-1
_ x _ _ EM2/EM1 status read selection CN3-20 CN3-20 CN3-10 CN3-10 CN3-10
x _ _ _ For manufacturer setting
Servo parameter number
Setting digit (BIN)
Name DI pin
MR-J5D1-_G_ MR-J5D2-_G_/MR-J5D3-_G_
A-axis B-axis C-axis [Pr. PC79.0] _ _ _ x For manufacturer setting
_ _ x _ DI1 status read selection CN3-12 CN3-12 CN3-26 CN3-10
_ x _ _ DI2 status read selection CN3-28 CN3-28 CN3-25 CN3-9
x _ _ _ DI3 status read selection CN3-29 CN3-29 CN3-27 CN3-11
[Pr. PC79.1] _ _ _ x DI4 status read selection CN3-11
_ _ x _ DI5 status read selection CN3-27
_ x _ _ EM2/EM1 status read selection CN3-13 CN3-13 CN3-13 CN3-13
x _ _ _ For manufacturer setting
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
1
Select whether to return the on/off state of the input device or the on/off state of the pin when reading [Digital inputs (Obj. 60FDh)].
[Pr. PC79.1_DI status read selection]
Select whether to return the on/off state of the input device or the on/off state of the pin when reading [Digital inputs (Obj. 60FDh)].
Initial value Setting range Ver. 00h Refer to the text A5
Setting digit (BIN) Functions _ _ _ x
_ _ x _ DI1 status read selection Select the DI1 (bit 17) status read operation. 0: Returns the on/off state of the input device. 1: Returns the on/off state of DI1 pin.
_ x _ _ DI2 status read selection Select the DI2 (bit 18) status read operation. 0: Returns the on/off state of the input device. 1: Returns the on/off state of DI2 pin.
x _ _ _ DI3 status read selection Select the DI3 (bit 19) status read operation. 0: Returns the on/off state of the input device. 1: Returns the on/off state of DI3 pin.
Initial value Setting range Ver. 00h Refer to the text A5
Setting digit (BIN) Functions _ _ _ x DI4 status read selection
Select the DI4 (bit 20) status read operation. 0: Returns the on/off state of the input device. 1: Returns the on/off state of DI4 pin.
_ _ x _ DI5 status read selection Select the DI5 (bit 21) status read operation. 0: Returns the on/off state of the input device. 1: Returns the on/off state of DI5 pin.
_ x _ _ EM2/EM1 status read selection Select the EM2/EM1 (bit 22) status read operation. 0: Returns the on/off state of the input device. 1: Returns the on/off state of EM2/EM1 pin.
x _ _ _
1 SERVO PARAMETER DETAILS 1.4 Extension setting servo parameters group ([Pr. PC_ _ ]) 91
92
1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD01_Input signal automatic ON selection 1 (*DIA1)]
[Pr. PD01.0_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD01.1_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD01.2_Input signal automatic ON selection]
Select input devices that turn on automatically.
[Pr. PD01.3_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD01.4_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD01.5_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD01.6_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD01.7_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 A0
Setting digit (BIN) Functions _ _ _ x
_ _ x _
_ x _ _ Forward rotation stroke end (LSP) 0: Use for an external input signal 1: Automatic on
x _ _ _ Reverse rotation stroke end (LSN) 0: Use for an external input signal 1: Automatic on
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
[Pr. PD03.0-1_Device selection]
Refer to the following table for setting values.
*1 Available on servo amplifiers with firmware version A5 or later. *2 For the MR-J5-_G, the device is available on servo amplifiers with firmware version C0 or later and manufactured after June 2021. When
using TPR1, 2, or 3 with the MR-J5-_G, assigning TPR1, 2, or 3 to [Pr. PD03 Input device selection 1], [Pr. PD04 Input device selection 2], or [Pr. PD05 Input device selection 3] will cause [AL. 037 Parameter error] to occur.
*3 When using TPR1, 2, or 3 with the MR-J5-_G_-RJ_, MR-J5W_-_G_, MR-J5D2-_G_, or MR-J5D3-_G_, assigning TPR1, 2, or 3 to [Pr. PD03] or [Pr. PD04] will cause [AL. 037] to occur.
Initial value Setting range Setting method Ver. 0000000Ah Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Model Shaft Connector pin No. Initially assigned device MR-J5-_G_ CN3-2 LSP
MR-J5W2-_G_ A-axis CN3-7 LSP-A
B-axis CN3-20 LSP-B
MR-J5W3-_G_ A-axis CN3-7 LSP-A
B-axis CN3-20 LSP-B
C-axis CN3-1 LSP-C
MR-J5D1-_G_ CN3-12 LSP
MR-J5D2-_G_ A-axis CN3-12 LSP-A
B-axis CN3-26 LSP-B
MR-J5D3-_G_ A-axis CN3-12 LSP-A
B-axis CN3-26 LSP-B
C-axis CN3-10 LSP-C
Initial value Setting range Ver. 0Ah Refer to the text A0
Setting value Input signal device 00 No assigned function
04 PC
0A LSP
0B LSN
0D CDP
0E CLD *1
22 DOG
2C TPR1 *1*2*3
2D TPR2 *1*2*3
40 CDP2
62 No assigned function
63 TPR3 *1*2*3
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 93
94
[Pr. PD04_Input device selection 2 (*DI2)]
Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
[Pr. PD04.0-1_Device selection]
Refer to the following for setting values. Page 93 [Pr. PD03_Input device selection 1 (*DI1)]
Initial value Setting range Setting method Ver. 0000000Bh Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Model Shaft Connector pin No. Initially assigned device MR-J5-_G_ CN3-12 LSN
MR-J5W2-_G_ A-axis CN3-8 LSN-A
B-axis CN3-21 LSN-B
MR-J5W3-_G_ A-axis CN3-8 LSN-A
B-axis CN3-21 LSN-B
C-axis CN3-2 LSN-C
MR-J5D1-_G_ CN3-28 LSN
MR-J5D2-_G_ A-axis CN3-28 LSN-A
B-axis CN3-25 LSN-B
MR-J5D3-_G_ A-axis CN3-28 LSN-A
B-axis CN3-25 LSN-B
C-axis CN3-9 LSN-C
Initial value Setting range Ver. 0Bh Refer to the text A0
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
[Pr. PD05.0-1_Device selection]
Refer to the following for setting values. Page 93 [Pr. PD03_Input device selection 1 (*DI1)]
Using touch probe function The touch probe function can be used by setting this servo parameter to TPR1 to TPR3. Setting this servo parameter to TPR1 to TPR3 on the MR-J5-_G triggers [AL. 037 Parameter error]. If duplicated input devices (TPR1 to TPR3) exist in [Pr. PD05], [Pr. PD38] and [Pr. PD39], [AL. 037 Parameter error] occurs.
Ex.
When TPR1 is duplicated, such as when [Pr. PD05.0] = "2Ch" (TPR1) and [Pr. PD38.0] = "2Ch" (TPR1)
Initial value Setting range Setting method Ver. 00000022h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Model Shaft Connector pin No. Initially assigned device MR-J5-_G_ CN3-19 DOG
MR-J5W2-_G_ A-axis CN3-9 DOG-A
B-axis CN3-22 DOG-B
MR-J5W3-_G_ A-axis CN3-9 DOG-A
B-axis CN3-22 DOG-B
C-axis CN3-15 DOG-C
MR-J5D1-_G_ CN3-29 DOG
MR-J5D2-_G_ A-axis CN3-29 DOG-A
B-axis CN3-27 DOG-B
MR-J5D3-_G_ A-axis CN3-29 DOG-A
B-axis CN3-27 DOG-B
C-axis CN3-11 DOG-C
Initial value Setting range Ver. 22h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 95
96
[Pr. PD05.4_Input axis selection 3]
For a multi-axis servo amplifier, set which axis will use the input device that was assigned in [Pr. PD05.0-1 Device selection]. When this servo parameter is "0h", only the axis to which the device is assigned by [Pr. PD05.0-1] is automatically set to be enabled.
When A-axis selection is enabled, the device name is _ _ _-A. (Example: TPR1-A) When B-axis selection is enabled, the device name is _ _ _-B. (Example: TPR1-B) When C-axis selection is enabled, the device name is _ _ _-C. (Example: TPR1-C) When multiple axes are enabled with this servo parameter, the input device signal is enabled for multiple axes simultaneously. For example, when [Pr. PD05.4] = "5h" (A and C-axes enabled) and [Pr. PD05.0] = "2Ch" (TPR1) are set for the A-axis, TPR1- A and TPR1-C are enabled with the input signal of CN3-9 pin. In the following cases, [AL. 037 Parameter error] occurs. When other than "0h" is set for a 1-axis servo amplifier When C-axis selection is enabled on the MR-J5W2-G_ or MR-J5D2-_G_ When this servo parameter is set to a value other than "0h" while the input device is set to other than TPR1, TPR2, or TPR3 When duplicated input devices existPage 96 Example of duplicated settings
Example of duplicated settings When TPR1-B is duplicated, such as when for the A axis, [Pr. PD05.4] = "3h" (A and B axes enabled) and [Pr. PD05.0] = "2Ch" (TPR1); and for the B axis, [Pr. PD05.4] = "0h" (automatic setting: B axis enabled) and [Pr. PD05.0] = "2Ch" (TPR1)
Initial value Setting range Ver. 0h Refer to the text A5
Servo parameter number Setting digit (BIN) Setting details [Pr. PD05.4] _ _ _ x A-axis selection
0: Disabled 1: Enabled
_ _ x _ B-axis selection 0: Disabled 1: Enabled
_ x _ _ C-axis selection 0: Disabled 1: Enabled
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
When DB signal is selected in the device selection, the servo-off sequence at power failure changes.
[Pr. PD07.0-1_Device selection]
Refer to the following table for setting values.
*1 Available on servo amplifiers with firmware version A5 or later. *2 Available on servo amplifiers with firmware version B6 or later. *3 Available only on the MR-J5D_-_G_. If CVST is assigned with a servo amplifier other than the MR-J5D_-_G_, the device is always off. *4 This device is not necessary for a servo amplifier that does not support the external dynamic brake.
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-_G_ CN3-13 MBR
MR-J5W2-_G_ A-axis CN3-12 MBR-A
B-axis CN3-25 MBR-B
MR-J5W3-_G_ A-axis CN3-12 MBR-A
B-axis CN3-25 MBR-B
C-axis CN3-13 MBR-C
MR-J5D1-_G_ CN3-32 MBR
MR-J5D2-_G_ A-axis CN3-32 MBR-A
B-axis CN3-31 MBR-B
MR-J5D3-_G_ A-axis CN3-32 MBR-A
B-axis CN3-31 MBR-B
C-axis CN3-30 MBR-C
Initial value Setting range Ver. 05h Refer to the text A0
Setting value Output signal device 00 Always off
02 RD
03 ALM
04 INP
05 MBR
06 *4 DB
07 TLC
08 WNG
09 BWNG
0A SA
0B VLC
0C ZSP
0E WNGSTOP
0F CDPS
10 *1 CLDS
11 ABSV
17 MTTR
18 CDPS2
21 *2 DOA
22 *2 DOB
23 *2 DOC
24 *3 CVST
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 97
98
[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 97 [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-_G_ CN3-9 INP
MR-J5W2-_G_ A-axis CN3-24 CINP
B-axis
MR-J5W3-_G_ A-axis CN3-24 CINP
B-axis
C-axis
MR-J5D1-_G_ CN3-16 INP
MR-J5D2-_G_ A-axis CN3-16 CINP
B-axis
MR-J5D3-_G_ A-axis CN3-16 CINP
B-axis
C-axis
Initial value Setting range Ver. 04h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A5
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
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 97 [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-_G_ CN3-15 ALM
MR-J5W2-_G_ A-axis CN3-11 CALM
B-axis
MR-J5W3-_G_ A-axis CN3-11 CALM
B-axis
C-axis
MR-J5D1-_G_ CN3-15 ALM
MR-J5D2-_G_ A-axis CN3-15 CALM
B-axis
MR-J5D3-_G_ A-axis CN3-15 CALM
B-axis
C-axis
Initial value Setting range Ver. 03h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A5
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 99
10
[Pr. PD11_Input filter setting (*DIF)]
[Pr. PD11.0_Input signal filter selection]
This filter is disabled for pins to which TPR1, TPR2, or TPR3 is assigned.
[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 A0
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. 00000101h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 0h Refer to the text A0
0 1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
[Pr. PD13.2_INP output signal ON condition selection]
Select a condition for outputting INP (In-position). This function is enabled in the cyclic synchronous position mode, profile position mode, and positioning mode (point table method). INP (In-position) immediately after servo-on or after forced stop is canceled is off. 0: Within the in-position range 1: Within the in-position range and at the completion of command output 2: Within the in-position range, at the completion of command output, and at start signal off Refer to the following table for details.
: Required : Not required *1 The condition for completing a command output depends on the operation mode.
*2 Available on servo amplifiers with firmware version A5 or later. *3 Available on servo amplifiers with firmware version B8 or later.
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 A0
Setting value
INP (In-position) ON condition
Droop pulses < in-position range
Command output completion *1
Start signal off
Cyclic synchronous position mode
Profile position mode *2 Positioning mode (point table method) *3
0
1
2
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 101
10
[Pr. PD14_Function selection D-3 (*DOP3)]
[Pr. PD14.1_Output device status at warning occurrence]
Select ALM (Malfunction) output status at warning occurrence.
[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". This servo parameter is enabled only with 1-axis servo amplifiers. When this servo parameter is set to "1" (enabled) on a multi-axis servo amplifier, [AL. 037 Parameter error] occurs.
[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". This servo parameter is enabled only with 1-axis servo amplifiers. When this servo parameter is set to "1" (enabled) on a multi-axis servo amplifier, [AL. 037 Parameter error] occurs.
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 A0
Setting value Device status 0
1
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
OFF ON
OFF ON
WNG
ALM
Warning occurrence
OFF ON
OFF ON
WNG
ALM
Warning occurrence
2 1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Set the station No. of master axis 1. This servo parameter is enabled when it is set as the slave axis (when [Pr. PD15.1] is set to "1"). When "0" is set, this servo parameter is disabled.
[Pr. PD23_Driver communication setting - Slave - Master axis 1 - Transmission and receive setting ( *SM1C)]
[Pr. PD23.1_Driver communication setting - Slave - Master axis 1 - Control slave axis No. setting]
Set the control slave No. for master axis 1. This servo parameter is enabled when it is set as the slave axis (when [Pr. PD15.1] is set to "1"). To set the servo amplifier as a control slave axis, set any value from "1" to "8". When "0" is set, this servo amplifier being used will not function as a control slave axis.
Initial value Setting range Setting method Ver. 0 0 to 255 Each axis 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. 0h 0h to 8h D0
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 103
10
[Pr. PD26_Master-slave operation simultaneous stop function operation setting (*MSTO)]
[Pr. PD26.0_Driver communication setting - Slave - Simultaneous stop command permission setting]
Set the behavior of the slave axis for when the slave axis receives a stop command from the master axis in the master-slave operation simultaneous stop function. This servo parameter is enabled when it is set as the slave axis (when [Pr. PD15.1] is set to "1"). 0: Enabled (stops in accordance with the stop command from the master axis.) 1: Disabled (ignores the stop command from the master axis and continues the operation.)
[Pr. PD26.1_Driver communication setting - Slave - Simultaneous stop request permission setting]
Set whether to enable or disable the stop request notification to the master axis in the master-slave operation simultaneous stop function. This servo parameter is enabled when it is set as the slave axis (when [Pr. PD15.1] is set to "1"). The stop request will be notified to the master axis only when this servo amplifier being used is set as the control slave axis. 0: Enabled (notifies the master axis of a stop request when the control slave axis being used is stopped.) 1: Disabled (does not notify the master axis of a stop request when the axis is stopped.)
[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 only in the slave axis torque mode (slt). When this servo parameter is set to "100", the coefficient is multiplied by 1. The torque distribution is 100 (master): 100 (slave). This function corresponds to [Master-slave Torque coefficient (Obj. 2E44h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
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
Initial value Setting range Setting method Ver. 0 [%] 0 to 500 Each axis C4
4 1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
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 only in the slave axis torque mode (slt). This function corresponds to [Master-slave Velocity limit coefficient (Obj. 2E45h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. 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 value of both the speed limit value and the setting value of [Pr. PD31 Master-slave operation - Slave-side speed limit coefficient]. This servo parameter ensures torque control range at low speed driving (by avoiding area likely to reach speed limit). Set to approximately 100.00 to 500.00 r/min in general. For the example settings, refer to [Pr. PD31]. Page 105 [Pr. PD31_Master-slave operation - Slave-side speed limit coefficient (VLC)] This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV33 Master-slave operation - Speed limit adjusted value extension setting] are mutually exclusive. The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. This function corresponds to [Master-slave Lower limit of velocity limit value (Obj. 2E46h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 0 [%] 0 to 500 Each axis C4
Initial value Setting range Setting method Ver. 0.00 [r/min] 0.00 to 21474836.47 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_ _ ]) 105
10
[Pr. PD38_Input device selection 4 (*DI4)]
Assign a device to the input signal of the CN3 connector. The touch probe function can be used by setting this servo parameter to TPR1 to TPR3. The connector pin numbers to be assigned are as follows.
*1 Available on servo amplifiers with firmware version C0 or later and manufactured in June 2021 or later. If duplicated input devices (TPR1 to TPR3) exist in [Pr. PD05 Input device selection 1], [Pr. PD38 Input device selection 4] and [Pr. PD39 Input device selection 5], [AL. 037 Parameter error] occurs.
Ex.
When TPR1 is duplicated, such as when [Pr. PD05.0] = "2Ch" (TPR1) and [Pr. PD38.0] = "2Ch" (TPR1)
[Pr. PD38.0-1_Device selection]
Refer to the following for setting values. Page 93 [Pr. PD03_Input device selection 1 (*DI1)]
Initial value Setting range Setting method Ver. 0000002Ch Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Model Connector pin No. Initially assigned device MR-J5-_G_ CN3-10 *1 TPR1
MR-J5-_G_-RJ CN3-10
MR-J5W2-_G_
MR-J5W3-_G_
MR-J5D1-_G_ CN3-11
MR-J5D2-_G_
MR-J5D3-_G_
Initial value Setting range Ver. 2Ch Refer to the text A0
6 1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Assign a device to the input signal of the CN3 connector. The touch probe function can be used by setting this servo parameter to TPR1 to TPR3. The connector pin numbers to be assigned are as follows.
*1 Available on servo amplifiers with firmware version C0 or later and manufactured in June 2021 or later. If duplicated input devices (TPR1 to TPR3) exist in [Pr. PD05 Input device selection 1], [Pr. PD38 Input device selection 4] and [Pr. PD39 Input device selection 5], [AL. 037 Parameter error] occurs.
Ex.
When TPR1 is duplicated, such as when [Pr. PD05.0] = "2Ch" (TPR1) and [Pr. PD38.0] = "2Ch" (TPR1)
[Pr. PD39.0-1_Device selection]
Refer to the following for setting values. Page 93 [Pr. PD03_Input device selection 1 (*DI1)]
Initial value Setting range Setting method Ver. 0000002Dh Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Model Connector pin No. Initially assigned device MR-J5-_G_ CN3-1 *1 TPR2
MR-J5-_G_-RJ CN3-1
MR-J5W2-_G_
MR-J5W3-_G_
MR-J5D1-_G_ CN3-27
MR-J5D2-_G_
MR-J5D3-_G_
Initial value Setting range Ver. 2Dh Refer to the text A0
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 107
10
[Pr. PD41_Function selection D-4 (*DOP4)]
[Pr. PD41.2_Limit switch enabled status selection]
0: Limit switch always enabled 1: Enabled only for homing mode If "1" is set, the limit switches during servo motor operation are disabled. To prevent a collision, do not use the limit switch unless the stroke limit is controlled from the controller. The status of the limit switches (S_FLS and S_RLS) is returned. Even if "1" is set, the limit switches are enabled during the test operation and at magnetic pole detection. Set "1" if the controller is a Mitsubishi Electric motion module.
[Pr. PD41.3_Sensor input method selection]
Select the input method for the proximity dog and limit switches. 0: Input from servo amplifier (LSP/LSN/DOG) 1: Input from controller (C_FLS/C_RLS/C_DOG) When selecting "0", wire the limit switch installed in CCW direction to LSP, and wire the limit switch installed in CW direction to LSN. If the limit switches are wired in the opposite direction, the servo motor will not stop with the limit switches. When selecting "1", set the limit switch installed in position address increasing direction to C_FLS, and the limit switch installed in decreasing direction to C_RLS. After that, input the limit signals from the controller. If the limit switches are wired in the opposite direction, the servo motor will not stop with the limit switches.
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
8 1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Select the device to be assigned to the input signal of the CN3-15 pin of the MR-J5W2-_G_ or the CN3-11 pin of the MR- J5D2-_G_. This servo parameter is enabled only for the MR-J5W2-_G_ and MR-J5D2-_G_. The setting value is disabled for other servo amplifiers.
[Pr. PD51.0-1_Device selection 3-2]
Refer to the following table for the setting value to be assigned to the CN3-15 pin of the MR-J5W2-_G_ or the CN3-11 pin of the MR-J5D2-_G_.
[Pr. PD51.4_Input axis selection 3-2]
For the MR-J5W2-G_, set which axis will use the input device that was assigned in [Pr. PD05.0-1 Device selection]. When this servo parameter is "0h", the A-axis is automatically set to be enabled.
When A-axis selection is enabled, the device name is _ _ _-A. (Example: TPR1-A) When B-axis selection is enabled, the device name is _ _ _-B. (Example: TPR1-B) When multiple axes are enabled with this servo parameter, the input device signal is enabled for multiple axes simultaneously. In the following cases, [AL. 037 Parameter error] occurs. When other than "0h" is set for a 1-axis servo amplifier When duplicated input devices existPage 109 Example of duplicated settings
Example of duplicated settings When TPR1-B is duplicated, such as when for the A axis, [Pr. PD05.4] = "3h" (A and B axes enabled) and [Pr. PD05.0] = "2Ch" (TPR1); and for the B axis, [Pr. PD05.4] = "0h" (automatic setting: B axis enabled) and [Pr. PD05.0] = "2Ch" (TPR1)
Initial value Setting range Setting method Ver. 00000062h Refer to the relevant detail No. Common Refer to the relevant detail No.
Model Shaft Connector pin No. Initially assigned device MR-J5W2-G_ A-axis CN3-15 TPR3-A
B-axis
MR-J5D2-_G_ A-axis CN3-11
B-axis
Initial value Setting range Ver. 62h Refer to the text A5
Setting Input signal device 2C TPR1
2D TPR2
62 No assigned function
63 TPR3
Initial value Setting range Ver. 0h Refer to the text A5
Servo parameter number Setting digit (BIN) Setting details [Pr. PD51.4] _ _ _ x A-axis selection
0: Disabled 1: Enabled
_ _ x _ B-axis selection 0: Disabled 1: Enabled
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 109
11
[Pr. PD60_DI pin polarity selection (*DIP)]
For DI pin numbers corresponding to setting digits, refer to the following table. If this servo parameter is set incorrectly, [AL. 037 Parameter error] may occur. If the setting digit (BIN) of the DI pin to which TPR1 to TPR3 are assigned is set to "1", [AL. 037] occurs. MR-J5-_G_/MR-J5W_-_G_
*1 Available on servo amplifiers with firmware version C0 or later and manufactured in June 2021 or later. MR-J5D_-_G_
Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Servo parameter number
Setting digit (BIN)
Name Model
MR-J5_-_G_ MR-J5_-_G_- RJ
MR-J5W_-_G_
A-axis B-axis C-axis [Pr. PD60.0] _ _ _ x DI pin polarity
selection 1 CN3-2 CN3-2 CN3-7 CN3-20 CN3-1
_ _ x _ DI pin polarity selection 2
CN3-12 CN3-12 CN3-8 CN3-21 CN3-2
_ x _ _ DI pin polarity selection 3
CN3-19 CN3-19 CN3-9 CN3-22 CN3-15
x _ _ _ DI pin polarity selection 4
CN3-10 *1 CN3-10
[Pr. PD60.1] _ _ _ x DI pin polarity selection 5
CN3-1 *1 CN3-1
_ _ x _ For manufacturer setting
_ x _ _ For manufacturer setting
x _ _ _ For manufacturer setting
Servo parameter number
Setting digit (BIN)
Name Model
MR-J5D1-_G_ MR-J5D2-_G_/MR-J5D3-_G_
A-axis B-axis C-axis [Pr. PD60.0] _ _ _ x DI pin polarity
selection 1 CN3-12 CN3-12 CN3-26 CN3-10
_ _ x _ DI pin polarity selection 2
CN3-28 CN3-28 CN3-25 CN3-9
_ x _ _ DI pin polarity selection 3
CN3-29 CN3-29 CN3-27 CN3-11
x _ _ _ DI pin polarity selection 4
CN3-11
[Pr. PD60.1] _ _ _ x DI pin polarity selection 5
CN3-27
_ _ x _ For manufacturer setting
_ x _ _ For manufacturer setting
x _ _ _ For manufacturer setting
0 1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ])
1
Select the DI pin polarity.
[Pr. PD60.1_DI pin polarity selection]
Select the DI pin polarity.
[Pr. PD60.2_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD60.3_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD60.4_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD60.5_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD60.6_For manufacturer setting] This servo parameter is for manufacturer setting.
[Pr. PD60.7_For manufacturer setting] This servo parameter is for manufacturer setting.
Initial value Setting range Ver. 0h Refer to the text A5
Setting digit (BIN) Functions _ _ _ x DI pin polarity selection 1
0: ON with 24 V input 1: ON with 0 V input
_ _ x _ DI pin polarity selection 2 0: ON with 24 V input 1: ON with 0 V input
_ x _ _ DI pin polarity selection 3 0: ON with 24 V input 1: ON with 0 V input
x _ _ _ DI pin polarity selection 4 0: ON with 24 V input 1: ON with 0 V input
Initial value Setting range Ver. 0h Refer to the text A5
Setting digit (BIN) Functions _ _ _ x DI pin polarity selection 5
0: ON with 24 V input 1: ON with 0 V input
_ _ x _
_ x _ _
x _ _ _
1 SERVO PARAMETER DETAILS 1.5 I/O setting servo parameters group ([Pr. PD_ _ ]) 111
11
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]. If semi-closed loop control/fully closed loop control switching is performed during operation in the homing mode or the profile position mode while this servo parameter is set to "1", [AL. 0F4.A Fully closed loop control - Switching warning] occurs. In this case, the control method does not switch to the selected control method while the operation is in progress. When the positioning mode (point table method) is selected, setting this servo parameter to "1" triggers [AL. 037]. 0: Always enabled 1: Switching by "fully closed loop selection" from the controller (C_CLD) and by the input device "fully closed loop selection" (CLD)
*1 This is always off if CLD (fully closed loop selection) is not assigned to an input device pin.
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 A5
Fully closed loop selection Control method
Command from controller (C_CLD) CLD (fully closed loop selection) *1
OFF OFF Semi closed loop control
ON OFF Fully closed loop control
OFF ON
ON ON
2 1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])
1
[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 113 [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 A5
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 A5
Initial value Setting range Ver. 0h Refer to the text A5
1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 113
11
[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 A5
Initial value Setting range Setting method Ver. 1 1 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 400 [r/min] 1 to 50000 Each axis A5
Initial value Setting range Setting method Ver. 100 [kpulse] 1 to 20000 Each axis A5
Initial value Setting range Setting method Ver. 10 [rad/s] 1 to 4500 Each axis A5
4 1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])
1
[Pr. PE10.1_Fully closed loop control - Position deviation error detection level - Unit selection]
0: 1 kpulse unit 1: 1 pulse unit
[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.
[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 mode and positioning 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 A5
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 0 [0.01 %] 0 to 30000 Each axis A0
1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 115
11
[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 mode and positioning 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 mode and positioning 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 mode, input commands taking the torque offset into account. This servo parameter is suitable when the torque offset does not need to be changed dynamically.
[Pr. PE48_Lost motion compensation function selection (*LMOP)]
This function is enabled in the position mode and positioning 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
Initial value Setting range Setting method Ver. 0 [0.01 %] 0 to 30000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 ms] 0 to 30000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.01 %] -10000 to 10000 Each axis A0
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
6 1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])
1
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 mode and positioning 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 mode and positioning 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 212or greater than 226, [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
[Pr. PE53_Maximum torque limit 1 (TLMX1)]
The torque or thrust generated by the servo motor can be limited. When [Pr. PC78.1 Maximum torque limit 1 selection] is set to "0" (the maximum torque limit 1 is disabled) The torque limit function using this servo parameter or [Max torque (Obj. 6072h)] is disabled. The setting value of this servo parameter does not match the setting value of [Max torque (Obj. 6072h)]. [Max torque (Obj. 6072h)] returns the maximum torque of the servo motor. When [Pr. PC78.1] is set to "1" (the maximum torque limit 1 is enabled) The torque limit function using this servo parameter or [Max torque (Obj. 6072h)] is enabled. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). If this servo parameter is set to "0.0", the servo motor does not generate torque or thrust. This servo parameter corresponds to [Max torque (Obj. 6072h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 0 [0.1 ms] 0 to 30000 Each axis A0
Initial value Setting range Setting method Ver. 0 [pulse], [kpulse] 0 to 65535 Each axis A0
Initial value Setting range Setting method Ver. 0 [pulse] 0 to 4294967295 Each axis B2
Initial value Setting range Setting method Ver. 0.0 [%] 0.0 to 1000.0 Each axis A5
1 SERVO PARAMETER DETAILS 1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 117
11
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
8 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
[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 A0
Initial value Setting range Ver. 1h Refer to the text A0
Initial value Setting range Setting method Ver. 2000 [ms] 0 to 10000 Each axis A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 119
12
[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. This servo parameter cannot be used with the MR-J5-_G_-RJ, MR-J5W_-G_, or MR-J5D_-_G_. The alarm occurs when an STO input error is detected. Refer to the following table for details.
Page 226 [Pr. PSA01.0_Safety sub-function activation setting] Page 242 [Pr. PSD18_Permissible time for mismatches DI1 (**SDIDT1)]
[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.
Initial value Setting range Setting method Ver. 10 [s] 0 to 60 Common A0
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
Model Firmware version Setting of [Pr. PSA01.0]
Parameter to be used
Time required for alarm to occur
Alarm to occur
MR-J5-_G_ Servo amplifiers with version A0 or later
[Pr. PF18] 0 to 60 s [AL. 068.1]
MR-J5-_G_-RJ MR-J5W_-G_ MR-J5D_-_G_
Servo amplifiers with versions earlier than B2
Fixed as 10 s [AL. 557]
Servo amplifiers with version B2 or later
0: Disabled Fixed as 10 s [AL. 557]
1: Enabled [Pr. PSD18] 0 to 60000 ms [AL. 557]
Initial value Setting range Setting method Ver. 0 [0.0001 %/C] -32768 to 32767 Each axis A0
0 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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.
[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 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. When any value of "0" to "9" is set, the drive recorder function will be switched after 10 s. When "-1" is set, the drive recorder function is disabled.
[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 [0.1 %] -10000 to 10000 Each axis A0
Initial value Setting range Setting method Ver. 0 [s] -1 to 32767 Common A0
Initial value Setting range Setting method Ver. 20 [%] 0 to 100 Each axis A0
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 A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 121
12
[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. PF29_Function selection F-10 (*FOP10)]
[Pr. PF29.1_State selection with forced stop in progress]
Select the PDS state transition for when the forced stop is in progress. When the servo amplifier detects the forced stop signal off during servo motor rotation, the PDS state transition destination can be selected. 0: Operation enabled 1: Quick stop active
Initial value Setting range Setting method Ver. 200 [ms] 30 to 500 Common A0
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 B2
2 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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.
[Pr. PF32_Oscillation detection alarm time (*VIBT)]
Set the time from when oscillation is detected until the occurrence of an alarm or warning. When "0" is set, the time until the occurrence of the alarm or warning is 5000 ms. When an oscillation detection alarm or warning is generated during normal operation, set a value larger than "10" (1000 ms).
Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 65535 Each axis A0
Initial value Setting range Setting method Ver. 50 [100 ms] 0 to 50 Each axis A0
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_ _ ]) 123
12
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h Refer to the text A0
4 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 125
12
[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.
[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 setting 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 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 A0
Initial value Setting range Ver. 0h 0h to Fh A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Ver. 0h 0h to Fh A0
Initial value Setting range Ver. 0h Refer to the text A0
6 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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 A0
Initial value Setting range Setting method Ver. 0 [0.1 %] -10000 to 10000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 127
12
[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. PF62_Function selection F-14 (FOP14)]
[Pr. PF62.0_Backlash estimation unit selection]
Select the unit for "travel distance at backlash estimation" which is to be automatically set in the backlash estimation function. 0: Command pulse unit 1: Servo motor encoder pulse unit A time-out will occur at execution of the backlash estimation function depending on the setting values for the electronic gear ([Pr. PA06 Electronic gear numerator]/[Pr. PA07 Electronic gear denominator]). When a time-out occurs, set this servo parameter to "1". When this servo parameter is "0", the servo motor rotation amount is as follows. Servo motor rotation amount = travel distance at backlash estimation ([Pr. PA06]/[Pr. PA07]) [rev] For "travel distance at backlash estimation", refer to "Gear failure diagnosis function" in the User's Manual (Function).
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis A0
Initial value Setting range Setting method Ver. 0 [10 rev], [m] 0 to 4294967295 Each axis A0
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
8 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
[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. 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
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 129
13
[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 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 A0
Initial value Setting range Ver. 0000h 0000h to FFFFh A0
0 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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 A0
Initial value Setting range Setting method Ver. 0 0 to 3600000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 131
13
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 0 [0.1 N] 0 to 1000000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 N] 0 to 1000000 Each axis A0
2 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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 A0
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis A0
Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 1000 Each axis A0
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]
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 133
13
[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 A0
Initial value Setting range Ver. 00h Refer to the text A0
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
4 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
[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 A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 135
13
[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 A0
Servo parameter Name PF82.1 Drive recorder - Trigger binding mode 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 A0
6 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
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 A0
Initial value Setting range Ver. 0h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 137
13
[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. The MR-J5-_G_ or MR-J5D1-_G_ is used, The axis of a multi-axis servo amplifier which has [Pr. PF80.0] set to "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 A0
8 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
[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 A0
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 A0
Initial value Setting range Ver. 5Ah 00h to 6Fh A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 139
14
[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 A0
Initial value Setting range Setting method Ver. 0 -2147483648 to 2147483647 Each axis A0
0 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
[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 A0
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 *2 Load-side encoder droop pulses (1 pulse unit) pulse
01E *2 Motor-side/load-side position deviation (1 pulse unit) pulse
020 *2 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
03D *4 Command number LSB
049 Operation mode LSB
04C *3 U-phase current feedback (unit of the rated current) 0.1 %
04D *3 V-phase current feedback (unit of the rated current) 0.1 %
04E *3 W-phase current feedback (unit of the rated current) 0.1 %
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 141
14
*1 "mm/s" is used instead of "r/min" for linear servo motors. *2 Available on servo amplifiers with firmware version A5 or later. *3 Available on servo amplifiers with firmware version B0 or later. *4 Available on servo amplifiers with firmware version B8 or later.
[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 141 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]
[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 141 [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
20D *4 Current position (positioning unit) + pos units
20E *4 Command position (positioning unit) + pos units
20F *4 Command remaining distance (positioning unit) + pos units
218 Droop pulses (100 pulse unit) + 100 pulse
219 *2 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 A0
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 A0
Setting value Data type Unit *1 Category
2 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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 141 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]
[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 141 [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 141 [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 141 [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection]
Initial value Setting range Ver. 204h Refer to the text A0
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 A0
Initial value Setting range Ver. 009h Refer to the text A0
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 A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 143
14
[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. 00120000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 0000h Refer to the text A0
Setting value Symbol Name Classification 0000 CSON Servo-on command DI
0001 LSP Forward rotation stroke end
0002 LSN Reverse rotation stroke end
0005 PC Proportional control
0006 RES Reset
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 *1 CLD Fully closed loop selection
0034 *1 TPR1 Touch probe 1
0035 *1 TPR2 Touch probe 2
0036 *1 TPR3 Touch probe 3
0049 CFLS Controller upper stroke limit signal being input
004A CRLS Controller lower stroke limit signal being input
00A0 *2 STOC STO command
00A1 *2 SS1C SS1 command
00A2 *2 SS2C SS2 command
00A3 *2 SLS1C SLS1 command
00A4 *2 SLS2C SLS2 command
00A5 *2 SLS3C SLS3 command
00A6 *2 SLS4C SLS4 command
00A7 *2 SDIPC SDIP command
00A8 *2 SDINC SDIN command
00A9 *2 SLT1C SLT1 command
00AA *2 SLT2C SLT2 command
00AB *2 SLT3C SLT3 command
00AC *2 SLT4C SLT4 command
00AD *2 SLIC SLI command
4 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
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 *1 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
8032 DOG DOG signal input in progress
803C *3 DOA General-purpose output A
803D *3 DOB General-purpose output B
803E *3 DOC General-purpose output C
8043 *1 CPO Rough match
8045 *1 POT Position range
8047 *4 MEND Traveling completion
8049 ZP2 Homing completion 2
804B *5 CVST Converter stop
80A0 *2 STOS STO output
80A1 *2 SS1S SS1 output
80A2 *2 SS2S SS2 output
80A3 *2 SLS1S SLS1 output
80A4 *2 SLS2S SLS2 output
80A5 *2 SLS3S SLS3 output
80A6 *2 SLS4S SLS4 output
80A7 *2 SSMS SSM output
80A8 *2 SOSS SOS output
80A9 *2 SBCS SBC output
80AA *2 SDIPS SDIP output
80AB *2 SDINS SDIN output
80AC *2 SLT1S SLT1 output
80AD *2 SLT2S SLT2 output
80AE *2 SLT3S SLT3 output
80AF *2 SLT4S SLT4 output
80B1 *2 SLIS SLI output
Setting value Symbol Name Classification
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 145
14
*1 Available on servo amplifiers with firmware version A5 or later. *2 Available on servo amplifiers with firmware version B2 or later. *3 Available on servo amplifiers with firmware version B6 or later. *4 Available on servo amplifiers with firmware version B8 or later. *5 Available only on the MR-J5D_-_G_.
[Pr. PF91.4-7_Drive recorder - Digital channel 2 selection]
Refer to the following for values that can be assigned. Page 144 [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection]
Initial value Setting range Ver. 0012h Refer to the text A0
6 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
[Pr. PF92.0-3_Drive recorder - Digital channel 3 selection]
Refer to the following for values that can be assigned. Page 144 [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 144 [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 144 [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 144 [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 A0
Initial value Setting range Ver. 8005h Refer to the text A0
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 A0
Initial value Setting range Ver. 8000h Refer to the text A0
1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) 147
14
[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 144 [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 144 [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 A0
Initial value Setting range Ver. 801Dh Refer to the text A0
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 A0
8 1 SERVO PARAMETER DETAILS 1.7 Extension setting 3 servo parameters group ([Pr. PF_ _ ])
1
([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" can be used on servo amplifiers with firmware version D0 or later when the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected by the direct drive motor control mode. 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 A0
Initial value Setting range Ver. 3h Refer to the text A0
Initial value Setting range Setting method Ver. 1000 [m] 1 to 65535 Each axis A0
1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 149
15
[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 A0
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 A0
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 A0
0 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])
1
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 [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 [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 by torque/thrust deviation] occurs.
Initial value Setting range Setting method Ver. 0 [mm], [0.01 rev] 0 to 1000 Each axis A0
Initial value Setting range Setting method Ver. 0 [mm/s], [r/min] 0 to 20000 Each axis A0
Initial value Setting range Setting method Ver. 100 [%] 0 to 1000 Each axis A0
1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 151
15
[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 A0
Initial value Setting range Ver. 0h Refer to the text A0
Initial value Setting range Setting method Ver. 30 [%] 0 to 100 Each axis A0
2 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])
1
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 A0
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
1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 153
15
[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.
[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 set to "0", the amplitude will be 100 [%].
Initial value Setting range Ver. 0h Refer to the text A0
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
Initial value Setting range Setting method Ver. 0 [%] 0 to 200 Each axis A0
4 1 SERVO PARAMETER DETAILS 1.8 Motor extension setting servo parameters group ([Pr. PL_ _ ])
1
group ([Pr. PT_ _ ]) [Pr. PT01_Command mode selection (**CTY)]
[Pr. PT01.1_Speed/acceleration/deceleration unit selection]
Select the unit of speed and the unit of acceleration/deceleration. This function is enabled in the cyclic synchronous mode, profile mode, positioning mode (point table method), and slave axis torque mode.
*1 In the linear servo motor control mode, the unit is mm/s. *2 The command unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data]. The actual
servo motor speed (encoder pulse unit) is calculated by multiplying the set speed data by the electronic gear ratio. The speed of point table and the unit of acceleration/deceleration are changed depending on the setting value of this servo parameter. When the unit is changed, review and reset the point table setting value. Enabled servo parameters vary depending on whether the setting value of this servo parameter is "0" or "1". Refer to the following table.
Initial value Setting range Setting method Ver. 00000300h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 0h Refer to the text A5
Setting value Speed Acceleration/deceleration 0 r/min, mm/s *1 ms
1 Command unit/s *2 Command unit/s2 *2
Setting value Object interlocked with servo parameter
0 1 [Pr. PT65 Profile speed command] [Pr. PV01 Profile speed command extension
setting] [Profile velocity (Obj. 6081h)]
[Pr. PT66 Maximum profile speed] [Pr. PV03 Maximum profile speed extension setting]
[Max profile velocity (Obj. 607Fh)]
[Pr. PT49 Speed acceleration time constant] [Pr. PV05 Profile acceleration] [Profile acceleration (Obj. 6083h)]
[Pr. PT50 Speed deceleration time constant] [Pr. PV07 Profile deceleration] [Profile deceleration (Obj. 6084h)]
[Pr. PC24 Deceleration time constant at forced stop]
[Pr. PV09 Deceleration at forced stop] [Quick stop deceleration (Obj. 6085h)]
[Pr. PT05 Homing speed] [Pr. PV11 Homing speed extension setting] [Speed during search for switch (Obj. 6099h: 01h)]
[Pr. PT06 Creep speed] [Pr. PV13 Creep speed extension setting] [Speed during search for zero (Obj. 6099h: 02h)]
[Pr. PT56 Homing acceleration time constant] [Pr. PV15 Homing acceleration] [Homing acceleration (Obj. 609Ah)]
[Pr. PT57 Homing deceleration time constant] [Pr. PV17 Homing deceleration]
[Pr. PC72 Speed reached 2 - Output range] [Pr. PV19 Speed reached 2 - Output range - Extension setting]
[Velocity window (Obj. 606Dh)]
[Pr. PC65 Zero speed 2 level] [Pr. PV20 Zero speed 2 level extension setting] [Velocity threshold (Obj. 606Fh)]
[Pr. PT67 Speed limit] [Pr. PV21 Speed limit extension setting] [Velocity limit value (Obj. 2D20h)]
[Pr. PD32 Master-slave operation - Slave-side speed limit adjusted value]
Pr. PV33 Master-slave operation - Speed limit adjusted value extension setting]
[Master-slave Lower limit of velocity limit value (Obj. 2E46h)]
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 155
15
[Pr. PT01.2_Unit for position data]
0: mm 1: inch 2: degree 3: pulse If this servo parameter is changed, perform homing. Refer to the following for the supported control mode and firmware version.
*1 When [Pr. PA01.4 Fully closed loop operation mode selection] is set to "1" (enabled), use a rotary encoder as the load-side encoder. Connecting a linear encoder will trigger [AL. 037 Parameter error].
*2 If [Pr. PA01.1 Operation mode selection] is set to "4" (linear servo motor control mode), [AL. 037] will occur. *3 When this servo parameter is set to "2", the control mode cannot be switched to the cyclic synchronous mode. *4 If this value is set in a mode other than the positioning mode (point table method), [AL. 037] will occur.
[Pr. PT02_Function selection T-1 (*TOP1)]
[Pr. PT02.7_Internal position command - Process speed selection]
Select the process speed of the position commands generated in the servo amplifier. Setting "1" on a multi-axis servo amplifier triggers [AL. 037 Parameter error]. 0: Standard 1: High speed
Initial value Setting range Ver. 3h Refer to the text B6
Control mode Setting value
0 (mm) *4 1 (inch) *4 2 (degree) *1*2 3 (pulse) Cyclic synchronous mode *3 A0
Profile mode B6 A5
Positioning mode (point table method) B8 B8 B8 B8
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 A5
6 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
[Pr. PT03.2_Degree unit rotation direction selection]
Select the rotation direction for when [Pr. PT01.2 Unit for position data] is set to "2" (degree). 0: Specified rotation direction 1: Rotation in the direction with the shortest distance 2: Rotation in the address decreasing direction 3: Rotation in the address increasing direction This function is enabled in the profile position mode and positioning mode (point table method). When [Pr. PT01.2] is set to a value other than "2", this parameter is disabled. This servo parameter corresponds to [Positioning option code (Obj. 60F2h)]. Once this servo parameter is changed, the setting will be enabled immediately. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. When the relative position command is set for the auxiliary function of the point table in the positioning mode (point table method), this servo parameter is disabled.
[Pr. PT05_Homing speed (ZRF)]
Set the servo motor speed for homing. The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s). However, the set speed is clamped when [Pr. PT02.7 Internal position command - Process speed selection] is set to "0". This function corresponds to [Speed during search for switch (Obj. 6099h: 01h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV11 Homing speed extension setting] are mutually exclusive.
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 B6
Initial value Setting range Setting method Ver. 100.00 [r/min], [mm/s] 0.00 to 167772.15 Each axis A0
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 157
15
[Pr. PT06_Creep speed (CRF)]
When performing a homing, set the servo motor speed after proximity dog. The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s). However, the set speed is clamped when [Pr. PT02.7 Internal position command - Process speed selection] is set to "0". This function corresponds to [Speed during search for zero (Obj. 6099h: 02h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1] is set to "0". This function and [Pr. PV13 Creep speed extension setting] are mutually exclusive.
[Pr. PT07_Home position shift distance (ZST)]
Set the home position shift travel distance at homing. The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data]. The setting range is -359.999 to 359.999 degrees for the degree unit. If a value exceeding 360.000 degrees or less than - 360.000 degrees is set, the value will be converted into the remainder obtained by dividing the setting value by 360.000.
Initial value Setting range Setting method Ver. 10.00 [r/min], [mm/s] 0.00 to 167772.15 Each axis A0
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis A0
8 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
Set the address that is to be the reference point of the machine coordinate system. Subtracting the setting value of this servo parameter from the machine home position gives the coordinate of the home position. The value in [Position actual value (Obj. 6064h)] changes at the same time as the homing completion. The setting value of this servo parameter is reflected at completion of homing or when the servo amplifier is connected to a network. This function is enabled in the cyclic synchronous position mode, profile position mode, and positioning mode (point table method). The unit is the command unit. The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data]. If [Pr. PT01.2] is changed, the homing position data will also be changed. Execute homing again. This function corresponds to [Home offset (Obj. 607Ch)]. The relation between [Home offset] and this servo parameter is as follows. [Home offset] = - [Pr. PT08] The value that is set in this servo parameter is not reflected when the homing is incomplete. Setting this servo parameter will compensate the software position limit. After compensation, [Max position range limit (607Dh: 02h)] = [Max position range limit] - [Home offset] After compensation, [Min position range limit (607Dh: 01h)] = [Min position range limit] - [Home offset]
For Home offset < 0
For Home offset > 0
The setting range is 0 to 359.999 degrees for the degree unit. If a value out of the setting range is set, the value will be converted as shown in the table below.
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis A0
Setting value After conversion 360.000 to 2147483.647 degrees The remainder obtained by dividing the setting value by 360.000
-0.001 to -359.999 degrees The value obtained by adding 360.000 to the setting value
-360.000 to -2147483.648 degrees The value obtained by adding 360.000 to the remainder after dividing the setting value by 360.000
Min position range limit (Obj. 607Dh: 01h)
Max position range limit (Obj. 607Dh: 02h)
Home position (= Zero position)
0 (Home offset = 0)
-1000 2000
Zero position
Home position
Home offset (= -500)
-500 25000
Max position range limit after compensation
Min position range limit after compensation
Zero position
Home position
Home offset (= 500)
-1500 15000
Max position range limit after compensation
Min position range limit after compensation
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 159
16
[Pr. PT09_Travel distance after proximity dog (DCT)]
Set a travel distance after proximity dog at homing for the count type (Front end detection Z-phase reference) (Homing method -2, -34) and dog reference. The following shows the homing of the dog reference. Dog type rear end reference homing (Homing method -6, -38) Count type homing (Front end reference) (Homing method -7, -39) Dog type front end reference homing (Homing method -10, -42) Homing without index pulse (Homing method 19, 20, 21, 22, 23, 24, 27, 28) This function is enabled in the cyclic synchronous mode, profile mode, and positioning mode (point table method). The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data]. The setting range is 0 to 359.999 degrees for the degree unit. If a value exceeding 360.000 degrees is set, the value will be converted into the remainder obtained by dividing the setting value by 360.000.
[Pr. PT10_Stopper type homing - Stopping time (ZTM)]
Set a time from a moving part touches the stopper and torques reach to the torque limit of [Pr. PT11 Stopper type homing - Torque limit value] to a home position is set for the stopper type homing. This function is enabled in the cyclic synchronous mode, profile mode, and positioning mode (point table method).
[Pr. PT11_Stopper type homing - Torque limit value (ZTT)]
Set a torque limit value with [%] unit to the rated torque at stopper type homing. This function is enabled in the cyclic synchronous mode, profile mode, and positioning mode (point table method).
[Pr. PT12_Rough match output range (CRP)]
Set the range of the command remaining distance to output the rough match. This function is enabled in the profile position mode and positioning mode (point table method). The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data].
Initial value Setting range Setting method Ver. 1000 [Refer to the text below for the unit.]
0 to 2147483647 Each axis A0
Initial value Setting range Setting method Ver. 100 [ms] 5 to 1000 Each axis A0
Initial value Setting range Setting method Ver. 15.0 [%] 0.1 to 100.0 Each axis A0
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 2147483647 Each axis A5
0 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
Set the address increasing side of the software position limit. This function is enabled in the cyclic synchronous position mode, profile position mode, and positioning mode (point table method). This function is disabled during homing. The command unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data]. Change this function during servo-off, in the homing mode, velocity mode, or torque mode. When the setting is changed during servo-on in the position mode and positioning mode, [AL. 035 Command frequency error], [AL. 069 Command error], and [AL. 098 Software position limit warning] may occur, depending on the setting order of [Pr. PT15] and [Pr. PT17 Software position limit -]. This function corresponds to [Max position limit (Obj. 607Dh: 02h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. The enabling/disabling conditions of the software position limit are shown in the table below.
[Pr. PT17_Software position limit - (LMN)]
Set the address decreasing side of the software position limit. The other specifications are the same as [Pr. PT15].
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis A0
[Pr. PT01.2] Conditions
[Pr. PT15] > [Pr. PT17] [Pr. PT15] < [Pr. PT17] [Pr. PT15] = [Pr. PT17] 0 (mm) 1 (inch) 3 (pulse)
Enabled Disabled Disabled
2 (degree) Enabled Enabled Disabled
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis A0
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 161
16
[Pr. PT19_Position range output 1 address + (*LPP1)]
Set the address increasing side of the position range output 1 address. Use this servo parameter and [Pr. PT21 Position range output 1 address -] to set the range where position range 1 (POT1) turns on. This function is enabled in the profile position mode and positioning mode (point table method). The unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree or pulses with [Pr. PT01.2 Unit for position data]. If [Pr. PT19] is set to a value less than [Pr. PT21] while [Pr. PT01.2] is set to "3" (pulse), [AL. 037 Parameter error] occurs. When [Pr. PT01.2] is set to "2" (degree), set [Pr. PT21] as the starting point and [Pr. PT19] as the ending point. An example setting of the degree unit is as follows. The output range is the section where the servo motor moves from "-" to "+" in the CCW direction.
Set the output range of moving range A as follows: [Pr. PT21] = 315.000 degrees [Pr. PT19] = 90.000 degrees Set the output range of moving range B as follows: [Pr. PT21] = 90.000 degrees [Pr. PT19] = 315.000 degrees The setting range is 0 to 359.999 degrees. If a value out of the setting range is set, the value will be converted as shown in the table below. The values of the output range shown above will be the values after conversion.
[Pr. PT21_Position range output 1 address - (*LNP1)]
Set the address decreasing side of the position range output 1 address. The other specifications are the same as [Pr. PT19 Position range output 1 address +].
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis A5
Setting value After conversion 360.000 to 2147483.647 degrees The remainder obtained by dividing the setting value by 360.000
-0.001 to -359.999 degrees The value obtained by adding 360.000 to the setting value
-360.000 to -2147483.648 degrees The value obtained by adding 360.000 to the remainder after dividing the setting value by 360.000
Initial value Setting range Setting method Ver. 0 [pulse] -2147483648 to 2147483647 Each axis A5
CCW 0 [degree]
90 [degree]
315 [degree]
Moving range A
Moving range B
2 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
[Pr. PT26.4_Touch probe latch position selection]
Select the reflecting patterns of [Pr. PA14 Travel direction selection] and [Pr. PT08 Homing position data] to the latch position in the touch probe function. 0: Reflect only some of the patterns of [Pr. PA14] 2: Reflect all the patterns of [Pr. PA14] and [Pr. PT08] The reflecting patterns are as follows.
*1 The trigger corresponds to bit 2 or bit 10 of [Touch probe function (Obj. 60B8h)] or bit 2 of [Touch probe function 2 (Obj. 2DE8h)]. The applicable object differs depending on the touch probe device being used.
[Pr. PT29_Function selection T-3 (*TOP3)]
[Pr. PT29.0_Device input polarity 1]
Select the proximity dog input polarity. 0: Dog detection with off 1: Dog detection with on
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
[Pr. PT26.4] Trigger *1 [Touch probe function (Obj. 60B8h)] [Touch probe function 2 (Obj. 2DE8h)]
[Pr. PT01.2 Unit for position data]
Reflecting the setting value of [Pr. PA14]
Reflecting the setting value of [Pr. PT08]
0 0 (Triggered by inputting touch probe)
0 (mm), 1 (inch), 3 (pulse)
2 (degree)
1 (Triggered at the zero point of the encoder)
0, 1, 3
2
2 0 (Triggered by inputting touch probe)
0, 1, 3
2
1 (Triggered at the zero point of the encoder)
0, 1, 3
2
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 A0
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 163
16
[Pr. PT34_Positioning operation data default (**PDEF)]
[Pr. PT34.0_Point table default]
0: Disabled 1: Enabled When initializing the point table, set "1". After setting [Pr. PT34.0] = "1" and [Pr. PT34.3 Default availability] = "5" (permitted), cycle the power or reset the software to initialize the point table. After the initialization is completed, the setting value of [Pr. PT34] is automatically set to "00000000h".
[Pr. PT34.3_Default availability]
0: Prohibited 5: Permitted When initializing the point table, set "5". After the initialization is completed, the setting value of [Pr. PT34] is automatically set to "00000000h".
[Pr. PT38_Function selection T-7 (**TOP7)]
[Pr. PT38.4_Limit switch release position assessment function selection]
Set the limit switch release position assessment function. This function is enabled in the cyclic synchronous position mode or the cyclic synchronous speed mode. Refer to the following table for the combinations available for the assessment function.
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 B8
Initial value Setting range Ver. 0h Refer to the text B8
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 B2
Setting value Limit switch release position assessment function 0 Disabled
1 Enabled
4 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
[Pr. PT41.0_Homing prohibition selection]
0: Disabled 1: Enabled When "1" is set, the homing is not performed even if the start signal is turned on in the homing mode.
[Pr. PT45_Homing method (HMM)]
Set a homing method. An attempt to execute homing with an unsupported method triggers "Homing error". At this time, homing cannot be executed. This function corresponds to [Homing method (Obj. 6098h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
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 A0
Initial value Setting range Setting method Ver. 37 Refer to the text Each axis A0
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 165
16
Homing methods For details regarding the homing methods, refer to "Homing mode (hm) and homing" in the User's Manual (Function).
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Homing direction Homing methods Description
-1 Forward rotation (CCW) or positive direction
Dog type (Rear end detection - Z-phase reference) Performs homing using the Z-phase pulse after a moving part has moved past the proximity dog. Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.
-2 Count type (Front end detection - Z-phase reference) Performs homing using the encoder pulse count after a moving part came into contact with the proximity dog. Deceleration starts from the front end of the proximity dog. After the front end is passed, the position specified by the first Z-phase signal after the set distance or the position of the Z-phase signal shifted by the set home position shift distance is set as the home position.
-3 Data set type Performs homing without a dog. The current position is set as the home position. Homing can be executed in the Operational enabled state. Homing cannot be executed in the servo-off status.
-4 Forward rotation (CCW) or positive direction
Stopper type (Stopper position reference) Performs homing with a workpiece pressed against a mechanical stopper. A workpiece is pressed against a mechanical stopper, and the stop position is set as the home position.
-6 Dog type (Rear end detection - rear end reference) Performs homing with reference to the rear end of the proximity dog. Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
-7 Count type (Front end detection - front end reference) Performs homing with reference to the front end of the proximity dog. Deceleration starts from the front end of the proximity dog. The position is shifted by the travel distance after the proximity dog and the home position shift distance. The position after the shifts is set as the home position.
-8 Dog cradle type Performs homing using the first Z-phase pulse with reference to the front end of the proximity dog. The position specified by either the first Z-phase signal after the front end of the proximity dog is detected or the position of the first Z-phase signal shifted by the home position shift distance can be set as the home position.
-9 Dog type last Z-phase reference Performs homing using the last Z-phase pulse with reference to the front end of the proximity dog. After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction. Then, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.
-10 Dog type front end reference Performs homing with reference to the front end of the proximity dog in the direction of the front end. Starting from the front end of the proximity dog, the position is shifted by the travel distance after the proximity dog and the home position shift distance. The position after the shifts is set as the home position.
-11 Dogless Z-phase reference Performs homing with reference to the first Z-phase in the direction of the dog front end. The position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.
6 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
Dog type (Rear end detection - Z-phase reference) The same as the setting -1.
-34 Count type (Front end detection - Z-phase reference) The same as the setting -2.
-36 Stopper type (Stopper position reference) The same as the setting -4.
-38 Dog type (Rear end detection - rear end reference) The same as the setting -6.
-39 Count type (Front end detection - front end reference) The same as the setting -7.
-40 Dog cradle type The same as the setting -8.
-41 Dog type last Z-phase reference The same as the setting -9.
-42 Dog type front end reference The same as the setting-10.
-43 Dogless Z-phase reference The same as the setting -11.
1 *1 Method 1 (Homing on negative limit switch and index pulse)
After the reverse rotation stroke end is detected, the position moves in the opposite direction. Then, the position specified by either the first Z-phase signal after leaving the stroke end or the position of the first Z-phase signal shifted by the home position shift distance can be set as the home position. If the position is shifted in the forward rotation direction, and the forward rotation stroke end is detected before the Z-phase signal is detected, [AL. 090 Homing incomplete warning] will occur. When FLS/RLS is used, this homing method is available on servo amplifiers with firmware version C0 or later.
2 *1 Forward rotation (CCW) or positive direction
Method 2 (Homing on positive limit switch and index pulse) After the forward rotation stroke end is detected, the position moves in the opposite direction. Then, the position specified by either the first Z-phase signal after leaving the stroke end or the position of the first Z-phase signal shifted by the home position shift distance can be set as the home position. If the position is shifted in the reverse rotation direction, and the reverse rotation stroke end is detected before the Z-phase signal is detected, [AL. 090 Homing incomplete warning] will occur. When FLS/RLS is used, this homing method is available on servo amplifiers with firmware version C0 or later.
3 Method 3 (Homing on positive home switch and index pulse)
This is the same as the dog type last Z-phase reference homing. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
4 Method 4 (Homing on positive home switch and index pulse)
This is the same as the dog cradle type homing. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
5 Reverse rotation (CW) or negative direction
Method 5 (Homing on negative home switch and index pulse)
This is the same as the dog type last Z-phase reference homing. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
6 Method 6 (Homing on negative home switch and index pulse)
This is the same as the dog cradle type homing. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
7 Forward rotation (CCW) or positive direction
Method 7 (Homing on home switch and index pulse) This is the same as the dog type last Z-phase reference homing.
8 Method 8 (Homing on home switch and index pulse) This is the same as the dog cradle type homing.
9 *2 Method 9 (Homing on home switch and index pulse) With reference to the rear end of the proximity dog, the home position is the Z-phase pulse immediately before the rear end of the dog. With this homing method, the position shifted by the home position shift distance is used as the home position.
10 *2 Method 10 (Homing on home switch and index pulse) With reference to the rear end of the proximity dog, the home position is the Z-phase pulse immediately before the rear end of the dog. With this homing method, the position shifted by the home position shift distance is used as the home position.
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Homing direction Homing methods Description
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 167
16
11 Reverse rotation (CW) or negative direction
Method 11 (Homing on home switch and index pulse) This is the same as the dog type last Z-phase reference homing.
12 Method 12 (Homing on home switch and index pulse) This is the same as the dog cradle type homing.
13 *2 Method 13 (Homing on home switch and index pulse) The same as the setting 9.
14 *2 Method 14 (Homing on home switch and index pulse) The same as the setting 10.
17 *2 Method 17 (Homing without index pulse) After the reverse rotation stroke end is detected, the position is shifted away from the stroke end in the forward direction, where the home position is set. With this homing method, the position shifted by the home position shift distance is used as the home position. If the position is shifted in the forward rotation direction, and the forward rotation stroke end is detected, [AL. 090 Homing incomplete warning] will occur.
18 *2 Forward rotation (CCW) or positive direction
Method 18 (Homing without index pulse) After the forward rotation stroke end is detected, the position is shifted away from the stroke end in the reverse direction, where the home position is set. With this homing method, the position shifted by the home position shift distance is used as the home position. If the position is shifted in the reverse rotation direction, and the reverse rotation stroke end is detected, [AL. 090 Homing incomplete warning] will occur.
19 Method 19 (Homing without index pulse) This is the same as the dog type front end reference homing. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
20 Method 20 (Homing without index pulse) Although this type is the same as the dog cradle type homing, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
21 Reverse rotation (CW) or negative direction
Method 21 (Homing without index pulse) This is the same as the dog type front end reference homing. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
22 Method 22 (Homing without index pulse) Although this type is the same as the dog cradle type homing, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during homing, [AL. 090 Homing incomplete warning] will occur.
23 Forward rotation (CCW) or positive direction
Method 23 (Homing without index pulse) This is the same as the dog type front end reference homing.
24 Method 24 (Homing without index pulse) Although this type is the same as the dog cradle type homing, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
27 Reverse rotation (CW) or negative direction
Method 27 (Homing without index pulse) This is the same as the dog type front end reference homing.
28 Method 28 (Homing without index pulse) Although this type is the same as the dog cradle type homing, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
33 Method 33 (Homing on index pulse) Although this type is the same as the dogless Z-phase reference homing, the creep speed is applied as the movement start speed.
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Homing direction Homing methods Description
8 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
*1 Available on servo amplifiers with firmware version B2 or later. *2 Available on servo amplifiers with firmware version C0 or later.
34 Forward rotation (CCW) or positive direction
Method 34 (Homing on index pulse) Although this type is the same as the dogless Z-phase reference homing, the creep speed is applied as the movement start speed.
35 Method 35 (Homing on index pulse) The current position is set as the home position. Homing can be executed even when the servo amplifier is not in the Operational enabled state. Homing can be executed in the servo-off status as well.
37 Method 37 (Homing on current position) The current position is set as the home position. Homing can be executed even when the servo amplifier is not in the Operational enabled state. Homing can be executed in the servo-off status as well.
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Homing direction Homing methods Description
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 169
17
[Pr. PT49_Speed acceleration time constant (STA)]
Set the acceleration time taken by the motor to reach the rated speed from a full stop for the command.
For example, for a servo motor with a rated speed of 3000 [r/min], set 3000 [ms] to accelerate from 0 [r/min] to 1000 [r/min] in 1000 [ms]. This function corresponds to [Profile acceleration (Obj. 6083h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV05 Profile acceleration] are mutually exclusive. Profile mode This function is enabled in the profile position mode and profile velocity mode. If a value larger than 20000 [ms] is set in the position mode, [AL. 0F4 Positioning warning] occurs. Positioning mode (point table method) This function is enabled in the JOG operation mode. If a value larger than 20000 [ms] is set in the JOG operation mode, [AL. 0F4 Positioning warning] occurs.
[Pr. PT50_Speed deceleration time constant (STB)]
Set the deceleration time from the rated speed to a motor stop for the command. This function is enabled in the profile position mode and profile velocity mode. If a value larger than 20000 [ms] is set in the position mode, [AL. 0F4 Positioning warning] occurs. This function corresponds to [Profile deceleration (Obj. 6084h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV07 Profile deceleration] are mutually exclusive. Profile mode This function is enabled in the profile position mode and profile velocity mode. If a value larger than 20000 [ms] is set in the position mode, [AL. 0F4 Positioning warning] occurs. Positioning mode (point table method) This function is enabled in the JOG operation mode. If a value larger than 20000 [ms] is set in the JOG operation mode, [AL. 0F4 Positioning warning] occurs.
Initial value Setting range Setting method Ver. 0 [ms] 0 to 50000 Each axis A5
Initial value Setting range Setting method Ver. 0 [ms] 0 to 50000 Each axis A5
0 r/min (0 mm/s)
If the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter.
time
Setting value of [Pr. PT50]
Rated speed
Servo motor speed
Setting value of [Pr. PT49]
0 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
Set the time of the arc part for S-pattern acceleration/deceleration time constants. This setting enables smooth start/stop of the servo motor. When "0" is set, linear acceleration/deceleration is performed.
This function is enabled in the profile position mode, profile velocity mode, and positioning mode (point table method). This function is disabled during homing. In the profile velocity mode, if a long acceleration or deceleration time is set, a timing error may occur on the arc part against the setting of the S-pattern acceleration deceleration time constants. The upper limit of the actual time for the arc part is limited to 2000000/acceleration time during acceleration and 2000000/ deceleration time during deceleration.
Ex.
At the setting of STA ([Pr. PT49 Speed acceleration time constant]) = 20000, STB ([Pr. PT50 Speed deceleration time constant]) = 5000, and STC = 200, the actual time for the arc part is as follows. During acceleration: 100 [ms] 2000000/20000 = 100 [ms] < 200 [ms] Therefore, the time is limited to 100 [ms]. During deceleration: 200 [ms] 2000000/5000 = 400 [ms] > 200 [ms] Therefore, it will be 200 [ms] as set. Profile position mode and positioning mode (point table method) If a value of 1000 [ms] or more is set, the value is clamped to 1000 [ms]. The setting is enabled at the next operation start.
[Pr. PT53_Torque slope (TQS)]
Set the rate of change in the torque command per second. When "0.0" is set, the torque slope is disabled. This function is enabled in the profile torque mode. This function corresponds to [Torque slope (Obj. 6087h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 0 [ms] 0 to 5000 Each axis A5
Initial value Setting range Setting method Ver. 0.0 [%/s] 0.0 to 1000000.0 Each axis A5
0 [r/min] Ta
Ta + STC Tb
Tb + STC
Acceleration time constant
Servo motor speed
Rated speed
Preset speed
Deceleration time constant
Ta: Time taken to reach the preset speed Tb: Time taken to stop
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 171
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[Pr. PT55_Function selection T-10 (*TOP10)]
[Pr. PT55.0_Homing deceleration time constant selection]
Set a value to be used for the acceleration time constant and deceleration time constant at homing.
[Pr. PT56_Homing acceleration time constant (HMA)]
Set the acceleration time constant for the homing. Set the acceleration time taken for the motor to reach the rated speed from a full stop. When [Pr. PT55.0 Homing deceleration time constant selection] is set to "0", this servo parameter is used as the deceleration time constant at homing. This function corresponds to [Homing acceleration (Obj. 609Ah)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV15 Homing acceleration] are mutually exclusive.
[Pr. PT57_Homing deceleration time constant (HMB)]
Set the deceleration time constant at homing. Set the deceleration time from the rated speed to a motor stop. This servo parameter is enabled when [Pr. PT55.0 Homing deceleration time constant selection] is set to "1". This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV17 Homing deceleration] are mutually exclusive.
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 A0
Setting value
Acceleration time constant Deceleration time constant
0 [Pr. PT56 Homing acceleration time constant] or [Pr. PV15 Homing acceleration]
1 [Pr. PT56 Homing acceleration time constant] or [Pr. PV15 Homing acceleration]
[Pr. PT57 Homing deceleration time constant] or [Pr. PV17 Homing deceleration]
Initial value Setting range Setting method Ver. 0 [ms] 0 to 20000 Each axis A0
Initial value Setting range Setting method Ver. 0 [ms] 0 to 20000 Each axis A0
2 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
This function is enabled in the profile position mode and positioning mode (point table method). This function corresponds to [Profile velocity (Obj. 6081h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV01 Profile speed command extension setting] are mutually exclusive. Profile mode Set the profile speed command. If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s). However, the set speed is clamped when [Pr. PT02.7 Internal position command - Process speed selection] is set to "0" (standard). Positioning mode (point table method) Set the JOG speed command.
[Pr. PT66_Maximum profile speed (MPVC)]
Set the maximum profile speed. This function is enabled in the profile position mode and profile velocity mode. This function corresponds to [Max profile velocity (Obj. 607Fh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV03 Maximum profile speed extension setting] are mutually exclusive.
[Pr. PT67_Speed limit (VLMT)]
Set the maximum speed in the torque control. This function is enabled in the cyclic synchronous torque mode, the profile torque mode, and the continuous operation to torque control mode. This function corresponds to [Velocity limit value (Obj. 2D20h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools. The speed is 3000 r/min in the initial setting. Change the setting value according to the intended use. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "0". This function and [Pr. PV21 Speed limit extension setting] are mutually exclusive.
Initial value Setting range Setting method Ver. 100.00 [r/min], [mm/s] 0.00 to 21474836.47 Each axis A5
Initial value Setting range Setting method Ver. 20000.00 [r/min], [mm/s] 0.00 to 20000.00 Each axis A5
Initial value Setting range Setting method Ver. 3000.00 [r/min], [mm/s] 0.00 to 21474836.47 Each axis A0
1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 173
17
[Pr. PT68_Function selection T-11 (TOP11)]
[Pr. PT68.0_Quick stop method selection]
Select the quick stop method. In the slave axis torque mode (slt), the servo motor ignores the Quick Stop input and decelerates to a stop in accordance with the stop command from the master axis regardless of the setting value of this servo parameter. For details, refer to "Master- slave operation simultaneous stop function" in the User's Manual (Communication Function). Forced stop deceleration by turning off EM2 (Forced stop 2) is the same as "2" regardless of the setting value of this servo parameter. When [Pr. PA04.3 Forced stop deceleration function selection] is set to "0" (forced stop deceleration function disabled), the servo motor stops with the dynamic brake regardless of the setting value of this servo parameter. This function corresponds to [Quick stop option code (Obj. 605Ah)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
*1 Available on servo amplifiers with firmware version D0 or later. *2 Not available for CC-Link IE Field Network Basic. *3 For the deceleration time constants of the control modes, refer to "[Quick stop option code (Obj. 605Ah)]" in the User's Manual (Object
Dictionary). *4 When the controller being used cannot perform follow-up in the "Quick stop active" state (during servo-on), do not use this setting value
in the cyclic synchronous position mode (csp). For information on whether the controller being used can perform follow-up in the "Quick stop active" state, refer to the manual for the controller.
*5 When canceling Quick stop in the cyclic synchronous position mode (csp), cancel it after servo-off or perform position follow-up with the controller. If Quick stop is canceled without performing position follow-up, the servo motor may suddenly accelerate.
[Pr. PT68.2_Temporary stop method selection]
Select a temporary stop method. 0: Automatic selection (deceleration to a stop method) 1: Deceleration to a stop method This function corresponds to [Halt option code (Obj. 605Dh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 00000002h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 2h Refer to the text A0
Setting value Description 0 *1 Stop with dynamic brake
1 *1*3 Servo-off after deceleration to a stop at the deceleration time constant of any of the control modes
2 Servo-off after deceleration to a stop with [Quick stop deceleration (Obj. 6085h)]
5 *1*2*3*4*5 Maintain servo-on after deceleration to a stop at the deceleration time constant of any of the control modes
6 *1*2*4*5 Maintain servo-on after deceleration to a stop with [Quick stop deceleration (Obj. 6085h)]
Initial value Setting range Ver. 0h Refer to the text A0
4 1 SERVO PARAMETER DETAILS 1.9 Positioning control setting servo parameters group ([Pr. PT_ _ ])
1
_ ]) [Pr. PN02_Communication error - Detection time (CERT)]
For CC-Link IE TSN Class B Set the threshold until network disconnecting and [AL. 086.2 Network communication error 2] are detected. The maximum setting range is 1000 ms. When "0" is set, the detection time is 10 ms. For CC-Link IE TSN Class A Set the threshold until network disconnecting is detected. When "0" is set, the detection time is 1000 ms.
Ex.
When "1000" is set, the set value becomes 1000 ms. When [Pr. PD41.2 Limit switch enabled status selection] is set to "1" and [Pr. PD41.3 Sensor input method selection] is set to "1", setting a large value in this parameter prevents the limit switch from working at an occurrence of a communication error, which may result in a collision. This servo parameter does not guarantee the time until network disconnecting. If an error such as an alive error occurs, network disconnecting may be executed before the time that is set in this servo parameter. For CC-Link IE Field Network Basic Set the threshold until [AL. 086.1 Network communication error 1] is detected. When "0" is set, the detection time is 1000 ms.
[Pr. PN03_Communication mode setting (**NWMD)]
[Pr. PN03.1_CC-Link IE TSN Class setting]
Select a CC-Link IE TSN Class. 0: Class B ver. 1.0/2.0 1: Class A ver. 2.0
[Pr. PN05_Communication error - Detection frequency setting (CERI)]
Set the frequency until [AL. 086.5 Network communication error 5] and [AL. 086.6 Network communication error 6] are detected. The maximum setting range is 100 %. When "0" is set, the frequency is 8 %.
[Pr. PN13_Network protocol setting (**NPS)]
Initial value Setting range Setting method Ver. 0 [ms] 0 to 1000 Common A0
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 D0
Initial value Setting range Setting method Ver. 0 [%] 0 to 100 Common A0
Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No.
1 SERVO PARAMETER DETAILS 1.10 Network setting servo parameters group ([Pr. PN_ _ ]) 175
17
[Pr. PN13.0-3_Network protocol setting]
Set the network to be used. Setting a value other than the following triggers [AL. 037 Parameter error].
Initial value Setting range Ver. 0000h Refer to the text C0
Setting value of [Pr. PN13.0-3] Setting details 0000h CC-Link IE TSN
0004h CC-Link IE Field Network Basic
6 1 SERVO PARAMETER DETAILS 1.10 Network setting servo parameters group ([Pr. PN_ _ ])
1
This servo parameter can be used only with CC-Link IE TSN. Set the backup interval for a parameter automatic backup to be performed when the specified time passes on an hourly basis. When the value is set to "0", a parameter automatic backup when the specified time passes is not performed. When the set backup time is reached while the servo amplifier is not connected to a controller, and the power of the servo amplifier is cycled, even if a connection is established with the controller, backup operation is not immediately performed. There is a limit to the number of times to write to the data memory of the controller. When the number of connected axes is large and when backup operation is performed at short intervals, the maximum memory writing frequency of the controller may be reached earlier than the operating life. Therefore, be careful about the frequency of writing when performing a backup. You can check the frequency of writing so far with the special register in the CPU module. For details, refer to the CPU module user's manual. The estimated write interval per number of connected axes is as follows. 1 to 16 axes: Once every hour 17 to 32 axes: Once every two hours 33 to 64 axes: Once every four hours 65 or more axes: Once every six hours
Ex.
When "2" is set for the setting value of this servo parameter After the power is turned on, whether there is any difference between the previously delivered servo parameter and the current servo parameter is checked every two hours. When there is a difference, backup operation is performed.
[Pr. PN22_Function selection N-5]
[Pr. PN22.0_Default mapping mode selection]
This servo parameter can be used only with CC-Link IE Field Network Basic. Select a default mapping mode to be used with CC-Link IE Field Network Basic. 0: Mode 1 1: Mode 2
Initial value Setting range Setting method Ver. 0 0 to 1000 Common A5
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 C0
1 SERVO PARAMETER DETAILS 1.10 Network setting servo parameters group ([Pr. PN_ _ ]) 177
17
1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ])
[Pr. PV01_Profile speed command extension setting (PVC2)]
Set the speed command used in the profile position mode (pp) and JOG operation mode (jg). The unit can be changed to 0.001 mm/s, 0.0001 inch/s, 0.001 degree/s, or pulse/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT65 Profile speed command] are mutually exclusive. The setting value will be clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. This function corresponds to [Profile velocity (Obj. 6081h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV03_Maximum profile speed extension setting (MPVCE)]
Set the speed limit value of the profile position mode (pp), the profile velocity mode (pv), and the JOG operation mode (jg). The unit can be changed to 0.001 mm/s, 0.0001 inch/s, 0.001 degree/s, or pulse/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT66 Maximum profile speed] are mutually exclusive. This function corresponds to [Max profile velocity (Obj. 607Fh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV05_Profile acceleration (PACC)]
Set the acceleration used in the profile position mode (pp), the profile velocity mode (pv), and the JOG operation mode (jg). The unit can be changed to 0.001 mm/s2, 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. When the setting value of this servo parameter is "0", the servo motor accelerates in accordance with the time constant set in [Pr. PT49 Speed acceleration time constant]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT49] are mutually exclusive. This function corresponds to [Profile acceleration (Obj. 6083h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 2147483647 [Refer to the text below for the unit.]
0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis A5
8 1 SERVO PARAMETER DETAILS 1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ])
1
Set the deceleration used in the profile position mode (pp), profile velocity mode (pv), and JOG operation mode (jg). The unit can be changed to 0.001 mm/s2, 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. When the setting value of this servo parameter is "0", the servo motor decelerates in accordance with the time constant set in [Pr. PT50 Speed deceleration time constant]. This function is enabled when [Pr. PT01.1] is set to "1". This function and [Pr. PT50] are mutually exclusive. This function corresponds to [Profile deceleration (Obj. 6084h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV09_Deceleration at forced stop (RSBDEC)]
Set the deceleration to be used for the forced stop deceleration function. The unit can be changed to 0.001 mm/s2, 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. When the setting value of this servo parameter is "0", the servo motor decelerates in accordance with the time constant set in [Pr. PC24 Deceleration time constant at forced stop]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PC24] are mutually exclusive. This function corresponds to [Quick stop deceleration (Obj. 6085h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV11_Homing speed extension setting (ZRFE)]
Set the servo motor speed for homing. The unit can be changed to 0.001 mm/s, 0.0001 inch/s, 0.001 degree/s, or pulse/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT05 Homing speed] are mutually exclusive. The setting value will be clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. This function corresponds to [Speed during search for switch (Obj. 6099h: 01h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 500000 [Refer to the text below for the unit.]
0 to 4294967295 Each axis A5
1 SERVO PARAMETER DETAILS 1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) 179
18
[Pr. PV13_Creep speed extension setting (CRFE)]
When performing a homing, set the servo motor speed after proximity dog. The unit can be changed to 0.001 mm/s, 0.0001 inch/s, 0.001 degree/s, or pulse/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT06 Creep speed] are mutually exclusive. The setting value will be clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection]. This function corresponds to [Speed during search for zero (Obj. 6099h: 02h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV15_Homing acceleration (HMACC)]
Set the acceleration for homing. The unit can be changed to 0.001 mm/s2 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. When the setting value of this servo parameter is "0", the servo motor accelerates in accordance with the time constant set in [Pr. PT56 Homing acceleration time constant]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT56] are mutually exclusive. When [Pr. PT55.0 Homing deceleration time constant selection] is set to "0", this function is used as the deceleration for homing. This function corresponds to [Homing acceleration (Obj. 609Ah)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV17_Homing deceleration (HMDEC)]
Set the deceleration for homing. The unit can be changed to 0.001 mm/s2, 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. When the setting value of this servo parameter is "0", the servo motor decelerates in accordance with the time constant set in [Pr. PT57 Homing deceleration time constant]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PT57] are mutually exclusive. When "1" is selected for [Pr. PT55.0 Homing deceleration time constant selection], set the deceleration for homing. Selecting "0" in [Pr. PT55.0] will disable the setting value.
Initial value Setting range Setting method Ver. 100000 [Refer to the text below for the unit.]
0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis A5
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis A5
0 1 SERVO PARAMETER DETAILS 1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ])
1
Set the speed range in which the speed reached 2 turns on in the profile velocity mode (pv). If the state where the error between the command speed and the servo motor speed is within the setting value of this servo parameter continues for the time set in [Pr. PC73 Speed reached 2 - Output filtering time] or longer, bit 10 (Target velocity reached) of [Statusword (Obj. 6041h)] turns on. The unit can be changed to 0.001 degrees/s or pulses/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PC72 Speed reached 2 - Output range] are mutually exclusive. This function corresponds to [Velocity window (Obj. 606Dh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV20_Zero speed 2 level extension setting (ZSP2LE)]
Set the speed level at which the zero speed 2 turns on in the profile velocity mode (pv). If the state where the absolute value of the servo motor speed exceeds the setting value of this servo parameter continues for the time set in [Pr. PC66 Zero speed 2 filtering time] or longer, bit 12 (Speed) of [Statusword (Obj. 6041h)] turns off. The unit can be changed to 0.001 degrees/s or pulses/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PC65 Zero speed 2 level] are mutually exclusive. This function corresponds to [Velocity threshold (Obj. 606Fh)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV21_Speed limit extension setting (VLMTE)]
Set the speed limit value of the cyclic synchronous torque mode (cst), the profile torque mode (tq), and the continuous operation to torque control mode (ct). The unit can be changed to 0.001 degrees/s or pulses/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PV67 Speed limit] are mutually exclusive. This function corresponds to [Velocity limit value (Obj. 2D20h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 20000 [Refer to the text below for the unit.]
0 to 65535 Each axis A5
Initial value Setting range Setting method Ver. 20 [Refer to the text below for the unit.]
0 to 65535 Each axis A5
Initial value Setting range Setting method Ver. 2147483647 [Refer to the text below for the unit.]
0 to 4294967295 Each axis A5
1 SERVO PARAMETER DETAILS 1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) 181
18
[Pr. PV23_Speed unit conversion - Electronic gear numerator (*VCMX)]
Set the electric gear numerator for converting the speed (command unit/s) into a value in speed units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". Setting a value other than "1" on the MR-J5W3-_G_ triggers [AL. 037 Parameter error].
[Pr. PV24_Speed unit conversion - Electronic gear denominator (*VCDV)]
Set the electric gear denominator for converting the speed command (command unit/s) into a value in speed units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". Setting a value other than "1" on the MR-J5W3-_G_ triggers [AL. 037 Parameter error].
[Pr. PV25_Acceleration unit conversion - Electronic gear numerator (*ACMX)]
Set the electric gear numerator for converting the acceleration (command unit/s2) into a value in acceleration/deceleration units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". Setting a value other than "1" on the MR-J5W3-_G_ triggers [AL. 037 Parameter error].
[Pr. PV26_Acceleration unit conversion - Electronic gear denominator (*ACDV)]
Set the electric gear denominator for converting the acceleration (command unit/s2) into a value in acceleration/deceleration units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". Setting a value other than "1" on the MR-J5W3-_G_ triggers [AL. 037 Parameter error].
Initial value Setting range Setting method Ver. 1 1 to 1024 Each axis A5
Initial value Setting range Setting method Ver. 1 1 to 256 Each axis A5
Initial value Setting range Setting method Ver. 1 1 to 1024 Each axis A5
Initial value Setting range Setting method Ver. 1 1 to 256 Each axis A5
2 1 SERVO PARAMETER DETAILS 1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ])
1
Set the acceleration limit value to be used in the profile position mode (pp), profile velocity mode (pv), homing mode (hm), and JOG operation mode (jg). The unit can be changed to 0.001 mm/s2, 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. If this servo parameter is set to "0", the acceleration limit is disabled. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". The servo motor accelerates by the setting value of this servo parameter when the following conditions are met: The setting value of [Pr. PV05 Profile acceleration] is "0" in pp, pv, or jg mode The setting value of [Pr. PV15 Homing acceleration] is "0" in hm mode This function corresponds to [Max acceleration (Obj. 60C5h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV31_Deceleration limit (DECLMT)]
Set the deceleration limit value to be used in the profile position mode (pp), profile velocity mode (pv), homing mode (hm), and JOG operation mode (jg). The unit can be changed to 0.001 mm/s2, 0.0001 inch/s2, 0.001 degree/s2, or pulse/s2 with [Pr. PT01.2 Unit for position data]. If this servo parameter is set to "0", the deceleration limit is disabled. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". The servo motor decelerates by the setting value of this servo parameter when the following conditions are met: The setting value of [Pr. PV07 Profile deceleration] is "0" in pp, pv, or jg mode The setting value of [Pr. PV15 Homing acceleration] or [Pr. PV17 Homing deceleration] is "0" in hm mode This function corresponds to [Max deceleration (Obj. 60C6h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
[Pr. PV33_Master-slave operation - Speed limit adjusted value extension setting (VLLE)]
Set the minimum value of the slave axis speed limit for the slave axis torque mode (slt). The unit can be changed to pulses/s with [Pr. PT01.2 Unit for position data]. This servo parameter is enabled only in the slave axis torque mode. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr. PD32 Master-slave operation - Slave-side speed limit adjusted value] are mutually exclusive. This function corresponds to [Master-slave Lower limit of velocity limit value (Obj. 2E46h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Initial value Setting range Setting method Ver. 0 0 to 4294967295 Each axis C0
Initial value Setting range Setting method Ver. 0 0 to 4294967295 Each axis C0
Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis D0
1 SERVO PARAMETER DETAILS 1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) 183
18
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 csp Cyclic synchronous position mode
csv Cyclic synchronous velocity mode
cst Cyclic synchronous torque mode
pp Profile position mode
pv Profile velocity mode
tq Profile torque mode
hm Homing mode
pt Point table mode
jg JOG operation mode
ct Continuous operation to torque control mode
slt Slave axis torque mode
4 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.1 Structure
2
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 DD csp csv cst pp pv tq hm pt jg ct slt PA01 PA01.0
PA01.1
PA01.4
PA01.7
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
PA11
PA12
PA14
PA15
PA16
PA17
PA18 PA18.0-3
PA19
PA20 PA20.1
PA20.2
PA21 PA21.0
PA22 PA22.1
PA22.3
PA23 PA23.0-1
PA23.2-4
PA24 PA24.0
PA24.5
PA25
PA26 PA26.0
PA28 PA28.4
PA34
2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 185
18
Gain/filter setting servo parameters group ([Pr. PB_ _ ]) No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt 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
6 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes
2
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 DD csp csv cst pp pv tq hm pt jg ct slt
2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 187
18
Extension setting servo parameters group ([Pr. PC_ _ ]) No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PC01
PC02
PC03 PC03.0
PC03.1
PC03.2
PC04 PC04.3
PC05 PC05.0
PC05.4
PC06 PC06.0
PC06.3
PC07
PC08
PC09 PC09.0-1
PC09.3
PC10 PC10.0-1
PC10.3
PC11
PC12
PC16 PC16.4
PC16.5
PC17 PC17.1
PC19 PC19.0
PC19.4
PC19.6
PC20 PC20.2
PC20.4
PC20.6
PC21 PC21.0
PC24
PC26 PC26.3
PC27 PC27.0
PC27.2
PC27.5
PC29 PC29.0
PC29.3
PC29.5
PC31
PC38
PC41 PC41.0
PC41.3
PC46 PC46.1
PC46.2
PC46.3
PC65
PC66
PC67
PC69
PC70
8 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes
2
I/O setting servo parameters group ([Pr. PD_ _ ])
PC71
PC72
PC73
PC76 PC76.1
PC76.2
PC76.3
PC78 PC78.1
PC79 PC79.0-1
No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PD01 PD01.0-7
PD03 PD03.0-1
PD04 PD04.0-1
PD05 PD05.0-1
PD05.4
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
PD22
PD23 PD23.1
PD26 PD26.0
PD26.1
PD30
PD31
PD32
PD38 PD38.0-1
PD39 PD39.0-1
PD41 PD41.2
PD41.3
PD51 PD51.0-1
PD51.4
PD60 PD60.0-7
No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt
2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 189
19
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PE01 PE01.0
PE03 PE03.0
PE03.1
PE03.3
PE04
PE05
PE06
PE07
PE08
PE10 PE10.1
PE41 PE41.0
PE41.6
PE44
PE45
PE46
PE47
PE48 PE48.0
PE48.1
PE49
PE50
PE51
PE53
0 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes
2
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PF02 PF02.0
PF02.4
PF02.5
PF06 PF06.0
PF06.1
PF12
PF18
PF19
PF20
PF21
PF23
PF24 PF24.0
PF25
PF29 PF29.1
PF31
PF32
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
PF62 PF62.0
PF63 PF63.0
PF63.1
PF66 PF66.0-3
PF66.4-7
PF67
PF68
PF69
PF70
PF71 PF71.0
PF71.1
PF72
PF73
PF74
PF75
PF76
2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 191
19
Motor extension setting servo parameters group ([Pr. PL_ _ ])
PF80 PF80.0
PF80.2-3
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 DD csp csv cst pp pv tq hm pt jg ct slt 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 DD csp csv cst pp pv tq hm pt jg ct slt
2 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes
2
Positioning control setting servo parameters group ([Pr. PT_ _ ])
Network setting servo parameters group ([Pr. PN_ _ ])
No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PT01 PT01.1
PT01.2
PT02 PT02.7
PT03 PT03.2
PT05
PT06
PT07
PT08
PT09
PT10
PT11
PT12
PT15
PT17
PT19
PT21
PT26 PT26.4
PT29 PT29.0
PT34 PT34.0
PT34.3
PT38 PT38.4
PT41 PT41.0
PT45
PT49
PT50
PT51
PT53
PT55 PT55.0
PT56
PT57
PT65
PT66
PT67
PT68 PT68.0
PT68.2
No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PN02
PN03 PN03.1
PN05
PN13 PN13.0-3
PN20
PN22 PN22.0
2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes 193
19
Positioning extension setting servo parameters group ([Pr. PV_ _ ]) No. Detail No. Operation mode Control mode
Semi closed Fully closed
Standard Linear DD Standard DD csp csv cst pp pv tq hm pt jg ct slt PV01
PV03
PV05
PV07
PV09
PV11
PV13
PV15
PV17
PV19
PV20
PV21
PV23
PV24
PV25
PV26
PV29
PV31
PV33
4 2 LISTS OF SERVO PARAMETER SUPPORTED MODES 2.2 Lists of supported control modes
3
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 00000000h
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
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.1 Basic setting servo parameters group ([Pr. PA_ _ ]) 195
19
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
6 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
No. Initial value
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 197
19
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 00101000h
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
8 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 00000001h
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
No. Initial value
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.3 Extension setting servo parameters group ([Pr. PC_ _ ]) 199
20
3.4 I/O setting servo parameters group ([Pr. PD_ _ ]) No. Initial value PD01 00000000h
PD02 00000000h
PD03 0000000Ah
PD04 0000000Bh
PD05 00000022h
PD06 00000000h
PD07 00000005h
PD08 00000004h
PD09 00000003h
PD10 00000000h
PD11 00000007h
PD12 00000101h
PD13 00000000h
PD14 00000000h
PD15 00000000h
PD16 00000000h
PD17 00000000h
PD18 00000000h
PD19 00000000h
PD20 0
PD21 0
PD22 0
PD23 0
PD24 0
PD25 00000000h
PD26 00000000h
PD27 0
PD28 00000000h
PD29 00000000h
PD30 0
PD31 0
PD32 0
PD33 00000000h
PD34 00000000h
PD35 00000000h
PD36 00000000h
PD37 00110001h
PD38 0000002Ch
PD39 0000002Dh
PD40 0
PD41 00000000h
PD42 00000000h
PD43 00000000h
PD44 00000000h
PD45 00000000h
PD46 00000000h
PD47 00000000h
PD48 00000000h
PD49 0
PD50 0
0 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.4 I/O setting servo parameters group ([Pr. PD_ _ ])
3
PD51 00000062h
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
No. Initial value
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.4 I/O setting servo parameters group ([Pr. PD_ _ ]) 201
20
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
2 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
No. Initial value
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) 203
20
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
4 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 00120000h
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_ _ ]) 205
20
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
6 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
No. Initial value
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.7 Motor extension setting servo parameters group ([Pr. PL_ _ ]) 207
20
3.8 Positioning control setting servo parameters group ([Pr. PT_ _ ])
No. Initial value PT01 00000300h
PT02 00000001h
PT03 00000000h
PT04 00000000h
PT05 100.00
PT06 10.00
PT07 0
PT08 0
PT09 1000
PT10 100
PT11 15.0
PT12 0
PT13 00000000h
PT14 0
PT15 0
PT16 00000000h
PT17 0
PT18 00000000h
PT19 0
PT20 00000000h
PT21 0
PT22 00000000h
PT23 00000000h
PT24 00000000h
PT25 00000000h
PT26 00000000h
PT27 00000000h
PT28 8
PT29 00000000h
PT30 00000000h
PT31 00000000h
PT32 00000100h
PT33 00000000h
PT34 00000000h
PT35 00000000h
PT36 00000000h
PT37 10
PT38 00000000h
PT39 100
PT40 0
PT41 00000010h
PT42 00000000h
PT43 00000000h
PT44 00000000h
PT45 37
PT46 0
PT47 00000000h
PT48 00000000h
8 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.8 Positioning control setting servo parameters group ([Pr. PT_ _ ])
3
PT49 0
PT50 0
PT51 0
PT52 0
PT53 0.0
PT54 0
PT55 00000000h
PT56 0
PT57 0
PT58 100.00
PT59 500.00
PT60 1000.00
PT61 200.00
PT62 00000000h
PT63 00000000h
PT64 00000000h
PT65 100.00
PT66 20000.00
PT67 3000.00
PT68 00000002h
PT69 00000000h
PT70 00000000h
PT71 00000000h
PT72 1
PT73 00000000h
PT74 1
PT75 00000000h
PT76 00000000h
PT77 00000000h
PT78 00000000h
PT79 00000000h
PT80 00000000h
PT81 0
PT82 0
PT83 00000000h
PT84 00000000h
PT85 00000000h
PT86 00000000h
PT87 00000000h
PT88 00000000h
PT89 00000000h
PT90 00000000h
No. Initial value
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.8 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 209
21
3.9 Network setting servo parameters group ([Pr. PN_ _ ])
No. Initial value PN01 00000000h
PN02 0
PN03 00000000h
PN04 0
PN05 0
PN06 00000000h
PN07 00000000h
PN08 00000000h
PN09 1
PN10 0
PN11 3600
PN12 00000000h
PN13 00000000h
PN14 00000000h
PN15 00000000h
PN16 00000000h
PN17 00000000h
PN18 0
PN19 00000000h
PN20 0
PN21 00000000h
PN22 00000000h
PN23 0
PN24 00000000h
PN25 00000000h
PN26 00000000h
PN27 00000000h
PN28 00000000h
PN29 00000000h
PN30 00000000h
PN31 00000000h
PN32 00000000h
0 3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.9 Network setting servo parameters group ([Pr. PN_ _ ])
3
3.10 Positioning extension setting servo parameters group ([Pr. PV_ _ ])
No. Initial value PV01 0
PV02 0
PV03 2147483647
PV04 0
PV05 0
PV06 0
PV07 0
PV08 0
PV09 0
PV10 0
PV11 500000
PV12 0
PV13 100000
PV14 0
PV15 0
PV16 0
PV17 0
PV18 0
PV19 20000
PV20 20
PV21 2147483647
PV22 0
PV23 1
PV24 1
PV25 1
PV26 1
PV27 1
PV28 1
PV29 0
PV30 00000000h
PV31 0
PV32 0
PV33 0
PV34 0
PV35 00000000h
PV36 00000000h
PV37 00000000h
PV38 00000000h
PV39 00000000h
PV40 00000000h
3 LISTS OF SERVO PARAMETER INITIAL VALUES 3.10 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) 211
21
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 Object dictionary The servo parameters can be changed by writing values on servo parameter objects. The servo parameters can also be changed with objects other than the servo parameter objects that interlock and change with the servo parameters. An example is shown in the table below. Note that if the power is cycled, the changed settings are not retained at the next startup. To retain the changed settings even after cycling the power, save the servo parameter setting value to the non-volatile memory by using [Store Parameters (Obj. 1010h)]. To change the setting of the parameters in which the setting changes are reflected by cycling the power or by resetting the software (parameters whose symbols are preceded by **), change the value of the corresponding object, execute [Store Parameters (Obj. 1010h)], and then cycle the power or reset the software.
Servo parameter Object An object other than the servo parameter object that interlocks and changes with the servo parameter
[Pr. PT45 Homing method] [PT45 (Obj. 24ADh)] [Homing method (Obj. 6098h)]
2 4 SERVO PARAMETER SETTING METHOD 4.1 Engineering tool
4
MEMO
4 SERVO PARAMETER SETTING METHOD 4.2 Object dictionary 213
21
5 NETWORK PARAMETER DETAILS Network parameters are used to set IP addresses and other information necessary to connect the servo amplifier with the controllers and other network equipment. In this chapter, an outline of the network parameters and the contents of each setting are explained. The network function of the servo amplifier is set with the network parameters. The network parameters are stored in the non- volatile memory of the servo amplifier, and are set to the initial value when using the factory setting. Change the settings as necessary. Refer to the following for the setting methods. Page 212 SERVO PARAMETER SETTING METHOD
Restrictions Depending on the model of the motion module, servo amplifier firmware version, and MR Configurator2 software version, some network parameters and ranges cannot be set. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, 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 Do not change the network 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 network parameters for manufacturer setting. Setting a value outside the range Changing the fixed value in each digit If the method for reflecting the setting value of the network parameter is not stated, the value is enabled at the moment that it is changed. Some of the network parameters support SLMP communication. For example, SLMP commands (IPAddressSet) are written to the IP addresses of the network parameters.
4 5 NETWORK PARAMETER DETAILS
5
5.1 Network basic parameters [Pr. NPA01_IP address setting]
For the setting of IP addresses which are necessary for communication, select whether to use the rotary switches or to use network parameters to obtain the IP addresses. To enable this network parameter, cycle the power or reset the software after setting. This network parameter cannot be rewritten via the parameter automatic setting.
The initial value of the IP address is as follows.
Initial value Setting range Size Ver. 0 Refer to the text 4 bytes A0
Setting value Rotary switches (SW1/SW2)
IP address
0: The rotary switch is used. 00h 1st octet The 1st octet of the setting value in [Pr. NPA02] is used.
2nd octet The 2nd octet of the setting value in [Pr. NPA02] is used.
3rd octet The 3rd octet of the setting value in [Pr. NPA02] is used.
4th octet The 4th octet of the setting value in [Pr. NPA02] is used.
01h to FEh 1st octet The 1st octet of the setting value in [Pr. NPA02] is used.
2nd octet The 2nd octet of the setting value in [Pr. NPA02] is used.
3rd octet The 3rd octet of the setting value in [Pr. NPA02] is used.
4th octet The setting value of the rotary switch (SW1/SW2) is used.
FFh 1st octet Not used
2nd octet
3rd octet
4th octet
1: Network parameters are used. 1st octet The 1st octet of the setting value in [Pr. NPA02] is used.
2nd octet The 2nd octet of the setting value in [Pr. NPA02] is used.
3rd octet The 3rd octet of the setting value in [Pr. NPA02] is used.
4th octet The 4th octet of the setting value in [Pr. NPA02] is used.
Item Initial value IP address 192.168.3.1
Subnet mask 255.255.255.0
5 NETWORK PARAMETER DETAILS 5.1 Network basic parameters 215
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[Pr. NPA02_IP address]
Set the IP address. Set each octet to a value between 0 to 255. In the eight digits of hexadecimal, the first to fourth octets are expressed with each pair of digits.
Set the IP address assigned by the network administrator. Refer to the following for the relation to the rotary switch. Page 215 [Pr. NPA01_IP address setting] When SLMP command (IPAddressSet) is received at the time of IP address delivery from the controller, this network parameter is overwritten with the received IP address. To enable this network parameter, cycle the power or reset the software after setting. This network parameter cannot be rewritten via the parameter automatic setting.
[Pr. NPA04_Subnet mask]
Set the subnet mask. Set each octet to a value between 0 to 255. In the eight digits of hexadecimal, the first to fourth octets are expressed with each pair of digits.
Set the subnet mask assigned by the network administrator. When SLMP command (IPAddressSet) is received at the time of IP address delivery from the controller, this network parameter is overwritten with the received subnet mask. To enable this network parameter, cycle the power or reset the software after setting. This network parameter cannot be rewritten via the parameter automatic setting.
Initial value Setting range Size Ver. 192.168.3.1 (C0A80301h) Refer to the text 4 bytes A0
Initial value Setting range Size Ver. 255.255.255.0 (FFFFFF00h) Refer to the text 4 bytes A0
4th octet
Two digits
Two digits
Two digits
Two digits
3rd octet
2nd octet
1st octet
4th octet
Two digits
Two digits
Two digits
Two digits
3rd octet
2nd octet
1st octet
6 5 NETWORK PARAMETER DETAILS 5.1 Network basic parameters
5
[Pr. NPA08_Host name]
Select a host name. Set a character string of up to 63 characters for the host name. The characters that can be input as the host name are 0 to 9, A to Z, a to z, hyphen (-), period (.), colon (:), and underscore (_). This network parameter can be obtained with SLMP command (NodeSearch). The command is "0E30h" and subcommand is "0000h". This network parameter can be set with SLMP command (IPAddressSet). The command is "0E31h" and subcommand is "0000h".
[Pr. NPA12_Communication speed]
Set the communication speed. 1: 100 Mbps 2: Network automatic setting To enable this network parameter, cycle the power or reset the software after setting. Details of the communication speed are as follows:
*1 Available on servo amplifiers with firmware version C0 or later.
Initial value Setting range Size Ver. 0 (All NULL) 63 characters (Refer to the text.) 64 bytes A0
Initial value Setting range Size Ver. 00000002h Refer to the text 4 bytes B6
[Pr. PN13.0-3 Network protocol setting] [Pr. NPA12] Communication speed 0000h (CC-Link IE TSN) (initial value) 2 (initial value) 1 Gbps
0000h (CC-Link IE TSN) (initial value) 1 100 Mbps
0004h (CC-Link IE Field Network Basic) *1 2 (initial value) 100 Mbps
0004h (CC-Link IE Field Network Basic) *1 1 100 Mbps
5 NETWORK PARAMETER DETAILS 5.1 Network basic parameters 217
21
5.2 User authentication parameters [Pr. NPB01_User authentication and authorization setting]
Set the connection method to use for setting the user authentication parameter. To enable this network parameter, cycle the power or reset the software after setting. When this network parameter is set to "1" (USB only), the user authentication parameter cannot be rewritten via the parameter automatic setting.
[Pr. NPB04_User name No.1]
Set the user name to use when accessing the FTP server function of the servo amplifier. Set the user name in accordance with the following restrictions. If a blank (0 character) user name is set, that account will be disabled.
If the set user name is identical to an existing account, password and authorization level parameters linked to said user name may be disabled. Ensure that no duplicate user names are set.
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Setting value Authorization Description 0 Full access possible The user authentication parameter can be set via either a USB or Ethernet
connection.
1 USB only The user authentication parameter can only be set via a USB connection.
Initial value Setting range Size Ver. user 32 characters 36 bytes A5
Number of characters Type of characters 1 to 32 Single-byte letters (uppercase)
Single-byte letters (lowercase) Single-byte numeric characters
8 5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters
5
[Pr. NPB05_Authorization level No.1]
Set the authorization level for the user (No.1). Refer to the following table for details.
*1 Available on servo amplifiers with firmware version B2 or later.
[Pr. NPB06_Password No.1]
Set the password to use when accessing the FTP server function of the servo amplifier. Set the password in accordance with the following restrictions.
[Pr. NPB07_User name No.2]
Set the user name (No.2) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
[Pr. NPB08_Authorization level No.2]
Set the authorization level for the user (No.2). Page 219 [Pr. NPB05_Authorization level No.1]
Initial value Setting range Size Ver. 00000001h Refer to the text 4 bytes A5
Network parameter No. Setting digit (BIN) Description [Pr. NPB05.0] _ _ _ x Firmware update permission selection
0: Prohibited 1: Permitted When "1" (permitted) is set, firmware updates can be performed via the FTP server function.
_ _ x _ For manufacturer setting
_ x _ _ Drive recorder data readout permission selection *1
0: Prohibited 1: Permitted When "1" (permitted) is set, readout of the recorded data in the drive recorder can be performed via the FTP server function.
x _ _ _ For manufacturer setting
[Pr. NPB05.1] [Pr. NPB05.2] [Pr. NPB05.3] [Pr. NPB05.4] [Pr. NPB05.5] [Pr. NPB05.6] [Pr. NPB05.7]
For manufacturer setting For manufacturer setting
Initial value Setting range Size Ver. user A5
Number of characters Type of characters 4 to 32 Single-byte letters (uppercase)
Single-byte letters (lowercase) Single-byte numeric characters Special characters
"Special characters" refers to the following characters: ` ~ ! @ # $ % ^ & * ( ) _ + - = { } | : " ; ' < > ? , . / [ ] (additionally, a single-byte space can be used).
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters 219
22
[Pr. NPB09_Password No.2]
Set the password (No.2) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
[Pr. NPB10_User name No.3]
Set the user name (No.3) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
[Pr. NPB11_Authorization level No.3]
Set the authorization level for the user (No.3). Page 219 [Pr. NPB05_Authorization level No.1]
[Pr. NPB12_Password No.3]
Set the password (No.3) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
[Pr. NPB13_User name No.4]
Set the user name (No.4) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
[Pr. NPB14_Authorization level No.4]
Set the authorization level for the user (No.4). Page 219 [Pr. NPB05_Authorization level No.1]
[Pr. NPB15_Password No.4]
Set the password (No.4) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
[Pr. NPB16_User name No.5]
Set the user name (No.5) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
Initial value Setting range Size Ver. A5
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Initial value Setting range Size Ver. A5
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Initial value Setting range Size Ver. A5
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
0 5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters
5
[Pr. NPB17_Authorization level No.5]
Set the authorization level for the user (No.5). Page 219 [Pr. NPB05_Authorization level No.1]
[Pr. NPB18_Password No.5]
Set the password (No.5) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
[Pr. NPB19_User name No.6]
Set the user name (No.6) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
[Pr. NPB20_Authorization level No.6]
Set the authorization level for the user (No.6). Page 219 [Pr. NPB05_Authorization level No.1]
[Pr. NPB21_Password No.6]
Set the password (No.6) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
[Pr. NPB22_User name No.7]
Set the user name (No.7) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
[Pr. NPB23_Authorization level No.7]
Set the authorization level for the user (No.7). Page 219 [Pr. NPB05_Authorization level No.1]
[Pr. NPB24_Password No.7]
Set the password (No.7) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Initial value Setting range Size Ver. A5
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Initial value Setting range Size Ver. A5
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Initial value Setting range Size Ver. A5
5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters 221
22
[Pr. NPB25_User name No.8]
Set the user name (No.8) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1]
[Pr. NPB26_Authorization level No.8]
Set the authorization level for the user (No.8). Page 219 [Pr. NPB05_Authorization level No.1]
[Pr. NPB27_Password No.8]
Set the password (No.8) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1]
Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes A5
Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes A5
Initial value Setting range Size Ver. A5
2 5 NETWORK PARAMETER DETAILS 5.2 User authentication parameters
6
6 NETWORK PARAMETER SETTING METHOD
6.1 Engineering tool The network parameters can be set with MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool 223
22
MEMO
4 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool
7
7 FUNCTIONAL SAFETY PARAMETER DETAILS
Restrictions Settable functional safety parameters and values depend on the servo amplifier firmware version and MR Configurator2 software version. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, or by other means. 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 Do not change the functional safety 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 functional safety parameters for manufacturer setting Setting a value outside the range Changing the fixed value in each functional safety parameter "*" added to functional safety parameter abbreviations means the following. **: After setting, cycle the power or reset the software.
7 FUNCTIONAL SAFETY PARAMETER DETAILS 225
22
7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
[Pr. PSA01_Safety sub-function mode selection (**SOA)]
Set the safety sub-function.
[Pr. PSA01.0_Safety sub-function activation setting]
0: Disabled 1: Enabled When setting this functional safety parameter to "1" (enabled), check the setting of each relevant parameter for problems. When setting this parameter to "0" (disabled), only the STO function with the CN8 connector can be used.
[Pr. PSA01.1_Input mode selection]
0: Safety sub-function control by input device 1: Safety sub-function control by network 2: Test operation When setting this functional safety parameter to "2" (test operation), the safety sub-function is not available. For information regarding test operation, refer to "Test operation" in the User's Manual (Introduction). If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. If this functional safety parameter is set to "1" (safety sub-function control by network) when using a servo amplifier other than the MR-J5-_G_-RJ and MR-J5D_-_G_, [AL. 537] occurs.
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 B2
Initial value Setting range Ver. 0h Refer to the text B2
6 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
7
[Pr. PSA02_Functional safety setting (**SMD)]
[Pr. PSA02.1_Position/Speed monitor setting]
0: Do not monitor the position/speed. 1: Monitor the position/speed using a servo motor with functional safety. 2: Monitor the speed without using a servo motor with functional safety. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSA02.2_Time/Deceleration monitor setting]
0: Perform time monitoring (SS1) and deceleration stop monitoring/stop monitoring (SS2/SOS). 1: Perform deceleration monitoring in addition to time monitoring (SS1) and deceleration stop monitoring/stop monitoring (SS2/SOS). If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSA02.3_Operation mode selection]
0: Standard control mode 4: Linear servo motor control mode 6: Direct drive motor control mode If [Pr. PSA02.1 Position/Speed monitor setting] is not set to "0" (do not monitor the position/speed), set this servo parameter to the same value as [Pr. PA01.1 Operation mode selection]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSA03_SS1/SS2 deceleration monitor time (**SST)]
Set the deceleration time for the SS1 function and the SS2/SOS function. This functional safety parameter is used by the following two functions. The STO function activates when the time set in this functional safety parameter elapses when decelerating while using the
SS1 function. When using the SS2/SOS function, the deceleration stop monitoring shifts to the stop monitoring (SOS) when the time set
in this functional safety parameter elapses while decelerating.
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 B2
Initial value Setting range Ver. 0h Refer to the text B2
Initial value Setting range Ver. 0h Refer to the text B2
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) 227
22
[Pr. PSA04_Safety sub-function - Stop speed (**SSS)]
Set the stop speed. If the absolute value of the servo motor speed is equal to or less than the value set in this functional safety parameter, the SS2/SOS function considers the servo motor as being stopped. This functional safety parameter is used by the following four functions. When using the SS2/SOS function, the deceleration stop monitoring shifts to the stop monitoring (SOS) when the
deceleration speed becomes equal to or less than the servo motor speed set in this functional safety parameter. When using the SS2/SOS function, the STO function activates if the deceleration speed during the stop monitoring (SOS)
exceeds the servo motor speed set in this functional safety parameter. When using the SS1 function, the STO function activates if the deceleration speed during deceleration monitoring becomes
equal to or less than the servo motor speed set in this functional safety parameter. When using the SD1 function, the STO function activates if movement counter to the travel direction specified in SDIP or
SDIN occurs during direction monitoring due to the servo motor speed set in this functional safety parameter.
[Pr. PSA05_SOS permissible travel distance (**SSDP)]
Specify the travel distance to be permitted during stop monitoring (SOS) via the SS2/SOS function. The STO function activates if movement to a position exceeding the position set in this functional safety parameter occurs after stop monitoring starts. The setting unit can be changed with [Pr. PSA06 SOS permissible travel distance unit selection]. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA06_SOS permissible travel distance unit selection (**SAOP1)]
Select the setting unit that will be used to set the SOS permissible travel distance in [Pr. PSA05 SOS permissible travel distance].
[Pr. PSA06.0_SOS permissible travel distance unit selection]
0: [rev] 1: [0.1 rev] 2: [0.01 rev] This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA07_SLS deceleration monitor time 1 (**SLSDT1)]
Set the threshold for the time required for the speed monitoring to start after the SLS1 command is enabled. Specify a sufficient time that allows for deceleration to the safety speed after the SLS1 command is enabled. Perform deceleration control from the controller, etc. as necessary during this delay time. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 3 [rev] 0 to 1000 Each axis B2
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 B2
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
8 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
7
[Pr. PSA08_SLS deceleration monitor time 2 (**SLSDT2)]
Set the threshold for the time required for the speed monitoring to start after the SLS2 command is enabled. Specify a sufficient time that allows for deceleration to the safety speed after the SLS2 command is enabled. Perform deceleration control from the controller, etc. as necessary during this delay time. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA09_SLS deceleration monitor time 3 (**SLSDT3)]
Set the threshold for the time required for the speed monitoring to start after the SLS3 command is enabled. Specify a sufficient time that allows for deceleration to the safety speed after the SLS3 command is enabled. Perform deceleration control from the controller, etc. as necessary during this delay time. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA10_SLS deceleration monitor time 4 (**SLSDT4)]
Set the threshold for the time required for the speed monitoring to start after the SLS4 command is enabled. Specify a sufficient time that allows for deceleration to the safety speed after the SLS4 command is enabled. Perform deceleration control from the controller, etc. as necessary during this delay time. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA11_SLS speed 1 (**SLSS1)]
Set the threshold for the safety speed if activating the SLS function via the SLS1 command. The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA12_SLS speed 2 (**SLSS2)]
Set the threshold for the safety speed if activating the SLS function via the SLS2 command. The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA13_SLS speed 3 (**SLSS3)]
Set the threshold for the safety speed if activating the SLS function via the SLS3 command. The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis B2
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) 229
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[Pr. PSA14_SLS speed 4 (**SLSS4)]
Set the threshold for the safety speed if activating the SLS function via the SLS4 command. The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA15_Safety sub-function - Speed detection delay time (**SLST)]
Specify the filter time of the delay filter that will judge whether the servo motor speed has exceeded or fallen below the threshold during speed monitoring. The setting of this functional safety parameter delays the response time of the following types of speed monitoring. The time required for the STO function to start after the speed is exceeded during speed monitoring via the SLS function The time required for the stop monitoring (SOS) to start after the servo motor speed falls below the stop speed while
decelerating during deceleration monitoring via the SS2/SOS function The time required for the STO function to start after the servo motor speed exceeds the stop speed during stop monitoring
(SOS) via the SS2/SOS function The time required for the STO function to start after the deceleration speed either exceeds the deceleration monitor speed
or falls below the stop speed during deceleration monitoring via the SS1 function
[Pr. PSA17_Safety sub-function - Position detection delay time (**SOSPT)]
Specify the filter time of the delay filter that will judge whether the motor position has exceeded the threshold during position monitoring. The setting of this functional safety parameter delays the response time of the following types of position monitoring. The time required for the STO function to start after the position feedback travel distance deviates from the permissible
travel distance during stop monitoring via the SS2/SOS function This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA18_SSM speed (**SSMS)]
Set the threshold for the safety speed if activating the SSM function. SSMS (SSM output) turns off when the absolute value of the servo motor speed exceeds this speed, and turns on when the absolute value of the servo motor speed falls below this speed. Note that judgment of the absolute value of the servo motor speed uses the hysteresis specified in [Pr. PSA19 SSM hysteresis width]. SSMS (SSM output) is turned off if an alarm that disables the safety sub-function occurs. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 10 [ms] 5 to 2000 Each axis B2
Initial value Setting range Setting method Ver. 0 [ms] 0 to 2000 Each axis B2
Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis B2
0 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
7
[Pr. PSA19_SSM hysteresis width (**SSMHW)]
Set the threshold of the hysteresis width for SSM speed judgment. Ensure that the value set in this parameter is smaller than the value set in [Pr. PSA18 SSM speed]. If this parameter is set to a value larger than the value set in [Pr. PSA18], [AL. 537 Parameter setting range error (safety sub- function)] occurs. If this functional safety parameter is set incorrectly, [AL. 537] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA20_Servo motor encoder resolution (**SMER)]
Set the encoder resolution of the servo motor. There is no need to set this functional safety parameter when using a linear servo motor. It is necessary to set [Pr. PSL02 Functional safety - Linear encoder resolution setting - Numerator] and [Pr. PSL03 Functional safety - Linear encoder resolution setting - Denominator], however. If the value set in this functional safety parameter does not match the actual resolution of the connected encoder, [AL. 537 Parameter setting range error (safety sub-function)] occurs. If this functional safety parameter is set incorrectly, [AL. 537.2] occurs.
[Pr. PSA22_Position feedback error detection time (**SAADT)]
Set the time required for detection of [AL. 52A Position feedback error (safety sub-function)]. The time required to detect a position feedback diagnosis error when a standard encoder is used will be set. Diagnosis via [AL. 52A] is not executed if this parameter is set to "0".
[Pr. PSA23_Servo motor rated speed (**SMRS)]
Set the servo motor rated speed. This functional safety parameter converts the values from [Pr. PSA24 SS1/SS2 deceleration monitor time constant], etc. into acceleration. Be sure to set the rated speed of the connected servo motor. If the rated speed set in this functional safety parameter does not match the actual rated speed of the connected servo motor, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSA24_SS1/SS2 deceleration monitor time constant (**SSTC)]
Set the deceleration time constant for the SS1 function and the SS2/SOS function. The STO function activates if the speed does not conform to the deceleration time constant set in this functional safety parameter after deceleration monitoring starts.
Initial value Setting range Setting method Ver. 20 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 67108864 [pulse/rev] 0 to 4294967295 Each axis B2
Initial value Setting range Setting method Ver. 60 [min] 0 to 65535 Each axis B2
Initial value Setting range Setting method Ver. 3000 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 100 [ms] 0 to 20000 Each axis B2
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) 231
23
[Pr. PSA25_SS1/SS2 deceleration monitor speed offset (**SSOF)]
Set the monitor speed offset for [Pr. PSA24 SS1/SS2 deceleration monitor time constant]. Use this parameter if overshoot occurs at the start of deceleration, etc.
[Pr. PSA26_SS1/SS2 deceleration monitor delay time (**SSDT)]
Set the threshold for the time required for the deceleration monitoring to start after the SS1 command or SS2 command is enabled. Specify a time that is sufficient for deceleration to start after the SS1 command or SS2 command is enabled.
[Pr. PSA27_SDI positive direction monitor delay time (**SDIDTP)]
Set the time required for the direction monitoring to start after the SDIP command is enabled. Specify a time that is sufficient for the travel direction of the servo motor to change to the negative direction after the SDIP command is enabled. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA28_SDI negative direction monitor delay time (**SDIDTN)]
Set the time required for the direction monitoring to start after the SDIN command is enabled. Specify a time that is sufficient for the travel direction of the servo motor to change to the positive direction after the SDIN command is enabled. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 10000 Each axis B2
Initial value Setting range Setting method Ver. 100 [ms] 0 to 60000 Each axis B2
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis B2
2 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
7
7.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ])
[Pr. PSB01_SLI permissible travel distance - Unit selection (**SLIPUS)]
Select the setting unit for the SLI permissible travel distance.
[Pr. PSB01.0_SLI permissible travel distance - Unit selection 1]
0: [rev] 1: [0.1 rev] 2: [0.01 rev] This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB02_SLI permissible travel distance - Positive direction 1 (**SLIPP1)]
Set the positive direction travel distance to be permitted during travel distance monitoring via the SLI function. The STO function activates if movement exceeding the travel distance set in this functional safety parameter occurs after travel distance monitoring starts. The setting unit can be changed with [Pr. PSB01.0 SLI permissible travel distance - Unit selection 1]. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB06_SLI permissible travel distance - Negative direction 1 (**SLIPN1)]
Set the negative direction travel distance to be permitted during travel distance monitoring via the SLI function. The STO function activates if movement exceeding the travel distance set in this functional safety parameter occurs after travel distance monitoring starts. The setting unit can be changed with [Pr. PSB01.0 SLI permissible travel distance - Unit selection 1]. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB10_SLT torque upper limit value 1 (**SLTP1)]
Set the upper limit threshold for the safety torque if activating the SLT function via the SLT1 command. The STO function will activate if the torque exceeds the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is larger than the value set in [Pr. PSB14 SLT torque lower limit value 1]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
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 B2
Initial value Setting range Setting method Ver. 3 [rev] 0 to 1000 Each axis B2
Initial value Setting range Setting method Ver. 3 [rev] 0 to 1000 Each axis B2
Initial value Setting range Setting method Ver. 15.0 [%] -1000.0 to 1000.0 Each axis B2
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) 233
23
[Pr. PSB11_SLT torque upper limit value 2 (**SLTP2)]
Set the upper limit threshold for the safety torque if activating the SLT function via the SLT2 command. The STO function will activate if the torque exceeds the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is larger than the value set in [Pr. PSB15 SLT torque lower limit value 2]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB12_SLT torque upper limit value 3 (**SLTP3)]
Set the upper limit threshold for the safety torque if activating the SLT function via the SLT3 command. The STO function will activate if the torque exceeds the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is larger than the value set in [Pr. PSB16 SLT torque lower limit value 3]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB13_SLT torque upper limit value 4 (**SLTP4)]
Set the upper limit threshold for the safety torque if activating the SLT function via the SLT4 command. The STO function will activate if the torque exceeds the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is larger than the value set in [Pr. PSB17 SLT torque lower limit value 4]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB14_SLT torque lower limit value 1 (**SLTN1)]
Set the lower limit threshold for the safety torque if activating the SLT function via the SLT1 command. The STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is smaller than the value set in [Pr. PSB10 SLT torque upper limit value 1]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB15_SLT torque lower limit value 2 (**SLTN2)]
Set the lower limit threshold for the safety torque if activating the SLT function via the SLT2 command. The STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is smaller than the value set in [Pr. PSB11 SLT torque upper limit value 2]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. 15.0 [%] -1000.0 to 1000.0 Each axis B2
Initial value Setting range Setting method Ver. 15.0 [%] -1000.0 to 1000.0 Each axis B2
Initial value Setting range Setting method Ver. 15.0 [%] -1000.0 to 1000.0 Each axis B2
Initial value Setting range Setting method Ver. -15.0 [%] -1000.0 to 1000.0 Each axis B2
Initial value Setting range Setting method Ver. -15.0 [%] -1000.0 to 1000.0 Each axis B2
4 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ])
7
[Pr. PSB16_SLT torque lower limit value 3 (**SLTN3)]
Set the lower limit threshold for the safety torque if activating the SLT function via the SLT3 command. The STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is smaller than the value set in [Pr. PSB12 SLT torque upper limit value 3]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB17_SLT torque lower limit value 4 (**SLTN4)]
Set the lower limit threshold for the safety torque if activating the SLT function via the SLT4 command. The STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function. Ensure that the value set in this parameter is smaller than the value set in [Pr. PSB13 SLT torque upper limit value 4]. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSB18_SLT torque detection delay time (**SLTT)]
Specify the filter time of the delay filter that will judge whether the motor position has exceeded the threshold during torque monitoring. The setting of this functional safety parameter delays the response time of torque monitoring. This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. -15.0 [%] -1000.0 to 1000.0 Each axis B2
Initial value Setting range Setting method Ver. -15.0 [%] -1000.0 to 1000.0 Each axis B2
Initial value Setting range Setting method Ver. 10 [ms] 0 to 2000 Each axis B2
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) 235
23
7.3 Network parameters group ([Pr. PSC_ _ ]) [Pr. PSC01_Transmission interval monitor time (**SNC)]
Select the transmission interval monitor time for safety communication. Set the transmission interval monitor time so that it matches the safety communication setting of the controller. This functional safety parameter can be used only with the MR-J5-G-RJ and MR-J5D_-_G_.
[Pr. PSC03_Functional safety - Rotation direction selection/travel direction selection (**SNPOL)]
The rotation/travel direction can be changed without changing the polarity of the command from the controller.
[Pr. PSC03.0_Rotation direction selection/travel direction selection]
Set this functional safety parameter to the same value as [Pr. PA14 Travel direction selection]. Refer to the following table for setting values.
If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs. This functional safety parameter can be used only with the MR-J5-G-RJ and MR-J5D_-_G_.
[Pr. PSC06_Safety verification code (**SAC)]
Set the safety verification code for safety communication. Doing so sets the value used to identify the servo amplifier. Set the MAC address, etc. so that it is not identical to that of a different servo amplifier. Match the safety verification code to the value set in the safety communication setting of the master station. If this parameter is set to a non-matching value, [AL. 580 Safety communication setting error (safety sub-function)] occurs. When setting the MAC address, set the lower 8 digits. This functional safety parameter can be used only with the MR-J5-G-RJ and MR-J5D_-_G_.
Initial value Setting range Setting method Ver. 32 [ms] 16 to 1000 Common B2
Initial value Setting range Setting method Ver. 00000010h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver. 0h Refer to the text B2
Setting value Servo motor rotation direction/linear servo motor travel direction
At forward rotation pulse input At reverse rotation pulse input 0 CCW or positive direction CW or negative direction
1 CW or negative direction CCW or positive direction
Initial value Setting range Setting method Ver. FFFFFFFFh 00000000h to FFFFFFFFh Common B2
6 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.3 Network parameters group ([Pr. PSC_ _ ])
7
7.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) [Pr. PSD01_Input device automatic activation selection (**SDIA)]
This setting is enabled only when using an input device. This setting allows for automatic activation of the SLS function, SLT function, and SDI function. The command set for automatic activation in this setting turns off (function enabled) at system startup, following which the relevant function will start automatically. Speed monitoring via the SLS function is always enabled when automatically activating SLS1C to SLS4C. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSD01.0_SLSC function automatic activation selection]
[Pr. PSD01.1_SLTC function automatic activation selection]
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 B2
Setting digit (BIN) Explanation _ _ _ x SLS1C (SLS1 command)
0: Do not perform automatic activation 1: Perform automatic activation
_ _ x _ SLS2C (SLS2 command) 0: Do not perform automatic activation 1: Perform automatic activation
_ x _ _ SLS3C (SLS3 command) 0: Do not perform automatic activation 1: Perform automatic activation
x _ _ _ SLS4C (SLS4 command) 0: Do not perform automatic activation 1: Perform automatic activation
Initial value Setting range Ver. 0h Refer to the text B2
Setting digit (BIN) Explanation _ _ _ x SLT1C (SLT1 command)
0: Do not perform automatic activation 1: Perform automatic activation
_ _ x _ SLT2C (SLT2 command) 0: Do not perform automatic activation 1: Perform automatic activation
_ x _ _ SLT3C (SLT3 command) 0: Do not perform automatic activation 1: Perform automatic activation
x _ _ _ SLT4C (SLT4 command) 0: Do not perform automatic activation 1: Perform automatic activation
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) 237
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[Pr. PSD01.2_SDIC function automatic activation selection]
[Pr. PSD02_Input device selection DI1 (**SDI1)]
Select the device to be assigned to the input signal of the CN8-4/CN8-5 pin. Be sure to assign a device to [Pr. PSD02 Input device selection DI1] if "0" (safety sub-function control by input device) is selected in [Pr. PSA01.1 Input mode selection]. If no device is set to [Pr. PSD02], [AL. 537 Parameter setting range error (safety sub-function)] occurs. If this functional safety parameter is set incorrectly, [AL. 537] occurs.
[Pr. PSD02.0-1_Safety input device selection DI1]
Select the device to be assigned to the input signal of the CN8-4/CN8-5 pin. Refer to the following table for setting values.
Selecting a value other than "00" (none), "01" (STOC), or "02" (SS1C) on a servo amplifier other than the MR-J5-_G_-RJ and MR-J5D_-_G_ triggers [AL. 537 Parameter setting range error (safety sub-function)].
Initial value Setting range Ver. 0h Refer to the text B2
Setting digit (BIN) Explanation _ _ _ x SDIPC (SDIP command)
0: Do not perform automatic activation 1: Perform automatic activation
_ _ x _ SDINC (SDIN command) 0: Do not perform automatic activation 1: Perform automatic activation
_ x _ _ For manufacturer setting
x _ _ _ 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. 00h Refer to the text B2
Setting value Input device 00 None
01 STOC (STO command)
02 SS1C (SS1 command)
03 SS2C (SS2 command)
04 SLS1C (SLS1 command)
08 SDIPC (SDIP command)
09 SDINC (SDIN command)
0A SLT1C (SLT1 command)
0E SLIC (SLI command)
8 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.4 Safety I/O device parameters group ([Pr. PSD_ _ ])
7
[Pr. PSD02.3_Input axis selection DI1]
For a multi-axis servo amplifier, set which axis will use the input device that was assigned in [Pr. PSD02.0-1 Safety input device selection DI1]. When this functional safety parameter is set to "0h", the input device is enabled for all axes using the automatic setting.
When A-axis selection is enabled, the device name is _ _ _-A. (example: "STOC-A") When B-axis selection is enabled, the device name is _ _ _-B. (example: "STOC-B") When C-axis selection is enabled, the device name is _ _ _-C. (example: "STOC-C") When multiple axes are enabled with this functional safety parameter, the input device signal is enabled for multiple axes simultaneously. For example, when [Pr. PSD02.3] = "5h" (A and C-axes enabled) and [Pr. PSD02.0] = "01h" (STOC) are set for the A-axis, STOC-A and STOC-C are enabled with the input signal of the DI1 pin. In the following cases, [AL. 537 Parameter setting range error (safety sub-function)] occurs. When a value other than "0h" is set on the MR-J5-_G_-RJ and MR-J5D1-_G_. When C-axis selection is enabled on the MR-J5W2-G and MR-J5D2-G.
Initial value Setting range Ver. 0h Refer to the text B2
Servo parameter number Setting digit (BIN) Setting details PSD02.3 _ _ _ x A-axis selection
0: Disabled 1: Enabled
_ _ x _ B-axis selection 0: Disabled 1: Enabled
_ x _ _ C-axis selection 0: Disabled 1: Enabled
x _ _ _ For manufacturer setting
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) 239
24
[Pr. PSD08_Output device selection DO1 (**SDO1)]
Select the device to be assigned to the output signal of the CN8-6/CN8-7 pin. If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSD08.0-1_Safety output device selection DO1]
Select the device to be assigned to the output signal of the CN8-6/CN8-7 pin. Refer to the following table for setting values.
Selecting a value other than "00" (none), "01" (STOS), "02" (SS1S), or "0A" (SBCS) on a servo amplifier other than the MR- J5-_G_-RJ and MR-J5D_-_G_ triggers [AL. 537 Parameter setting range error (safety sub-function)].
[Pr. PSD08.2_All-axis output condition selection DO1]
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: "C-STOS") 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: "X-STOS") This functional safety parameter is enabled when [Pr. PSD08.3 Output axis selection] is set to "0" (all axes) while a multi-axis amplifier 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. 00h Refer to the text B2
Setting value Output device 00 None
01 STOS (STO output)
02 SS1S (SS1 output)
03 SS2S (SS2 output)
04 SLS1S (SLS1 output)
05 SLS2S (SLS2 output)
06 SLS3S (SLS3 output)
07 SLS4S (SLS4 output)
08 SSMS (SSM output)
09 SOSS (SOS output)
0A SBCS (SBC output)
0B SDIPS (SDIP output)
0C SDINS (SDIN output)
0D SLT1S (SLT1 output)
0E SLT2S (SLT2 output)
0F SLT3S (SLT3 output)
10 SLT4S (SLT4 output)
12 SLIS (SLI output)
Initial value Setting range Ver. 0h Refer to the text B2
0 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.4 Safety I/O device parameters group ([Pr. PSD_ _ ])
7
[Pr. PSD08.3_Output axis selection DO1]
0: All axes 1: A-axis 2: B-axis 3: C-axis If the setting value is 1, the device name is _ _ _-A. (example: "STOS-A") If the setting value is 2, the device name is _ _ _-B. (example: "STOS-B") If the setting value is 3, the device name is _ _ _-C. (example: "STOS-C")
[Pr. PSD12_Input device - Noise elimination filter time DI1 (**SDIF1)]
Select the filter time to use for reducing noise from the input signal of the CN8-4/CN8-5 pin. Refer to the following table for details.
[Pr. PSD12.0-1_Noise elimination filter time DI1]
Select the filter time for the input signal of the CN8-4/CN8-5 pin. Refer to the following table for setting values.
Initial value Setting range Ver. 0h Refer to the text B2
Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Common Refer to the relevant detail No.
Configuration Noise elimination filter time Using a switch Set 1.00 ms or more.
Using a machine utilizing the diagnosis function Test pulses are in superposition in the output signal of the device.
Set a time that is at least 1.00 ms longer than the off time for test pulses output by the machine.
Test pulses are not in superposition in the output signal of the device.
Set 1.00 ms or more.
Initial value Setting range Ver. 01h Refer to the text B2
Setting value Filtering time [ms] 00 1.000
01 2.000
02 4.000
03 8.000
04 16.000
05 32.000
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) 241
24
[Pr. PSD18_Permissible time for mismatches DI1 (**SDIDT1)]
Select the threshold of mismatched time for the input signal of the CN8-4/CN8-5 pin. If the mismatched time for the input signal of the CN8-4/CN8-5 pin exceeds the time set in this parameter, [AL. 557 Input device mismatch detection (safety sub-function)] occurs. If set to "0", the alarm will not be detected. If [Pr. PSA01.0 Safety sub-function activation setting] is set to "0" (disabled), the alarm occurs in 10000 ms (10 s). Refer to the following table for details.
[Pr. PSD29_Output device - Test pulse diagnosis execution selection (**SDOP)]
Select whether to perform a diagnosis using test pulses for the output signal of the CN8-6/CN8-7 pin. When "0" (do not perform diagnosis) is selected, no test pulses are sent from the output signal of the CN8-6/CN8-7 pin.
[Pr. PSD29.0_Test pulse diagnosis execution selection DO1]
Select whether to perform a diagnosis using test pulses for the output signal of the CN8-6/CN8-7 pin. 0: Do not perform diagnosis 1: Perform diagnosis
[Pr. PSD30_Output device - Test pulse off time (**SDOPW)]
Select the off time for test pulses output from the output signal of the CN8-6/CN8-7 pin. This setting is only enabled for CN8- 6/CN8-7 pin output signals for which "1" (perform diagnosis) was selected in [Pr. PSD29.0 Test pulse diagnosis execution selection DO1].
[Pr. PSD30.0_Test pulse off time DO1]
Select the off time for test pulses output from the output signal of the CN8-6/CN8-7 pin. Refer to the following table for setting values.
Initial value Setting range Setting method Ver. 20 [ms] 0 to 60000 Common B2
Model Setting of [Pr. PSA01.0] Parameter to be used Time required for alarm to occur
Alarm to occur
MR-J5-_G_-RJ MR-J5W_-G_ MR-J5D_-_G_
0: Disabled Fixed as 10 s [AL. 557]
1: Enabled [Pr. PSD18] 0 to 60000 ms [AL. 557]
Initial value Setting range Setting method Ver. 00001111h Refer to the relevant detail No. Common Refer to the relevant detail No.
Initial value Setting range Ver. 1h Refer to the text B2
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 B2
Setting value Off time [ms] 0 0.500
1 1.000
2 2.000
2 7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.4 Safety I/O device parameters group ([Pr. PSD_ _ ])
7
[Pr. PSD31_Output device - Feedback diagnosis execution selection (**SDOD1)]
[Pr. PSD31.0_Feedback diagnosis execution selection DO1]
Select whether to perform a diagnosis for the output signal of the CN8-6/CN8-7 pin. Normally, do not change the setting from "1". 0: Do not perform diagnosis 1: Perform diagnosis
7.5 Extension setting 3 parameters group ([Pr. PSL_ _ ])
[Pr. PSL02_Functional safety - Linear encoder resolution setting - Numerator (**SLIM)]
Set the linear encoder resolution with [Pr. PSL02] and [Pr. PSL03 Functional safety - Linear encoder resolution setting - Denominator]. Set a numerator in [Pr. PSL02]. This functional safety parameter is only enabled when using a linear servo motor. Be sure to set this parameter to the same value set in [Pr. PL02 Linear encoder resolution setting - Numerator] when executing position monitoring or speed monitoring for a linear servo motor. If this parameter is set to a non-matching value, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
[Pr. PSL03_Functional safety - Linear encoder resolution setting - Denominator (**SLID)]
Set the linear encoder resolution with [Pr. PSL02 Functional safety - Linear encoder resolution setting - Numerator] and [Pr. PSL03]. Set a denominator in [Pr. PSL03]. This functional safety parameter is only enabled when using a linear servo motor. Be sure to set this parameter to the same value set in [Pr. PL03 Linear encoder resolution setting - Denominator] when executing position monitoring or speed monitoring for a linear servo motor. If this parameter is set to a non-matching value, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
Initial value Setting range Setting method Ver. 00001111h Refer to the relevant detail No. Common Refer to the relevant detail No.
Initial value Setting range Ver. 1h Refer to the text B2
Initial value Setting range Setting method Ver. 1000 [m] 1 to 65535 Each axis B2
Initial value Setting range Setting method Ver. 1000 [m] 1 to 65535 Each axis B2
7 FUNCTIONAL SAFETY PARAMETER DETAILS 7.5 Extension setting 3 parameters group ([Pr. PSL_ _ ]) 243
24
8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES
8.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
No. Initial value PSA01 00000000h
PSA02 00000000h
PSA03 1000
PSA04 50
PSA05 3
PSA06 00000000h
PSA07 1000
PSA08 1000
PSA09 1000
PSA10 1000
PSA11 50
PSA12 50
PSA13 50
PSA14 50
PSA15 10
PSA16 00000000h
PSA17 0
PSA18 50
PSA19 20
PSA20 67108864
PSA21 00000000h
PSA22 60
PSA23 3000
PSA24 100
PSA25 0
PSA26 100
PSA27 1000
PSA28 1000
PSA29 0
PSA30 0
PSA31 0
PSA32 00000000h
PSA33 00000000h
PSA34 00000000h
PSA35 00000000h
PSA36 00000000h
PSA37 00000000h
PSA38 00000000h
PSA39 00000000h
PSA40 00000000h
PSA41 00000000h
4 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
8
PSA42 00000000h
PSA43 00000000h
PSA44 00000000h
PSA45 00000000h
PSA46 00000000h
PSA47 00000000h
PSA48 00000000h
PSA49 00000000h
PSA50 00000000h
PSA51 00000000h
PSA52 00000000h
PSA53 00000000h
PSA54 00000000h
PSA55 00000000h
PSA56 00000000h
PSA57 00000000h
PSA58 00000000h
PSA59 00000000h
PSA60 00000000h
PSA61 00000000h
PSA62 00000000h
PSA63 00000000h
PSA64 00000000h
No. Initial value
8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) 245
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8.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ])
No. Initial value PSB01 00000000h
PSB02 3
PSB03 00000000h
PSB04 00000000h
PSB05 00000000h
PSB06 3
PSB07 00000000h
PSB08 00000000h
PSB09 00000000h
PSB10 15.0
PSB11 15.0
PSB12 15.0
PSB13 15.0
PSB14 -15.0
PSB15 -15.0
PSB16 -15.0
PSB17 -15.0
PSB18 10
PSB19 100
PSB20 50
PSB21 0
PSB22 15.0
PSB23 -15.0
PSB24 10
PSB25 10
PSB26 00000000h
PSB27 00000000h
PSB28 00000000h
PSB29 00000000h
PSB30 00000000h
PSB31 00000000h
PSB32 00000000h
PSB33 00000000h
PSB34 00000000h
PSB35 00000000h
PSB36 00000000h
PSB37 00000000h
PSB38 00000000h
PSB39 00000000h
PSB40 00000000h
PSB41 00000000h
PSB42 00000000h
PSB43 00000000h
PSB44 00000000h
PSB45 00000000h
PSB46 00000000h
6 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ])
8
PSB47 00000000h
PSB48 00000000h
PSB49 00000000h
PSB50 00000000h
PSB51 00000000h
PSB52 00000000h
PSB53 00000000h
PSB54 00000000h
PSB55 00000000h
PSB56 00000000h
PSB57 00000000h
PSB58 00000000h
PSB59 00000000h
PSB60 00000000h
PSB61 00000000h
PSB62 00000000h
PSB63 00000000h
PSB64 00000000h
No. Initial value
8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) 247
24
8.3 Network parameters group ([Pr. PSC_ _ ]) No. Initial value PSC01 32
PSC02 00000000h
PSC03 00000010h
PSC04 0
PSC05 00000000h
PSC06 FFFFFFFFh
PSC07 00000000h
PSC08 00000000h
PSC09 00000000h
PSC10 00000000h
PSC11 00000000h
PSC12 00000000h
PSC13 00000000h
PSC14 00000000h
PSC15 00000000h
PSC16 00000000h
PSC17 00000000h
PSC18 00000000h
PSC19 00000000h
PSC20 00000000h
PSC21 00000000h
PSC22 00000000h
PSC23 00000000h
PSC24 00000000h
PSC25 00000000h
PSC26 00000000h
PSC27 00000000h
PSC28 00000000h
PSC29 00000000h
PSC30 00000000h
PSC31 00000000h
PSC32 00000000h
8 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.3 Network parameters group ([Pr. PSC_ _ ])
8
8.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) No. Initial value PSD01 00000000h
PSD02 00000000h
PSD03 00000000h
PSD04 00000000h
PSD05 00000000h
PSD06 00000000h
PSD07 00000000h
PSD08 00000000h
PSD09 00000000h
PSD10 00000000h
PSD11 00000000h
PSD12 00000001h
PSD13 00000001h
PSD14 00000001h
PSD15 00000001h
PSD16 00000001h
PSD17 00000001h
PSD18 20
PSD19 20
PSD20 20
PSD21 20
PSD22 20
PSD23 20
PSD24 00001111h
PSD25 00000011h
PSD26 00000001h
PSD27 00001111h
PSD28 00000011h
PSD29 00001111h
PSD30 00000000h
PSD31 00001111h
PSD32 00000000h
PSD33 00000000h
PSD34 00000000h
PSD35 00000000h
PSD36 00000000h
PSD37 00000000h
PSD38 00000000h
PSD39 00000000h
PSD40 00000000h
PSD41 00000000h
PSD42 00000000h
PSD43 00000000h
PSD44 00000000h
PSD45 00000000h
PSD46 00000000h
PSD47 00000000h
8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) 249
25
PSD48 00000000h
PSD49 00000000h
PSD50 00000000h
PSD51 00000000h
PSD52 00000000h
PSD53 00000000h
PSD54 00000000h
PSD55 00000000h
PSD56 00000000h
PSD57 00000000h
PSD58 00000000h
PSD59 00000000h
PSD60 00000000h
PSD61 00000000h
PSD62 00000000h
PSD63 00000000h
PSD64 00000000h
No. Initial value
0 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.4 Safety I/O device parameters group ([Pr. PSD_ _ ])
8
8.5 Extension setting 3 parameters group ([Pr. PSL_ _ ])
No. Initial value PSL01 00000000h
PSL02 1000
PSL03 1000
PSL04 00000000h
PSL05 00000000h
PSL06 00000000h
PSL07 00000000h
PSL08 00000000h
PSL09 00000000h
PSL10 00000000h
PSL11 00000000h
PSL12 00000000h
PSL13 00000000h
PSL14 00000000h
PSL15 00000000h
PSL16 00000000h
PSL17 00000000h
PSL18 00000000h
PSL19 00000000h
PSL20 00000000h
PSL21 00000000h
PSL22 00000000h
PSL23 00000000h
PSL24 00000000h
PSL25 00000000h
PSL26 00000000h
PSL27 00000000h
PSL28 00000000h
PSL29 00000000h
PSL30 00000000h
PSL31 00000000h
PSL32 00000000h
8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.5 Extension setting 3 parameters group ([Pr. PSL_ _ ]) 251
25
9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD
9.1 Engineering tool Functional safety parameters can be set using an engineering tool manufactured by Mitsubishi Electric (MR Configurator2). Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
2 9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD 9.1 Engineering tool
9
9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD 9.1 Engineering tool 253
254
REVISIONS *The manual number is given on the bottom left of the back cover.
2019 MITSUBISHI ELECTRIC CORPORATION
Revision date *Manual number Description June 2019 SH(NA)-030308ENG-A First edition
January 2020 SH(NA)-030308ENG-B Servo parameters related to the following functions are added: Profile mode, fully closed loop system, super trace control, scale measurement function, touch probe
July 2020 SH(NA)-030308ENG-C Servo parameters related to the following functions are added: Continuous operation to torque control mode, functional safety, A/B/Z-phase differential output type encoder, regenerative option, network function
October 2020 SH(NA)-030308ENG-D Servo parameters related to the following functions are added: Degree unit, regenerative option
March 2021 SH(NA)-030308ENG-E Servo parameters related to the following function are added: Positioning mode (point table method)
June 2021 SH(NA)-030308ENG-F The MR-J5D_-_G_ is added. Servo parameters related to the following function are added: CC-Link IE Field Network Basic The following servo parameters are changed to the parameters for manufacturer setting: [Pr. PC81], [Pr. PC81.1]
July 2022 SH(NA)-030308ENG-G Servo parameters related to the following functions are added: Gain adjustment, input open-phase detection function, Master-slave operation function, Backlash estimation function, CC-Link IE TSN Class A
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.
255
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.
256
TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
SH(NA)-030308ENG-G
SH(NA)-030308ENG-G(2207)MEE MODEL: MODEL CODE:
Specifications are subject to change without notice. Compliance with the indicated global st
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