Contents

Mitsubishi MR-J5D-G-N1 Servo System User's Manual PDF

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Summary of Content for Mitsubishi MR-J5D-G-N1 Servo System User's Manual PDF

MR-J5D-G-N1 User's Manual (Introduction)

-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.

[Transportation]

[Installation/wiring]

[Setting/adjustment]

CAUTION To prevent injury, transport the products correctly according to their mass.

WARNING To prevent an electric shock, turn off the power and wait for 20 minutes or more before starting wiring

and/or inspection. To prevent an electric shock, ground the converter unit/drive unit. 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 converter unit/drive unit before wiring. To prevent an electric shock, connect the protective earth (PE) terminal of the converter unit/drive unit

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 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 .

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2

[Operation]

[Maintenance]

DISPOSAL OF WASTE Please dispose of this product, battery (primary battery), and other options according to your local laws and regulations.

ABOUT THE MANUAL

e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: 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

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.

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely.

*1 For details of parameters, read chapter 7 and chapter 8 of this manual first. Page 72 SERVO PARAMETERS Page 111 NETWORK PARAMETERS Page 114 FUNCTIONAL SAFETY PARAMETERS

No. Manual name Manual No. (1) MR-J5D-G-N1 User's Manual (Introduction) IB(NA)-0300543ENG

(2) MR-J5D User's Manual (Hardware) IB(NA)-0300548ENG

(3) MR-CV Power Regeneration Converter Unit User's Manual IB(NA)-0300553ENG

(4) Rotary Servo Motor User's Manual (For MR-J5) SH(NA)-030314ENG

(5) MR-J5 Partner's Encoder User's Manual SH(NA)-030320ENG

(6) MR-J5 User's Manual (Function) SH(NA)-030300ENG

(7) MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) SH(NA)-030371ENG

(8) MR-J5 User's Manual (Adjustment) SH(NA)-030306ENG

(9) MR-J5 User's Manual (Troubleshooting) SH(NA)-030312ENG

(10) MR-J5-G/MR-J5W-G User's Manual (Parameters) SH(NA)-030308ENG

(11) MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Object Dictionary) SH(NA)-030376ENG

(4) Rotary Servo Motor

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

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.

(5) Partner Encoder

(6) Function

(8) Adjustment

(11) Object Dictionary

(9) Troubleshooting

(1) Introduction

(2) Hardware

(7) Communication Function

(10) Parameters *1 It describes the parameters of the drive unit.

It describes the objects for the drive unit.

The manual is necessary for operation of drive units. For the usage of each function, refer to this manual.

(3) Converter unit

3

4

Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr. PA01.0]. In addition, a servo parameter which uses a combination of several digits to select a function, is expressed using "-" as seen in [Pr. PA01.0-1]. The following is an example of the servo parameter number PA01 with the setting values of "FEDCBA98" in hexadecimal. When setting a servo parameter with one particular digit

When setting a servo parameter using a combination of several digits

For example, if the servo parameter name is "Function selection A-1", the setting digit name is "Forced stop deceleration function selection", and the setting digit is the fourth last digit in PA04, the servo parameter is expressed as shown below. [Pr. PA04.3 Forced stop deceleration function selection]

U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Servo parameter

Symbol Name Summary

PA04.3 *AOP Forced stop deceleration function selection

Set "Forced stop deceleration function" to enabled/disabled. Initial value: 1h (enabled)

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]

[Pr. PA01] =

PA01.0 = "8" PA01.1 = "9" PA01.2 = "A" PA01.3 = "B" PA01.4 = "C" PA01.5 = "D"

CD BF AE 89

PA01.6 = "E" PA01.7 = "F"

Detail No.

[Pr. PA01] =

PA01.0-1 = "98"

PA01.2-4 = "CBA"

PA01.5 = "D"

CD BF AE 89

PA01.6 = "E" PA01.7 = "F"

Detail No.

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CONTENTS SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 DISPOSAL OF WASTE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

CHAPTER 1 SPECIFICATIONS 10 1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.3 Drive unit/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.4 Drive unit standard specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

MR-J5D1-_G_-N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 MR-J5D2-_G_-N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 MR-J5D3-_G_-N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Positioning mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 MR-J5D1-_G_-N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 MR-J5D2-_G_-N1/MR-J5D3-_G_-N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.7 Special specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Drive units without the dynamic brake (-ED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

CHAPTER 2 FUNCTION 22 2.1 Restrictions on the MR-J5_-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.2 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.3 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

CHAPTER 3 STRUCTURE 32 3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 3.2 Switch setting and display of the drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

CHAPTER 4 STARTUP 41 4.1 Turning on drive unit for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

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6

Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4.6 Drive unit setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 63 5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 65 6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations

on the Transport of Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Target model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Handling during transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Package at our shipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Transportation precaution for customers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

CHAPTER 7 SERVO PARAMETERS 72 7.1 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Pr. PA01_Operation mode (**STY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 7.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Pr. PB03_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [Pr. PB82_Position command smoothing filtering time constant (PFT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

7.3 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC42_Function selection C-10 (COP10)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC43_Forward rotation torque limit 2 (TLP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [Pr. PC44_Reverse rotation torque limit 2 (TLN2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC69_Following error output filtering time (FEWF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC71_In-position 2 - Output filtering time (INP2F)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 [Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 [Pr. PC78_Function selection C-F (*COPF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 [Pr. PC81_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

7.4 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD15_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD22_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD23_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD26_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD30_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD31_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [Pr. PD32_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

7.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

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N TS

[Pr. PE53_Maximum torque limit 1 (TLMX1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 7.6 Positioning control setting servo parameters group ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Pr. PT01_Command mode selection (**CTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 [Pr. PT53_Torque slope (TQS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 [Pr. PT85_Function selection T-14 (*TOP14)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

7.7 Network setting servo parameters group ([Pr. PN_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PN02_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PN03_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PN05_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PN07_Communication cycle initial setting (**CCS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PN13_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 [Pr. PN18_Counter level for communication error detection (CERN)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 [Pr. PN20_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 [Pr. PN22_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

7.8 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 [Pr. PV23_Speed unit conversion - Electronic gear - Numerator (*VCMX)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 [Pr. PV24_Speed unit conversion - Electronic gear - Denominator (*VCDV)] . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 [Pr. PV25_Acceleration unit conversion - Electronic gear - Numerator (*ACMX)]. . . . . . . . . . . . . . . . . . . . . . . . 82 [Pr. PV26_Acceleration unit conversion - Electronic gear - Denominator (*ACDV)] . . . . . . . . . . . . . . . . . . . . . . 82 [Pr. PV33_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

7.9 Lists of supported control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Positioning control setting servo parameters group ([Pr. PT_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Network setting servo parameters group ([Pr. PN_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

7.10 Lists of servo parameter initial values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Positioning control setting servo parameters group ([Pr. PT_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Network setting servo parameters group ([Pr. PN_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

CHAPTER 8 NETWORK PARAMETERS 111 8.1 Network basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

[Pr. NPA01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [Pr. NPA02_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [Pr. NPA04_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [Pr. NPA08_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [Pr. NPA09_Node address setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

7

8

[Pr. NPA12_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.2 User authentication parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

[Pr. NPB01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB04_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB05_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB06_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB07_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB08_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB09_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB10_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB11_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB12_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB13_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB14_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB15_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB16_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [Pr. NPB17_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB18_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB19_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB20_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB21_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB22_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB23_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB24_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB25_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB26_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [Pr. NPB27_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

CHAPTER 9 FUNCTIONAL SAFETY PARAMETERS 114 9.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

[Pr. PSA01_Safety sub-function mode selection (**SOA)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PSA05_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PSA06_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PSA07_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PSA08_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PSA09_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 [Pr. PSA10_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA11_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA12_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA13_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA14_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA17_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA18_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA19_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA27_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [Pr. PSA28_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

9.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB02_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB06_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

C O

N TE

N TS

[Pr. PSB10_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB11_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB12_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB13_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB14_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB15_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB16_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB17_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [Pr. PSB18_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

9.3 Network parameters group ([Pr. PSC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [Pr. PSC01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [Pr. PSC03_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [Pr. PSC06_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

9.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PSD01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PSD02_Input device selection DI1 (**SDI1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [Pr. PSD08_Output device selection DO1 (**SDO1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

9.5 Lists of functional safety parameter initial values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

9

10

1 SPECIFICATIONS

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

1.2 Model designation

Rating plate The following shows an example of the rating plate for explanation of each item.

Serial number

Model Capacity Applicable power supply Rated output Standard, manual number Ambient temperature IP rating KC number

Date of manufacture

Country of origin

1 SPECIFICATIONS 1.1 Outline

1

Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

MR-J5D_-_G_-_N1

*1 For the 2-axis drive unit and 3-axis drive unit. *2 For the 3-axis drive unit.

*1 : The corresponding item is included or supported. : The corresponding item is not included or not supported.

1.3 Drive unit/motor combinations Refer to "Drive unit/motor combinations" in the following manual. MR-J5D User's Manual (Hardware)

Item Special specifications *1 Detailed explanation

Not attached (standard model) -ED

MR- J5D1

MR- J5D2

MR- J5D3

MR- J5D1

MR- J5D2

MR- J5D3

CN2AL connector Page 34 External encoder connectorFully closed loop system

Scale measurement function Two-wire type

Four-wire type

A/B/Z-phase differential input

Built-in dynamic brake Page 21 Special specifications

100 1 200 2 350 3.5 500 5 700 7

1 2

3.5 5 7

- - 2 1

-

M R - - -1 0 0 G E DJ 5 D 1 4

D2 2 D1 1

D3 3

-ED

4

N 1

Series

Number of axes Number of axes

Rated output

Symbol

Rated output [kW] Symbol

A-axis B-axis *1 C-axis *2

Special specification Symbol Special specification

StandardNone Without the dynamic brake

Symbol Power supply

Power supply 3-phase 380 V AC to 480 V AC

1 SPECIFICATIONS 1.3 Drive unit/motor combinations 11

12

1.4 Drive unit standard specifications MR-J5D1-_G_-N1

400 V class

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 IP20 requires a side protection cover (an option).

Model: MR-J5D1-_-N1 100G4 200G4 350G4 500G4 700G4 Output Voltage 3-phase 0 V AC to 480 V AC

Rated current [A] 3.0 5.5 8.6 14.0 17.0

Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.

Control circuit power supply input

Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 0.2

Permissible voltage fluctuation

1-phase 323 V AC to 528 V AC

Permissible frequency fluctuation

Within 5 %

Power consumption [W]

40

Inrush current [A] Refer to "Inrush currents at power-on of control circuit" in the following manual. MR-J5D User's Manual (Hardware)

Interface power supply Voltage 24 V DC 10 %

Current capacity [A] 0.3 (including CN8 connector signals) *1

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

EtherCAT Communication cycle

125 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

Communication function

USB Connection to a personal computer or other devices (MR Configurator2-compatible)

Encoder output pulses Compatible (A/B/Z-phase pulse)

Analog monitor Two channels

Fully closed loop control Supported

Scale measurement function Supported

Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal

Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection

Satisfied standards CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061

UKCA marking LVD: BS EN 61800-5-1, EMC: BS EN IEC 61800-3, MD: BS EN ISO 13849-1:2015, BS EN 61800-5-2, BS EN 62061

UL standard UL 61800-5-1

Structure (IP rating) Natural cooling, open (IP20) *2 Force cooling, open (IP20) *2

Mass [kg] 5.5 4.6

1 SPECIFICATIONS 1.4 Drive unit standard specifications

1

MR-J5D2-_G_-N1

400 V class

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 IP20 requires a side protection cover (an option).

Model: MR-J5D2-_-N1 100G4 200G4 350G4 500G4 700G4 Output Voltage 3-phase 0 V AC to 480 V AC

Rated current (each axis) [A]

3.0 5.5 8.6 14.0 17.0

Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.

Control circuit power supply input

Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 0.2

Permissible voltage fluctuation

1-phase 323 V AC to 528 V AC

Permissible frequency fluctuation

Within 5 %

Power consumption [W]

40

Inrush current [A] Refer to "Inrush currents at power-on of control circuit" in the following manual. MR-J5D User's Manual (Hardware)

Interface power supply Voltage 24 V DC 10 %

Current capacity [A] 0.35 (including CN8 connector signals) *1

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

EtherCAT Communication cycle

250 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

Communication function

USB Connection to a personal computer or other devices (MR Configurator2-compatible)

Encoder output pulses Compatible (A/B-phase pulse)

Analog monitor Two channels

Fully closed loop control Supported

Scale measurement function Supported

Load-side encoder interface Mitsubishi Electric high-speed serial communication

Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection

Satisfied standards CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061

UKCA marking LVD: BS EN 61800-5-1, EMC: BS EN IEC 61800-3, MD: BS EN ISO 13849-1:2015, BS EN 61800-5-2, BS EN 62061

UL standard UL 61800-5-1

Structure (IP rating) Natural cooling, open (IP20) *2

Force cooling, open (IP20) *2

Mass [kg] 5.7 5.6 6.2

1 SPECIFICATIONS 1.4 Drive unit standard specifications 13

14

MR-J5D3-_G_-N1

400 V class

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 IP20 requires a side protection cover (an option).

Model: MR-J5D3-_-N1 100G4 200G4 Output Voltage 3-phase 0 V AC to 480 V AC

Rated current (each axis) [A]

3.0 5.5

Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.

Control circuit power supply input

Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 0.2

Permissible voltage fluctuation

1-phase 323 V AC to 528 V AC

Permissible frequency fluctuation

Within 5 %

Power consumption [W]

40

Inrush current [A] Refer to "Inrush currents at power-on of control circuit" in the following manual. IB0300548ENG

Interface power supply Voltage 24 V DC 10 %

Current capacity [A] 0.45 (including CN8 connector signals) *1

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

EtherCAT Communication cycle

250 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

Communication function

USB Connection to a personal computer or other devices (MR Configurator2-compatible)

Encoder output pulses Not supported

Analog monitor Two channels

Fully closed loop control Not supported

Scale measurement function Not supported

Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection

Satisfied standards CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061

UKCA marking LVD: BS EN 61800-5-1, EMC: BS EN IEC 61800-3, MD: BS EN ISO 13849-1:2015, BS EN 61800-5-2, BS EN 62061

UL standard UL 61800-5-1

Structure (IP rating) Natural cooling, open (IP20) *2 Force cooling, open (IP20) *2

Mass [kg] 5.9 5.8

1 SPECIFICATIONS 1.4 Drive unit standard specifications

1

Positioning mode

Point table method (CP) Item Description Command interface Object dictionary

Operation specifications Positioning by specifying the point table number (255 points)

System Signed absolute value command method

Position command input Absolute value command method Setting in the point table Setting range of feed length for one point: -2147483648 to 2147483647 [m], -214748.3648 to 214748.3647 [inch], -2147483648 to 2147483647 [pulse], -360.000 to 360.000 [degree]

Speed command input Set the servo motor speed in the point table. Set the acceleration/deceleration time constants and acceleration/deceleration in the point table. Set the S-pattern acceleration/deceleration time constant in [Pr. PT51]. The speed unit can be selected ([r/min], command unit/s) The acceleration/deceleration unit can be selected ([ms], command unit/s2)

Torque limit Setting by the servo parameter or object dictionary

Point table mode (pt) One positioning operation Point table number input method Perform one positioning operation based on the position command and speed command.

Continuous positioning operation Speed change operation (2nd gear to 255th gear)/ Continuous positioning operation (2 points to 255 points)/ Continuous operation to the point table selected at startup/ Continuous operation to the point table No. 1

JOG operation mode (jg) JOG operation Perform inching operation in the network communication function based on the speed command.

Homing mode (hm) For information on the homing method, refer to "Homing mode (hm) and homing" in the following manual. MR-J5 User's Manual (Function)

Function on positioning operation Absolute position detection/external limit switch/software position limit/ positioning function to the home position, etc.

1 SPECIFICATIONS 1.4 Drive unit standard specifications 15

16

Functional safety

Drive unit specifications

*1 When DI/O connection (CN8) is used, diagnosis by test pulses is required in order to satisfy Category 4 PL e, SIL 3. *2 Although the special proof tests within the mission time of the safety sub-function is not needed to be performed, the suggested

diagnostic test interval in IEC 61800-5-2: 2016 is at least one test per three months for Category 3 PL e, SIL 3.

Function specifications

*1 Available functions and safety levels differ depending on the combination of the drive units and the servo motors. Page 17 List of safety sub-function compatible units

*2 When DI/O connection (CN8) is used, diagnosis by test pulses is required in order to satisfy Category 4 PL e, SIL 3. *3 A test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuits to perform self-

diagnosis.

Item Specifications Safety performance

Satisfied standards *1 EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2

Mean time to dangerous failure (MTTFd)

MTTFd 100 [years] (750a)

Diagnostic coverage (DC) DC = Medium, 96.5 [%]

Probability of dangerous Failure per Hour (PFH)

PFH = 3 10-9 [1/h]

Mission time (TM) *2 TM = 20 [year]

Item Specifications Safety sub-function *1*2

STO Shut-off response time (STO input off energy shut off)

8 ms or less (when an input device is used)

SS1 Deceleration delay time 0 ms to 60000 ms (set by functional safety parameters)

SBC Shut-off response time 8 ms or less (when an input device is used)

I/O function Input device Number of inputs 1 point 2 systems

Permissible time for mismatched double inputs

0 ms to 60000 ms (set by functional safety parameters)

Noise elimination filter 1.000 ms to 32.000 ms (set by functional safety parameters)

Test pulse off time *3 1 Hz to 25 Hz

Output device Number of outputs 1 point 2 systems

Test pulse off time *3 0.500 ms to 2.000 ms (set by functional safety parameters)

Test pulse interval *3 Within 1 s

1 SPECIFICATIONS 1.4 Drive unit standard specifications

1

List of safety sub-function compatible units

*1 The safety levels in the table apply if the safety sub-function control is performed by a safety CPU or a safety controller that complies with Category 4 PL e, SIL 3. If the drive units are directly connected with emergency stop switches, safety switches, enabling switches, or other similar devices, the safety level Category 3 PL d, SIL 2 applies.

*2 STO can be set separately for each axis. *3 When DI/O connection (CN8) is used, diagnosis by test pulses is required in order to satisfy Category 4 PL e, SIL 3.

Environment

*1 Refer to "Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m" in the following manual for using the product at altitude exceeding 1000 m. MR-J5D User's Manual (Hardware)

Drive unit Function achieving method (wiring destination)

Servo motor type Safety sub-function (IEC/EN 61800-5-2)

STO SS1 SS2 SOS SBC SLS SSM SDI SLI SLT

SS1-t SS1-r SS2-t, SS2-r

MR-J5D1- _G_-N1 MR-J5D2- _G_-N1 *2

MR-J5D3- _G_-N1 *2

DI/O connection *1*3 (CN8)

Servo motor with functional safety Rotary servo motor Linear servo motor Direct drive motor

Cat. 4PL e, SIL 3

Cat. 4PL e, SIL 3

Cat. 4PL e, SIL 3

Item Operation Transportation Storage Ambient temperature 0 C to 60 C (non-freezing)

Class 3K3 (IEC 60721-3-3) -25 C to 70 C (non-freezing) Class 2K12 (IEC 60721-3-2)

-25 C to 70 C (non-freezing) Class 1K4 (IEC 60721-3-1)

Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing)

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude/atmospheric pressure

Altitude: 2000 m or less *1 Transportation conditions: Must be transported by ground/sea, or air at an atmospheric pressure of 700 hPa or more.

Atmospheric pressure: 700 hPa to 1060 hPa (equivalent to the altitude of -400 m to 3000 m.)

Vibration resistance Under intermittent vibration: 10 Hz to 57 Hz, displacement amplitude 0.075 mm 57 Hz to 150 Hz, acceleration amplitude 9.8 m/s2

Class 3M1 (IEC 60721-3-3) Under continuous vibration (X, Y, Z axes): 10 Hz to 55 Hz, acceleration amplitude 5.9 m/s2

2 Hz to 9 Hz, displacement amplitude (half amplitude) 7.5 mm 9 Hz to 200 Hz, acceleration amplitude 20 m/s2

Class 2M3 (IEC 60721-3-2)

2 Hz to 9 Hz, displacement amplitude (half amplitude) 1.5 mm 9 Hz to 200 Hz, acceleration amplitude 5 m/s2

Class 1M2 (IEC 60721-3-1)

Dielectric strength

400 V class

Between main circuit (power supply/power terminal) and PE: 2000 V AC, 1 minute, 50 Hz/60 Hz

Insulation resistance Between main circuit (power supply/power terminal) and PE: 0.5 M or more (with a 500 V DC megger)

1 SPECIFICATIONS 1.4 Drive unit standard specifications 17

18

1.5 Function block diagram The following shows the function block diagram of this drive unit.

MR-J5D1-_G_-N1

400 V class

*1 Drive units with the rated output symbol of 500 (MR-J5D1-500G4-N1) or greater have a cooling fan.

L11

L21

L+

MCCB

MCCB

U

V

W

E

+

C N

4

M

C N

2A C

N P3

A

C N

8 C

N 40

A

C N

2A L

CN5

USB

USB

CN1A CN1B

D/A

CN3

L-

C N

40 B

Servo motor

Dynamic brake circuit

Current detector

Power supply

Cooling fan

Control circuit

power supply

STO Control circuitSTO

switch Encoder

Overcurrent protection

Base amplifier

Current detection

Step- down circuit

Control engine

I/F control

Personal computer

Digital I/O controlNetwork Network

Analog monitor (2 channels)

Drive unit

From L+ of converter unit

From L- of converter unit

To the main circuit power supply input of the converter unit

External encoder

From CN4 of converter unit or CN40B of drive unit

To CN40A of drive unit

1 SPECIFICATIONS 1.5 Function block diagram

1

MR-J5D2-_G_-N1/MR-J5D3-_G_-N1

400 V class The following is an example using MR-J5D3-_G_-N1.

*1 Drive units other than the MR-J5D2-100G4-N1 and MR-J5D3-100G4-N1 have a cooling fan.

U V W E

U V W E

U V W E

M

E

M

E

M

E

TRM (A)L+

L-

MCCB

C N

P3 A

C N

2A C

N P3

B C

N 2B

C N

P3 C

C N

2C C

N 4

CN3 CN5

USB

L11

L21

C N

8 C

N 1A

C N

1B

+

*1

C N

40 A

C N

40 B

MCCB

A-axis servo motor

A-axis output

Current detector

Power supply

Dynamic brake circuit A

A-axis F/B

Cooling fan STO circuit

Control circuit power supply

B-axis servo motorBase

amplifier Current

detection AOvervoltage Overcurrent

A B-axis output

Control engineSTO switch B-axis

F/B

Controlling B-axis

Network C-axis servo motorControlling C-axis

C-axis output

I/F control

Network

C-axis F/B

Step- down circuit

Digital I/O control

Analog output Personal

computer

From L+ of converter unit

From L- of converter unit

To the main circuit power supply input of the converter unit

From CN4 of converter unit or CN40B of drive unit

To CN40A of drive unit

Drive unit

1 SPECIFICATIONS 1.5 Function block diagram 19

20

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

*1 When using the same power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor. Connect them closer to the power supply side than the broken line area.

(FR-BLF)

*1

(MCCB)

(MCCB)

R S T

(MC)

(MR-AL-_K)

MR Configurator2

W

L1L2 L3

V U E

W V U E

L+

CN4

CN5

CN1A

CN40A

CN40A

CN2A

CN2A

CN1A

L-

L11 L21 L+

L-

L11 L21

L+

L-

L11 L21

CN1B

CN40B

CN3

Molded-case circuit breaker

Molded-case circuit breaker

Line noise filter

Power supply

Personal computer

Magnetic contactor

Servo motor

Servo motor

Power regeneration converter unit

Mounting attachment

Drive unit

Drive unit

Magnetic contactor drive output

AC reactor

Controller Protection coordination cableI/O signal

Protection coordination cable

1 SPECIFICATIONS 1.6 Configuration including peripheral equipment

1

1.7 Special specifications Drive units without the dynamic brake (-ED)

Summary This section describes the drive units without the dynamic brake. Items not described in this section are the same as the MR- J5D_-_G_-N1.

Specifications The built-in dynamic brakes of the drive units are removed. Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power supply shut-off. When specific servo motors are being used, the electronic dynamic brake may be activated at an alarm occurrence. For the specific servo motors, refer to "Precautions relating to the dynamic brake characteristics" in the following manual. MR-J5D User's Manual (Hardware) Setting the following servo parameter disables the electronic dynamic brake.

When [Pr. PA04.3] is set to "2" (initial value), the forced stop deceleration function may be executed at an alarm occurrence. Setting [Pr. PA04.3] to "0" disables the forced stop deceleration function.

Drive unit Servo parameter Setting value MR-J5D_-_G_-EDN1 [Pr. PF06.0] 2

1 SPECIFICATIONS 1.7 Special specifications 21

22

2 FUNCTION

2.1 Restrictions on the MR-J5_-_G_

2.2 Function list The function list of this drive unit is shown in the following table. For details of the functions, refer to each section indicated in the detailed explanation field.

Control mode

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

*2 This control mode is not available for multi-axis drive units.

Category Detailed functions Network communication cycle restrictions (minimum)

MR-J5D1-_G_-N1 MR-J5D2-_G_-N1 MR-J5D3-_G_-N1 Control mode Profile position mode (pp) 250 s 500 s 500 s

Profile velocity mode (pv) 250 s Not used Not used

Profile torque mode (tq) 250 s Not used Not used

Point table method ([Pr. PA01.0 Control mode selection] = "6")

250 s 500 s 500 s

Command unit selection function (When [Pr. PT01.2 Unit for position data] is set to "2" (degree))

250 s 500 s 500 s

Functions Detailed functions Description Ver. *1 Detailed explanation CiA 402 control mode

Cyclic synchronous position mode (csp)

This function operates the servo motor in the cyclic synchronous position mode.

C0 Refer to "CONTROL MODE" in the following manual. MR-J5 User's Manual (Function)Cyclic synchronous velocity

mode (csv) This function operates the servo motor in the cyclic synchronous velocity mode.

C0

Cyclic synchronous torque mode (cst)

This function operates the servo motor in the cyclic synchronous torque mode.

C0

Profile position mode (pp) This function operates the servo motor in the profile position mode.

C0

Profile velocity mode (pv) *2 This function operates the servo motor in the profile velocity mode.

C0

Profile torque mode (tq) *2 This function operates the servo motor in the profile torque mode.

C0

Homing mode (hm) This function either operates the servo motor in the homing mode or performs homing.

C0

Point table method Point table mode (pt) This function operates the servo motor according to the setting values by selecting the point table with preset 255 points.

C0

JOG operation mode (jg) This control mode enables desired positioning for machine adjustment and home positioning.

C0

Test operation Test operation mode This function requires MR Configurator2 for JOG operation, positioning operation, motor- less operation, DO forced output, and program operation.

C0 Page 54 Test operation

2 FUNCTION 2.1 Restrictions on the MR-J5_-_G_

2

Drive motor

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Network

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Position detection

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Servo motor Linear servo motor Using the linear servo motor and linear encoder

enables the linear servo system to be configured.

C0

Direct drive motor Using this function enables the direct drive servo system to be configured to drive the direct drive motor.

C0

Encoder High-resolution encoder A 67108864 pulses/rev high-resolution encoder is used for the encoder of the rotary servo motor.

C0

Batteryless absolute position encoder

The rotation position of the servo motor can be backed up without the battery. Using the servo motor with this encoder enables an absolute value detection system to be configured without battery.

C0 Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following manual. MR-J5D User's Manual (Hardware)

Functions Detailed functions Description Ver. *1 Detailed explanation Open network EtherCAT communication This function connects the drive unit to

equipment such as a controller through EtherCAT communication.

C0 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Functions Detailed functions Description Ver. *1 Detailed explanation Control method Semi closed loop system This function uses the servo motor encoder to

configure semi closed loop systems. C0

Fully closed loop system This function uses the load-side encoder to configure fully closed loop systems.

C0 Refer to "USING A FULLY CLOSED LOOP SYSTEM" in the following manual. MR-J5D User's Manual (Hardware)

Scale measurement function This function connects the scale measurement encoder in the state of the semi closed loop control to transmit the position information of the scale measurement encoder to the controller.

C0 Refer to "Scale measurement function" in the following manual. MR-J5 User's Manual (Function)

Absolute position Absolute position detection system

This function performs homing once, and thereafter does not require homing at every power-on.

C0 Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following manual. MR-J5D User's Manual (Hardware)

2 FUNCTION 2.2 Function list 23

24

Operation function

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Stop function Quick Stop This function stops the servo motor with a

specified method and switches to the servo-off status.

C0 Refer to "Quick stop" in the following manual. MR-J5 User's Manual (Function)

Halt This function stops the servo motor while the servo-on status is maintained.

C0 Refer to "Halt" in the following manual. MR-J5 User's Manual (Function)

Stroke limit function This function uses LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) to limit the travel interval of the servo motor.

C0 Refer to "Stroke limit function" in the following manual. MR-J5 User's Manual (Function)

Software position limit This function uses servo parameters to limit the travel intervals by address. A function equivalent to the stroke limit function can be set with the servo parameter.

C0 Refer to "Software position limit" in the following manual. MR-J5 User's Manual (Function)

Command generation

Rotation/travel direction selection

This function sets the rotation direction of the servo motor without changing the command polarity.

C0 Refer to "Rotation/travel direction selection" in the following manual. MR-J5 User's Manual (Function)

Electronic gear This function performs positioning control with the value obtained by multiplying the position command from the upper controller by a set electronic gear ratio.

C0 Refer to "Electronic gear function" in the following manual. MR-J5 User's Manual (Function)

Acceleration/deceleration function

This function enables smooth acceleration/ deceleration.

C0 Refer to "Acceleration/deceleration function" in the following manual. MR-J5 User's Manual (Function)

S-pattern acceleration/ deceleration time constant

This function performs smooth acceleration and deceleration.

C0 Refer to "S-pattern acceleration/ deceleration time constant" in the following manual. MR-J5 User's Manual (Function)

Torque limit This function limits the servo motor torque. C0 Refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function)

Speed limit This function limits the servo motor speed in the torque control mode.

C0 Refer to "Speed limit" in the following manual. MR-J5 User's Manual (Function)

Command offset This function compensates the position/speed/ torque commands by adding a desired amount of offset to the commands.

C0 Refer to "Command offset" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.2 Function list

2

Control function

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Vibration suppression

Advanced vibration suppression control II

This function suppresses vibration and residual vibration at an arm end.

C0 Refer to "Advanced vibration suppression control II" in the following manual. MR-J5 User's Manual (Adjustment)

Machine resonance suppression filter

This function decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

C0 Refer to "Machine resonance suppression filter" in the following manual. MR-J5 User's Manual (Adjustment)

Shaft resonance suppression filter

When driving the servo motor with a load mounted to the servo motor shaft, resonance due to shaft torsion may generate high frequency mechanical vibration. The shaft resonance suppression filter suppresses this vibration.

C0 Refer to "Shaft resonance suppression filter" in the following manual. MR-J5 User's Manual (Adjustment)

Robust filter This function improves a disturbance response when a response performance cannot be increased because of a large load to motor inertia ratio, such as a roll feed axis.

C0 Refer to "Robust filter" in the following manual. MR-J5 User's Manual (Adjustment)

Slight vibration suppression control

This function suppresses vibration of 1 pulse generated at each servo motor stop.

C0 Refer to "SLIGHT VIBRATION SUPPRESSION CONTROL" in the following manual. MR-J5 User's Manual (Adjustment)

Tracking control Lost motion compensation function

This function reduces the response delay generated when the machine moving direction is reversed.

C0 Refer to "Lost motion compensation function" in the following manual. MR-J5 User's Manual (Adjustment)

Super trace control This function reduces the droop pulses at the rated speed and at the uniform acceleration/ deceleration to almost zero.

C0 Refer to "Super trace control" in the following manual. MR-J5 User's Manual (Adjustment)

Path tracking model adaptive control

This function reduces tracking errors in reciprocation.

C0 Refer to "Path tracking model adaptive control" in the following manual. MR-J5 User's Manual (Adjustment)

2 FUNCTION 2.2 Function list 25

26

Adjustment function

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Automatic adjustment

Quick tuning This function automatically adjusts the gain at servo-on in a short time without acceleration/ deceleration operation of the servo motor. Response without overshoot is possible, saving gain adjustment time.

C0 Refer to "Quick tuning" in the following manual. MR-J5 User's Manual (Adjustment)

Auto tuning This function automatically adjusts the gain to an optimum value even if the load applied to the servo motor shaft varies.

C0 Refer to "ADJUSTMENT FUNCTION TYPES" in the following manual. MR-J5 User's Manual (Adjustment)

One-touch tuning Gain adjustment is performed with this function just by pressing buttons on the drive unit or by clicking a button once on MR Configurator2. One-touch tuning can also be performed via a network.

C0 Refer to "One-touch tuning" in the following manual. MR-J5 User's Manual (Adjustment)

Custom adjustment Model adaptive control This function enables control according to the ideal model that is both stable and highly responsive. This is a two-degrees-of-freedom model and can adjust responses to the command and to the disturbance separately. This function can also be disabled.

C0 Refer to "MODEL ADAPTIVE CONTROL" in the following manual. MR-J5 User's Manual (Adjustment)

Gain switching function This function switches gains during rotation and during stop, and uses an input device to switch gains during operation. It supports the gain switching by rotation direction and the 3-step gain switching. Therefore, more detailed gain switching is available.

C0 Refer to "GAIN SWITCHING FUNCTION" in the following manual. MR-J5 User's Manual (Adjustment)

Adjustment support Machine analyzer This function analyzes the frequency characteristic of the mechanical system by simply connecting the drive unit with an MR Configurator2 installed personal computer.

C0 Refer to "Adjustment functions available in combination with MR Configurator2" in the following manual. MR-J5 User's Manual (Adjustment)

2 FUNCTION 2.2 Function list

2

I/O, monitor

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Option

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation DI/DO Input signal selection (device

selection) This function assigns input devices such as LSP (Forward rotation stroke end) to certain pins of the connector.

C0 Refer to "Assigning I/O devices" in the following manual. MR-J5 User's Manual (Function)

Output signal selection (device setting)

This function assigns output devices such as MBR (Electromagnetic brake interlock) to certain pins of the connector.

C0

Output signal (DO) forced output

This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring.

C0 Page 61 Output signal (DO) forced output

A/B/Z-phase output This function outputs the positions of the encoder and linear encoder in the A/B/Z-phase signal.

C0 Refer to "A/B/Z-phase pulse output function" in the following manual. MR-J5 User's Manual (Function)

LED Status display This function shows the servo status on the 7- segment LED display.

C0 Page 35 Switch setting and display of the drive unit

Analog input/output Analog monitor This function outputs the servo status in voltage in real time.

C0 Refer to "MONITORING" in the following manual. MR-J5 User's Manual (Function)Monitor Power monitoring function This function calculates the running power and

the regenerative power from the data in the drive unit such as speed and current. The power consumption and other values are displayed on MR Configurator2.

C0

Touch probe Current position latch function

This function latches the current position when TPR1 (Touch probe 1), TPR2 (Touch probe 2), or TPR3 (Touch probe 3) is turned on.

C0 Refer to "Touch probe" in the following manual. MR-J5 User's Manual (Function)

Functions Detailed functions Description Ver. *1 Detailed explanation Regenerative capacity enhancement

Simple converter This function enables servo amplifiers to be used in a common DC bus connection. Utilizing the regenerative power contributes to energy- conservation. In addition, it decreases the number of molded case circuit breakers and magnetic contactors.

For the MR-J5D_-_G_ drive unit, this function cannot be used.

Regenerative option Use this function if the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for the generated regenerative power.

For the MR-J5D_-_G_ drive unit, this function cannot be used.

Multifunction regeneration converter

This function returns the regenerative energy generated at servo motor deceleration to the power supply. The bus voltage can be standardized among multiple servo amplifiers.

For the MR-J5D_-_G_ drive unit, this function cannot be used.

2 FUNCTION 2.2 Function list 27

28

Engineering tool

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Protective functions

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Setup software MR Configurator2 This function performs settings (such as servo

parameter settings), test operation, and monitoring with a personal computer.

C0 Page 41 STARTUP

Functions Detailed functions Description Ver. *1 Detailed explanation Alarm Alarm function This function displays an alarm or warning when

an error occurs during operation. When an alarm occurs, ALM (Malfunction) turns off and stops the servo motor. When a warning occurs, WNG (Warning) will turn on. The servo motor may stop or continue operation depending on the warning.

C0 Refer to "Alarm function" in the following manual. MR-J5 User's Manual (Function)

Alarm history clear This function clears alarm histories. C0 Refer to "Alarm history" in the following manual. MR-J5 User's Manual (Function)

Power error detection

Disconnection detection function

This function detects a disconnection in the main circuit power supply input and the servo motor power supply output.

C0 For the MR-J5D_-_G_ drive unit, the input open-phase detection function and servo motor incorrect wiring detection function cannot be used. Refer to "Disconnection/incorrect wiring detection function" in the following manual. MR-J5 User's Manual (Function)

Coasting distance reduction

Forced stop deceleration function

This function decelerates the servo motor to a stop at EM2 (Forced stop 2) off or when there is an alarm.

C0 Refer to "Forced stop deceleration function" in the following manual. MR-J5 User's Manual (Function)

Drop protection Electromagnetic brake interlock function

This function operates the electromagnetic brake at servo off and error occurrence, and prevents the vertical axis from dropping.

C0 Refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function)

Vertical axis freefall prevention function

This function moves the axis up by the mechanical backlash amount of the electromagnetic brake to prevent damage to machines.

C0 Refer to "Vertical axis freefall prevention function" in the following manual. MR-J5 User's Manual (Function)

Braking protection Dynamic brake During the power shut-off and alarm occurrence, this function shorts between U, V, and W phases and operates the dynamic brake.

C0 Refer to "Dynamic brake characteristics" in the following manual. MR-J5D User's Manual (Hardware)

2 FUNCTION 2.2 Function list

2

Functional safety

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Instantaneous power failure measures

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Safety sub-function STO (Safe torque off)

(When functional safety parameters are not used)

This drive unit supports the STO function for functional safety as per IEC/EN 61800-5-2. This allows a safety system to be easily configured for the equipment.

C0 Refer to "USING STO FUNCTION" in the following manual. MR-J5D User's Manual (Hardware)

STO (Safe torque off) (When functional safety parameters are used)

This function electrically shuts off the servo motor driving energy with input signals from external devices (shut-off by the secondary-side output). This is equivalent to the stop category 0 of IEC/EN 60204-1.

C0 Refer to "FUNCTIONAL SAFETY" in the following manual. MR-J5 User's Manual (Function)

SS1 (Safe stop 1) This function starts deceleration with input signals from external devices. After the specified time to confirm the motor stop, the STO function is executed (SS1). This is equivalent to the stop category 1 of IEC/EN 60204-1.

C0

SBC (Safe brake control) This function outputs signals for controlling the external brake.

C0

Functions Detailed functions Description Ver. *1 Detailed explanation Tough drive SEMI-F47 function This function uses the electrical energy charged

in the capacitor to avoid triggering [AL. 010 Undervoltage] in case that an instantaneous power failure occurs during operation. Use a 3- phase power supply for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with SEMI-F47 standard.

For the MR-J5D_-_G_ drive unit, this function cannot be used.

Tough drive function This function makes the equipment continue operating even under conditions where an alarm would normally occur. There are two types of tough drive function: the vibration tough drive and the instantaneous power failure tough drive.

C0 For the MR-J5D_-_G_ drive unit, instantaneous power failure tough drive cannot be used. Refer to "Tough drive function" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.2 Function list 29

30

Diagnostics

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo

status and records the state transition before and after an alarm for a fixed period of time. The recorded data can be checked by the Waveform-Display button on the drive recorder window of MR Configurator2 being clicked.

C0 Refer to "Drive recorder" in the following manual. MR-J5 User's Manual (Function)

Graph function This function obtains the servo status in the graph.

C0 Refer to "Graph function" in the following manual. MR-J5 User's Manual (Function)

This function obtains a graph by using the trigger synchronized on multiple drive units via a network.

C0

Failure diagnosis Encoder communication diagnosis function

This function diagnoses with MR Configurator2 whether the encoder communication error is caused by the circuit malfunction of the drive unit or by the malfunction of the cables/encoder.

C0 Refer to "Encoder communication diagnosis function" in the following manual. MR-J5 User's Manual (Function)

Service life diagnosis

Servo amplifier life diagnosis function

This function enables checking of the cumulative energization time, the number of the inrush relay on/off times, and the number of dynamic brake usage times. It gives an indication of the replacement time for parts on the drive unit with a service life (such as the capacitor and the relay) before they malfunction. MR Configurator2 is required for this function.

C0 Refer to "Servo amplifier life diagnosis function" in the following manual. MR-J5 User's Manual (Function)

Motor life diagnosis function This function predicts failures of the equipment and the servo motor based on the machine total travel distance. It gives an indication of the replacement time for the servo motor.

C0

Machine diagnosis function This function uses the data in the drive unit to estimate the friction and vibrational component of the drive system in the equipment and to recognize an error in machine parts such as ball screws and bearings.

C0 Refer to "Machine diagnosis" in the following manual. MR-J5 User's Manual (Function)

This function automatically sets the threshold used for detecting the error of machine parts such as ball screws and bearings. It outputs the warning when the friction, vibrational component, and total revolution of the servo motor are out of the set threshold. The error in the machine parts such as ball screws and bearings can be detected automatically.

C0

This function estimates the friction of gears and loosening of belts (decrease in the belt tension), and detects errors in the gears and belts.

C0

System diagnosis System configuration information

This function uses MR Configurator2 to monitor the drive unit model, connected servo motor, encoder, and other information.

C0 Refer to "System configuration display" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.2 Function list

2

History

*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware version or later.

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

Functions Detailed functions Description Ver. *1 Detailed explanation Alarm history This function saves information of the alarm that

occurred in the drive unit. The information is saved in chronological order and used for occasions such as analyzing the cause of the alarm.

C0 Refer to "Alarm history" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.3 Security 31

32

3 STRUCTURE

3.1 Parts identification

MR-J5D_-_G_-N1 MR-J5D1-_G_-N1 The diagram shows MR-J5D1-100G4-N1.

(1)

(2)

(5)

(6)

(21)

(4)

(3)

(11)

(22)

(16)

(23)

(15) (12)

(13)

(7)

(17)

(10)

(20)

(14) CN1A L-ER

CN1A LA

CN1B L-ER

CN1B LA

ERR NS

RUN MS

SFTY

Top

Inside of the display cover

SideInside of the cover

Right side

Bottom

Front

3 STRUCTURE 3.1 Parts identification

3

MR-J5D2-_G_-N1/MR-J5D3-_G_-N1 The diagram shows MR-J5D3-100G4-N1.

No. Name Application Detailed explanation (1) Display section The 3-digit, 7-segment LED display shows the servo status and

alarm number. Page 35 Switch setting and display of the drive unit

(2) ID setting switches (SW1/SW2) Set the node address of the drive unit.

(3) DIP switch (SW3) Consists of the test operation switch and control axis deactivation switch.

(4) Network status LEDs Displays each network status.

(5) L+/L- terminal (TE2) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars. (DC input)

Refer to "Explanation of power supply system" in the following manual. MR-J5D User's Manual (Hardware)

(6) Control circuit terminal (TE3) Connect the control circuit power supply.

(7) A-axis servo motor power connector (CNP3A)

Connect the A-axis servo motor.

(8) *1 B-axis servo motor power connector (CNP3B)

Connect the B-axis servo motor.

(9) *2 C-axis servo motor power connector (CNP3C)

Connect the C-axis servo motor.

(10) Protective earth (PE) terminal Connect this terminal to the protective earth (PE) of the cabinet.

(11) Ethernet cable connector (CN1A) (IN port) Connect the controller, drive unit, servo amplifier or each network connected device.

(12) Ethernet cable connector (CN1B) (OUT port)

Connect the drive unit, servo amplifier or each network connected device.

(13) Protection coordination connector (CN40A) Connect it with a nearby converter unit or drive unit. Refer to "Example power circuit connections" in the following manual. MR-J5D User's Manual (Hardware)

(14) Protection coordination connector (CN40B) Connect it with a nearby drive unit.

(1)

(2)

(5)

(6)

(21)

(4)

(3)

(11)

(22)

(16)

(23)

(15) (12)

(13)

(7) (8) (9)

(17) (18) (19)

(10)

(14) CN1A L-ER

CN1A LA

CN1B L-ER

CN1B LA

ERR NS

RUN MS

SFTY

Top

Inside of the display cover

SideInside of the cover

Right sideFront

Bottom

3 STRUCTURE 3.1 Parts identification 33

34

*1 For the 2-axis drive unit and 3-axis drive unit. *2 For the 3-axis drive unit. *3 For the 1-axis drive unit.

External encoder connector The following table shows the communication method of the external encoder compatible with the drive units.

*1 The MR-J4FCCBL03M branch cable is required. *2 If the external encoder communication method is the four-wire type, the MR-J5D2-_G_ cannot be used. Use MR-J5D1-_G_.

(15) Functional safety I/O signal connector (CN8)

Connect an external safety relay to use the STO function. When using other safety-sub functions, refer to "FUNCTIONAL SAFETY" in the following manual. MR-J5 User's Manual (Function)

Refer to "USING STO FUNCTION" and "USING FUNCTIONAL SAFETY" in the following manual. MR-J5D User's Manual (Hardware)

(16) I/O signal connector (CN3) Connect the digital I/O signals. The analog monitor is output from this connector.

Refer to "Connectors and pin assignments" in the following manual. MR-J5D User's Manual (Hardware)

(17) A-axis encoder connector (CN2A) Connect the A-axis servo motor encoder or external encoder. Page 34 External encoder connector(18) *1 B-axis encoder connector (CN2B) Connect the B-axis servo motor encoder or external encoder.

(19) *2 C-axis encoder connector (CN2C) Connect the C-axis servo motor encoder or external encoder.

(20) *3 External encoder connector (CN2AL) Connect the external encoder.

(21) Battery connector (CN4) This is a connector to connect the battery for absolute position data backup. When the servo motor with a batteryless absolute position encoder is being used, it does not need to be connected to the battery for absolute position data backup.

(22) USB communication connector (CN5) Connect with a personal computer.

(23) Rating plate Indicates model, capacity, and other information. Page 10 Rating plate

Operation mode External encoder communication method

Connector

MR-J5D1-_G_-N1 MR-J5D2-_G_-N1 MR-J5D3-_G_-N1 Fully closed loop system Two-wire type CN2AL CN2A *1 *2

CN2B *1 *2

Four-wire type

A/B/Z-phase differential input

Scale measurement function Two-wire type CN2AL CN2A *1 *2

CN2B *1 *2

Four-wire type

A/B/Z-phase differential input

No. Name Application Detailed explanation

3 STRUCTURE 3.1 Parts identification

3

3.2 Switch setting and display of the drive unit Switching to the test operation mode and configuring network setting can be done with switches on the drive unit. The network communication status and alarm status can also be checked on the display (3-digit, 7-segment LED) of the drive unit.

Switches If a metal screw driver contacts with the conductive areas, the switches may malfunction. Therefore, use an insulated screw driver instead of the metal screw driver to operate ID setting switches (SW1/SW2) and DIP switches (SW3). If all the DIP switches (SW3) are turned "ON (up)", the drive unit is switched to the operation mode for manufacturer setting and "off" will be displayed. The drive unit cannot be used in this mode. Thus, set the DIP switches (SW3) correctly according to this section. To apply the settings of all switches, cycle the control circuit power supply or reset the software. The following explains the ID setting switches (SW1/SW2) and DIP switches (SW3).

Switch identification 1-axis drive unit

2-axis drive unit

3-axis drive unit

1

ON

2 3 4

3-digit, 7-segment LED

DIP switch (SW3)

For manufacturer setting For manufacturer setting

Test operation select switch (SW3-1) ID setting switch (upper) (SW1) ID setting switch (lower) (SW2)

Disabling control axis switch for A-axis (SW3-2)

1

ON

2 3 4

3-digit, 7-segment LED

DIP switch (SW3)

Disabling control axis switch for B-axis (SW3-3) For manufacturer setting

Test operation select switch (SW3-1) ID setting switch (upper) (SW1) ID setting switch (lower) (SW2)

Disabling control axis switch for A-axis (SW3-2)

1

ON

2 3 4

3-digit, 7-segment LED

DIP switch (SW3)

Disabling control axis switch for B-axis (SW3-3) Disabling control axis switch for C-axis (SW3-4)

Test operation select switch (SW3-1) ID setting switch (upper) (SW1) ID setting switch (lower) (SW2)

Disabling control axis switch for A-axis (SW3-2)

3 STRUCTURE 3.2 Switch setting and display of the drive unit 35

36

Test operation select switch (SW3-1) Turning "ON (up)" the test operation select switch enables the test operation mode. In the test operation mode, functions such as JOG operation, positioning operation, and machine analyzer are available using MR Configurator2. Page 54 Test operation

Disabling control axis switches (SW3-2, SW3-3, and SW3-4) Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo motor will become in the disabled-axis state and will not be recognized by the controller.

ID setting switches (SW1/SW2) The node address can be set with the ID setting switches (SW1/SW2) of the drive unit. SW1 indicates an upper digit and SW2 indicates a lower digit of a hexadecimal. The ID setting switches are set to 01h when shipped from the factory. For how to set node addresses, refer to "Node address setting" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

7-segment LED The network connection status, servo status, and alarm/warning occurrence statuses can be checked on the 7 segment LED display.

Display sequence The following shows the display sequence of the 7-segment LED display after power-on. Once a system check is complete and the drive unit is started, the network connection status will be displayed.

*1 The segment of the last 2 digits shows the node address. Page 37 When the network is connected

*1

Drive unit power on

Controller not connected

Controller power on (Network communication start)

Controller is connected

Controller power off

Cyclic communication in progress

3 STRUCTURE 3.2 Switch setting and display of the drive unit

3

Alarm display When an alarm/warning occurs, the alarm status is displayed after the network connection status. This is an example of the alarm display for when [AL. 032.2 Overcurrent] is occurring.

1-axis drive unit

For multi-axis drive units

When a 3-axis drive unit is used, the alarm occurrence status in the B-axis is indicated before the alarm occurrence in the C- axis.

When the network is connected The network connection status is displayed as follows. The servo status is expressed in decimal points.

The last 2 digits indicate a network address corresponding to each network.

1-axis drive unit 2-axis drive unit 3-axis drive unit

Network Address EtherCAT A node address is displayed in hexadecimal.

Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s After 0.2 s After 0.8 s After 0.8 s After 0.8 s

Status display (1 digit)

Alarm detail (1 digit)

Alarm No. (3 digits)

After 0.2 s

: Indicates that an alarm is occurring.

Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s After 0.2 s After 0.8 s After 0.8 s After 0.8 s

A-axis status (1 digit)

Alarm No. (3 digits) Alarm detail (1 digit)

After 0.2 s

: Indicates that an alarm is occurring.

Status display Alarm No. Alarm detail Blank After 0.8 s After 0.8 s After 0.8 s

After 0.2 sB-axis status (1 digit)

Alarm No. (3 digits) Alarm detail (1 digit)

Servo status Off: Indicates ready-off and servo-off status. Blinking: Indicates ready-on and servo-off status. On: Indicates ready-on and servo-on status.

B-axis servo status A-axis servo status Off: Indicates ready-off and servo-off status. Blinking: Indicates ready-on and servo-off status. On: Indicates ready-on and servo-on status.

C-axis servo status B-axis servo status

A-axis servo status Off: Indicates ready-off and servo-off status. Blinking: Indicates ready-on and servo-off status. On: Indicates ready-on and servo-on status.

3 STRUCTURE 3.2 Switch setting and display of the drive unit 37

38

When the network is not connected The network connection status is displayed for each axis.

The 7-segment LED display during cyclic communication is as follows.

1-axis drive unit 2-axis drive unit 3-axis drive unit

Display Description Indicates that the drive unit is not connected to the controller.

Indicates the Pre-Operational state shown in the state transition diagram of the ESM state machine.

Indicates the Safe-Operational state shown in the state transition diagram of the ESM state machine.

Indicates the BootStrap state shown in the state transition diagram of the ESM state machine.

Network status B-axis network status

A-axis network status

C-axis network status B-axis network status

A-axis network status

3 STRUCTURE 3.2 Switch setting and display of the drive unit

3

Other status displays

Status LEDs The LED states (RUN MS/ERR NS) indicate the network status of the drive unit.

Display Status Description Test operation mode Indicates that the test operation mode is set.

CPU error Indicates that a CPU watchdog error has occurred.

This is for manufacturer setting.

Initialization in progress Indicates that initialization of settings such as parameters is in progress.

LED Description CN1AL-ER/CN1BL-ER (red)

Name: Line error status On: Indicates that erroneous data is being received.

CN1ALA/CN1BLA (green)

Name: Link/Activity Page 40 LED display

RUNMS (green)

Page 40 LED display

ERRNS (red)

SFTY (green)

Off: Indicates that the functional safety cannot be activated. On: Indicates that the functional safety can be activated.

3 STRUCTURE 3.2 Switch setting and display of the drive unit 39

40

LED display RUN MS (RUN LED), ERR NS (ERROR LED), and Link/Activity operate in compliance with the EtherCAT standard (ETG.1300 EtherCAT Indicator and Labeling Specification).

LED status definitions The following shows LED status definitions.

Explanations of LED statuses RUN MS (RUN LED) The RUN LED indicates the EtherCAT communication status (ESM status).

ERR NS (ERROR LED) The ERROR LED indicates an error occurrence in EtherCAT communication.

Link/Activity LED (OUT port/IN port) The Link/Activity LEDs indicate the link status of each EtherCAT communication port.

LED status Definition On The LED is lit steady.

Off The LED is unlit.

Flickering The LED turns on and off repeatedly in a 10 Hz cycle (every 50 ms).

Blinking The LED turns on and off repeatedly in a 2.5 Hz cycle (every 200 ms).

Single flash The LED turns on for 200 ms and off for 1000 ms repeatedly.

Double flash The LED repeats the cycle of turning on for 200 ms -> off for 200 ms -> on for 200 ms -> off for 1000 ms.

LED Description

Status Color Off Indicates the power supply being shut off or the Init state.

Blinking Green Indicates the Pre-Operational state.

Single flash Indicates the Safe-Operational state.

On Indicates the Operational state.

LED Description

Status Color Off No errors

Blinking Red Indicates that the EtherCAT state cannot be changed as instructed from the master station.

Single flash Indicates that the EtherCAT state has been changed autonomously because of an internal error.

Double flash Indicates a watchdog error in the Sync manager.

On Indicates critical errors such as a watchdog timeout.

LED Description

Status Color Off Indicates that the power supply being shut off or the link-unestablished state.

On Green Indicates that the link is established but no traffic.

Flickering Indicates that the link is established with traffic.

3 STRUCTURE 3.2 Switch setting and display of the drive unit

4

4 STARTUP

MR-J5D_-_G_-N1 drive units can only be set with MR Configurator2 version 1.125F or later. Before starting operation, check each servo parameter. Depending on the machine, an unexpected

operation may occur.

When using a linear servo motor, the terms below have the following meanings. Load to motor inertia ratio Load to motor mass ratio Torque Thrust

Servo parameter setting method

Servo parameters may be changed by the controller via a network. In this case, take measures such as not turning on the controller or not connecting the network cable to the controller, so that the servo parameter setting does not change.

MR Configurator2 is the software used for purposes such as servo parameter settings, graph measurement/display, and test operation. This chapter describes the startup procedure of the drive unit when the drive unit is connected to a personal computer which has MR Configurator2 installed. To learn more about using MR Configurator2, refer to Help in MR Configurator2.

For USB communication

The USB communication may be disconnected by operations such as servo parameter settings and drive recorder readout, depending on the load on the drive unit. If this is the case, remove the USB cable, then connect it again.

1. Connect the drive unit and the personal computer with a USB cable. Turn on the drive unit control circuit power supply.

CN5

Personal computer USB cable MR-J3USBCBL3M (option)

To USB connector

Drive unit

4 STARTUP 41

42

2. Start MR Configurator2 and create a new project. For the connection setting, select USB. Select the drive unit model.

For a multi-axis drive unit, select an axis to be connected.

4 STARTUP

4

3. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen.

4. Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings.

4 STARTUP 43

44

5. After changing the servo parameter, click "Selected Items Write" or "Axis Writing".

6. Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset.

4 STARTUP

4

For EoE communication Connection via a controller is available on drive units with firmware version C4 or later being used with MR Configurator2 with software version 1.130L or later.

1. Connect the drive unit with the EtherCAT controller and the EtherCAT controller with the personal computer using an Ethernet cable between each equipment. Turn on the drive unit control circuit power supply. Establish the EoE communication between the EtherCAT controller and drive unit according to the manual of the EtherCAT controller to be used.

*1 When using a personal computer as the EtherCAT controller, connect the drive unit and the personal computer with an Ethernet cable.

2. Start MR Configurator2 and create a new project. Select the drive unit model. Click the "Switch to Multi-axis Project" button.

3. When the message "Are you sure you want to cancel the changes?" appears, click the "Yes" button.

CN1A Drive unit

Personal computer *1

Ethernet cableEthernet cable EtherCAT controller

4 STARTUP 45

46

4. Select "EtherCAT" for the connection network. Only "UDP" can be selected for the protocol. Set the time-out and retry as required. Set the drive unit and its IP address for the servo amplifier configuration. The axis number can be set as desired.

5. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen.

T.B.D.

4 STARTUP

4

6. Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings.

7. After changing the servo parameter, click "Selected Items Write" or "Axis Writing".

4 STARTUP 47

48

8. Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset.

4 STARTUP

4

4.1 Turning on drive unit for the first time

For the controller settings, refer to the relevant controller manual. For the gain adjustment, refer to the following manual. MR-J5 User's Manual (Adjustment)

When turning on the drive unit for the first time, follow the steps below.

Procedure Description Reference

1. Installation and wiring Install and wire the converter unit, drive unit and servo motor. MR-J5D User's Manual (Hardware)

2. Test operation of the servo motor alone in test operation mode

With the servo motor disconnected from the machine, operate the servo motor at the lowest speed possible, and check whether the servo motor operates correctly.

Page 50 Test operation of the servo motor alone in test operation mode

3. Equipment configuration setting

Set each servo parameter according to the equipment configuration. Page 51 Equipment configuration setting

4. Controller-related setting Perform necessary settings according to commands from the controller. Page 51 Controller- related setting

5. Operation by controller command

Operate the servo motor at the lowest speed possible by giving commands to the drive unit from the controller, and check whether the servo motor operates correctly.

Page 52 Operation by controller command

6. Actual operation

4 STARTUP 4.1 Turning on drive unit for the first time 49

50

Test operation of the servo motor alone in test operation mode

If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2).

Check that the drive unit and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly. This section describes how to check the servo motor operation in the JOG operation. The test operation also includes the positioning operation and program operation. Page 54 Test operation In the linear servo motor control mode, the JOG operation cannot be performed. Check the linear servo motor operation status by using the positioning operation or by other means. Page 56 Motor driving by test operation

1. Turn off the power.

2. Turn "ON (up)" the test operation select switch (SW3-1). When performing test operation with multiple MR-J5D_-_G_ connected to one power regeneration converter unit, turn "ON (up)" the test operation select switch (SW3-1) of all the MR-J5D_-_G_ connected to the power regeneration converter unit.

3. Turn on the power supply of the converter unit and drive unit. Once initialization is complete, the display will change as follows.

The display of a 1-axis drive unit is shown as an example.

4. Open the "JOG Mode" screen of MR Configurator2.

1

ON

2 3 4

Set SW3-1 to "ON (up)".

Test operation status display

4 STARTUP 4.1 Turning on drive unit for the first time

4

5. To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at first and check the operation status.

6. After the test operation is complete, turn off the power and "OFF (down)" the test operation select switch (SW3-1).

Equipment configuration setting Set the servo parameters for each function according to the equipment configuration. For details, refer to the following manual. MR-J5 User's Manual (Function)

Controller-related setting Refer to the applicable network instruction manual for the network connection setting.

Set the servo parameter using the controller according to the control mode to be used.

Item Description Rotation/travel direction selection To change the rotation/travel direction (POL), change the servo parameter.

Stroke limit function Limit switches can be used to limit travel intervals of the servo motor. Configure the settings according to the connection method of the limit switch.

In-position setting Positioning completion status can be checked with in-position. Set this as necessary.

Forced stop deceleration function Stops the servo motor at EM2 (Forced stop 2) off. Perform settings such as the deceleration time constant.

Vertical axis freefall prevention function For vertical axes, this function pulls up the shaft slightly. When using a servo motor with an electromagnetic brake for a vertical axis, perform settings as required.

Network Reference EtherCAT Refer to "Startup" in the following manual.

MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Item Description Reference Network standard mode Operates in the modes such as csp/csv/cst

specified in CiA 402. Refer to "CONTROL MODE" in the following manual. MR-J5 User's Manual (Function)

Positioning mode (point table method) This function operates the servo motor according to the setting values by selecting the point table with preset 255 points.

Refer to "POSITIONING MODE (POINT TABLE METHOD) (CP)" in the following manual. MR-J5 User's Manual (Function)

4 STARTUP 4.1 Turning on drive unit for the first time 51

52

Set each servo parameter that is necessary for the operation using controller commands.

Operation by controller command Confirm that the servo motor operates correctly under the commands from the controller. Give a low speed command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input signal.

1. Display the Display All window in MR Configurator2. Confirm that there is no error in the items such as servo motor speed and load ratio.

2. Display the I/O Monitor window. Confirm that there is no error in the I/O signal.

Item Description Reference Command unit selection function This function enables the unit of speed command

to be selected. The initial setting for the unit of speed command is pulses/s.

Refer to "Command unit selection function" in the following manual. MR-J5 User's Manual (Function)

Electronic gear setting Perform the settings related to the controller command unit and amplifier command unit.

Refer to "Electronic gear function" in the following manual. MR-J5 User's Manual (Function)

Homing To perform homing with the function of the amplifier without using the homing function of the controller, perform the necessary settings.

Refer to "CONTROL MODE" in the following manual. MR-J5 User's Manual (Function)

4 STARTUP 4.1 Turning on drive unit for the first time

4

4.2 Instructions on startup

Instructions for power-on When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the

first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm.

If the power is turned on while the servo motor is being rotated by an external force, an alarm may occur. Make sure that the servo motor is not operating before turning on the power. In addition, refer to the manual for the servo motor or encoder being used.

Stop If any of the following situations occur, the drive unit suspends and stops the operation of the servo motor. If the servo motor is operated by the network command, the servo motor may be stopped by the controller command.

Instructions for network disconnection To turn off the system power and disconnect the drive unit from the network, specific procedures may be required. For details, refer to "Disconnecting the network" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

4.3 Troubleshooting at startup

Investigation by using MR Configurator2. The reason that the servo motor does not rotate can be investigated via MR Configurator2. The cause that the servo motor fails to rotate is acquired from the drive unit of the target axis, and displayed on "No Motor Rotation". The window will remain blank when no cause exists. "- - - -" is displayed when off-line or the cause cannot be acquired.

Operation/command Stopping condition Alarm occurrence The servo motor decelerates to a stop. There are also alarms that activate and stop the dynamic brake. For details of

alarms, refer to the following manual. MR-J5 User's Manual (Troubleshooting)

EM2 (Forced stop 2) off The servo motor decelerates to a stop. [AL. 0E6 Servo forced stop warning] occurs. In the torque mode, EM2 functions the same as EM1.

STO (STO1 and STO2) off The base circuit is shut off and the dynamic brake operates to stop the servo motor.

Limit switch off If LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), FLS (Upper stroke limit), or RLS (Lower stroke limit) is turned off, the servo motor will stop slowly and become in the servo-lock state. Operation in the opposite direction is possible.

4 STARTUP 4.2 Instructions on startup 53

54

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

Restrictions The following data is not duplicated. Set them as required after the duplication.

The following data is not duplicated. Alarm history data Drive recorder data

Duplication using MR Configurator2 1. The data set in MR Configurator2 can be saved as a project.

2. To copy the project to a different drive unit, open the project and then connect the drive unit and a personal computer via a USB cable. Turn on the drive unit control circuit power supply.

3. Write the required data in MR Configurator2. After the writing is completed, cycle the power or reset the software as necessary.

4.5 Test operation Using the test operation function enables the machine operation to be checked before the actual operation. With a personal computer and MR Configurator2, operations such as the JOG operation, positioning operation, output signal forced output, and program operation can be performed.

Precautions The test operation mode is designed for checking servo operation. This mode is not for checking machine operation. Do not

use this mode with the machine. Use this mode only with the servo motor.

Execution method Test operation mode is enabled by MR Configurator2. To set to the normal operation mode again after executing the test operation mode, cycle the power or reset the software. Perform the test operation after the forced stop has been released. For details of the forced stop, refer to "Forced stop

deceleration function" in the following manual. MR-J5 User's Manual (Function)

Item Description Homing The information of the home position is not duplicated. Execute homing again.

Machine service life diagnosis Machine service life diagnosis information may not be duplicated. Refer to "Machine diagnosis" in the following manual, and perform required settings. MR-J5 User's Manual (Function)

4 STARTUP 4.4 Duplicate setting

4

Test operation mode Setting the drive unit to the test operation mode enables the test operation while the personal computer and drive unit are connected via a USB cable.

1. Turn off the power.

2. Turn "ON (up)" the test operation select switch (SW3-1). When performing test operation with multiple MR-J5D_-_G_ connected to one power regeneration converter unit, turn "ON (up)" the test operation select switch (SW3-1) of all the MR-J5D_-_G_ connected to the power regeneration converter unit.

3. Turn on the power supply of the converter unit and drive unit. Once initialization is complete, the display will change as follows.

4. Use MR Configurator2 to perform the test operation. Page 56 Motor driving by test operation

5. After the test operation is complete, turn off the power and "OFF (down)" the test operation select switch (SW3-1).

1

ON

2 3 4

Set SW3-1 to "ON (up)".

Test operation status display

4 STARTUP 4.5 Test operation 55

56

Motor driving by test operation

JOG operation The JOG operation can be performed when there is no command from the controller. The motor can be operated at the specified speed. Operate the motor using the JOG Mode screen of MR Configurator2.

Motor operation setting (1) Set the motor speed and acceleration/deceleration time constants for JOG operation. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection].

Limit switch automatic ON (2) JOG operation can be performed when the limit switch is not connected. Be sure to avoid causing a collision while performing the operation.

Operation (3) The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Start" starts the operation. When "Rotation only while the CCW or CW button is being pushed" is selected, clicking "Forward CCW" or "Reverse CW" will perform operation until "Stop" or "Forced Stop" is clicked.

(1)

(2)

(3)

4 STARTUP 4.5 Test operation

4

Positioning operation Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR Configurator2.

Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection].

Limit switch (2) Select "Limit switch automatic ON" to perform the positioning operation when the limit switch is not connected. Be sure to avoid causing a collision while performing the operation.

Move until Z-phase signal (3) When "Z-phase signal movement" is selected, the servo motor moves until the first Z-phase signal after positioning operation.

Operation (4) The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the operation in the specified operation condition.

Repeat operation (5) Selecting "Make the repeated operation valid" enables the repeat operation. Selecting "Make the aging function valid" enables the continuous operation until clicking "Stop" or "Forced Stop". Set the repeat pattern, the dwell time, and the number of operations.

Operation status (6) The operation status during the repeat operation and the number of operations are displayed.

(1)

(2)

(3)

(4)

(5)

(6)

4 STARTUP 4.5 Test operation 57

58

Program operation Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2.

1. Open the Program Operation screen of MR Configurator2.

2. Clicking "Program Edit" in the program operation screen opens the Program Edit screen. Input the program and click "OK". For program commands, refer to Help of MR Configurator2.

No. Item Screen operation (1) Program display Displays the program. To edit the display item, click "Program Edit".

(2) Operation The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the operation.

(3) Repeat execution Displays the number of execution times. Selecting "Aging function" enables the repeated operation of the operation program.

(1)

(2)

(3)

4 STARTUP 4.5 Test operation

4

Single-step Feed This function enables test operation in accordance with the point table. Configure the settings of the point table operation in advance. For the point table operation, refer to "POSITIONING MODE (POINT TABLE METHOD) (CP)" in the following manual. MR-J5 User's Manual (Function)

No. Item Screen operation (1) Point table No. Specify the point table number to be operated.

(2) Operation The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the operation in accordance with the point table.

(1)

(2)

4 STARTUP 4.5 Test operation 59

60

Motor-less operation

The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode or direct drive motor control mode.

Without connecting a servo motor to the drive unit, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running. This operation can be used to check the sequence of a controller. Use this operation after the forced stop has been released. Use this operation with the drive unit connected to the controller. To perform the motor-less operation, set [Pr. PC05.0 Motor-less operation selection] to "1" (enabled). To terminate the motor- less operation, set [Pr. PC05.0] to "0" (disabled). To apply the motor-less operation settings, cycle the power or reset the software.

Load conditions The operation is performed in the following conditions. Note that the conditions may differ from those of actual machines.

Alarm In the motor-less operation, some alarms and warnings are not generated. The following are examples of alarms which do not occur. [AL. 016 Encoder initial communication error 1] [AL. 01E Encoder initial communication error 2] [AL. 01F Encoder initial communication error 3] [AL. 020 Encoder normal communication error 1] [AL. 021 Encoder normal communication error 2] [AL. 025 Absolute position erased] [AL. 092 Battery cable disconnection warning] [AL. 09F Battery warning]

Load item Condition Load torque 0

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

4 STARTUP 4.5 Test operation

4

Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2.

Each output signal can be turned on/off by clicking the ON/OFF button next to its name. After checking, click "Test Operation Mode Cancel" and terminate the output signal (DO) forced output.

4 STARTUP 4.5 Test operation 61

62

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

The storage area of the drive unit has a limit for the number of writings. Do not use this function frequently. Execute the initialization with the drive unit disconnected from the network and directly connected to MR

Mode Change via a USB cable.

Initialization procedure by MR Mode Change Open MR Mode Change and use a USB cable to connect the drive unit that will be initialized with a personal computer. Turn on the drive unit control circuit power supply.

Confirm that "Reset to factory settings" is selected, then click "Write". After the writing is completed, cycle the power or reset the software.

Cycling the power or resetting the software initializes the setting of the drive unit at startup. Confirm that the initialization has completed by reading the settings from the drive unit.

CN5

Personal computer USB cable MR-J3USBCBL3M (option)

To USB connector

Drive unit

4 STARTUP 4.6 Drive unit setting initialization

5

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT

5.1 Inspection items Precautions

Do not disassemble, repair, or modify the product. For repair and parts replacement, contact your local sales office. To prevent a malfunction, do not perform an insulation resistance test (megger test) on the drive unit.

Periodic inspection Perform the following inspections. Check for loose terminal block screws. Retighten any loose screws. Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions

especially when the servo motor is movable. Check that the connector is securely connected to the drive unit. Check that the wires are not coming out from the connector. Check for dust accumulation on the drive unit. Check for unusual noise generated from the drive unit. Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a

power is shut off by the emergency stop switch.

5.2 Parts with a service life The service life of the following parts is listed below. In addition, the service life varies depending on the operating methods and environment. If any fault is found in a part, it is necessary to replace it immediately regardless of its service life. For parts replacement, please contact your local sales office.

Relays A relay will reach the end of its service life if the following actions are performed a total of 100,000 times: powering on the drive unit, inputting the dynamic brake stop, and inputting the forced stop. In addition, the service life of a relay may vary depending on the power supply capacity.

Drive unit cooling fan The cooling fan bearings will reach the end of their service life in 50,000 hours to 70,000 hours. Therefore, the cooling fan must be replaced after seven to eight years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced. The service life has been calculated in an environment which contains no corrosive gas, flammable gas, oil mist, or dust. The average annual ambient temperature was 40 C.

Part name Recommended service life Relay Total number of power-ons, stops by a dynamic brake, and forced stops:

100,000 times

Cooling fan 50,000 hours to 70,000 hours (7 to 8 years)

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 5.1 Inspection items 63

64

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

List of applicable fan units

Replacement procedure For the replacement procedure of fan units, refer to "Fan unit replacement procedure" in the following manual. MR-J5D User's Manual (Hardware)

Drive unit Fan units MR-J5D1-500G4-N1 MR-J5D1-700G4-N1 MR-J5D2-200G4-N1 MR-J5D2-350G4-N1 MR-J5D3-200G4-N1

MR-J5D-FAN1

MR-J5D2-500G4-N1 MR-J5D2-700G4-N1

MR-J5D-FAN2

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 5.3 Replacing fan unit

6

6 COMPLIANCE WITH GLOBAL STANDARDS Converter units and drive units refer to servo amplifiers in this chapter. This chapter provides information common among AC servo amplifiers. Information that is not applicable to MR-J5 servo amplifier/other equipment combinations is also included.

6.1 Compliance with global standards For compliance with the standards of Europe/UK, United States/Canada, and South Korea, refer to the following manual. Safety Instructions and Precautions for MR-J5D AC Servos (IB(NA)-0300527)

6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

To reflect the United Nations Recommendations on the Transport of Dangerous Goods (hereinafter Recommendations of the United Nations), we have modified the description on the package for AC servo amplifier batteries since January 2009. The description complies with transport regulations for lithium metal batteries in the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization (IMO). The above change will not affect the function or performance of the product. This section describes the handling of lithium metal batteries in air transportation that has been changed in response to the IATA (International Air Transport Association) Dangerous Goods Regulations 63rd Edition issued on January 1, 2022, and the handling of lithium metal batteries in maritime transportation that has also been changed.

Target model

Battery (cell)

Battery unit (assembled)

Model Option model Type Lithium content Mass of battery Remark ER6 MR-J3BAT Cell 0.65 g 16 g Each battery (cell) contains more than 0.3 grams of

lithium content and must be handled as dangerous goods (Class 9) for certain packaging requirements.

MR-J3W03BATSET Cell 0.65 g 16 g

ER17330 MR-BAT Cell 0.48 g 13 g

A6BAT Cell 0.48 g 13 g

Model Option model Type Lithium content Mass of battery Remark ER6 MR-J2M-BT_ Assembled

battery (Seven cells)

4.55 g 112 g The assembled battery contains more than two grams of lithium content and must be handled as dangerous goods (Class 9) regardless of packaging requirements.

CR17335A MR-BAT6V1 Assembled battery (Two cells)

1.20 g 34 g Each battery (cell) contains more than 0.3 grams of lithium content and must be handled as dangerous goods (Class 9) for certain packaging requirements.

MR-BAT6V1SET_ Assembled battery (Two cells)

1.20 g 34 g

MR-BAT6V1BJ Assembled battery (Two cells)

1.20 g 34 g

6 COMPLIANCE WITH GLOBAL STANDARDS 6.1 Compliance with global standards 65

66

Purpose To enable safer transportation of lithium metal batteries.

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

Air transportation of lithium metal batteries alone

Transportation of lithium metal batteries alone classified as UN3090 PI968 Section II must comply with Section IB. Transportation of lithium metal batteries alone as cargo on passenger aircraft has been prohibited since January 1, 2015. Lithium metal batteries can be transported by sea or cargo aircraft.

Air transportation of lithium metal batteries packed with or contained in equipment Lithium metal batteries packed with or contained in equipment can be transported as cargo on passenger aircraft.

For batteries packed with equipment, follow the requirements of UN3091 PI969. Batteries are classified into either Section II or Section I depending on the lithium content/packaging requirements.

For batteries contained in equipment, follow the requirements of UN3091 PI970. Batteries are classified into either Section II or Section I depending on the lithium content/packaging requirements. The special handling may be unnecessary depending on the number of batteries and gross mass per package.

Maritime transportation of lithium metal batteries

Packaging requirements Classification Main requirements Lithium content per cell 1 g Number of cells per package 8

UN3090 PI968 Section II Transitioned to Section IB on or after April 1, 2022

The package must pass a 1.2 m drop test, and a lithium battery mark (size: 100 100 mm) must be attached on the package. Refer to the requirements of Section IB on or after April 1, 2022.

Lithium content per battery 2 g Number of batteries per package 2

Lithium content per cell 1 g Number of cells per package > 8

UN3090 PI968 Section IB The total battery weight per package must be 10 kg or less. The package must pass a 1.2 m drop test, and a lithium battery mark (size: 100 100 mm) must be attached on the package. The batteries must be handled conforming to Class 9 Dangerous Goods Regulations (e.g.: displaying the lithium battery hazard label).

Lithium content per battery 2 g Number of batteries per package > 2

Lithium content per cell > 1 g UN3090 PI968 Section IA The total battery weight per package must be 35 kg or less. The package must comply with UN specification packing requirements and be handled complying with Class 9 Dangerous Goods Regulations (e.g.: displaying the lithium battery hazard label).

Lithium content per battery > 2 g

Packaging requirements Classification Main requirements Lithium content per cell 1 g SP188 For transportation of batteries alone, the total weight of the

package must be 30 kg or less. The package must pass a 1.2 m drop test, and the lithium battery mark (size: 100 100 mm) must be attached on the package. For transportation of batteries packed with or contained in equipment, the special handling may be unnecessary depending on the number of batteries per package.

Lithium content per battery 2 g

Lithium content per cell > 1 g The package must comply with UN specification packaging requirements and be handled complying with Class 9 Dangerous Goods Regulations (e.g.: displaying the lithium battery hazard label).

Lithium content per battery > 2 g

6 COMPLIANCE WITH GLOBAL STANDARDS 6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

6

Package at our shipment When the packages containing the target batteries are shipped overseas directly from us, the lithium battery mark (Figure 1) is displayed on the packages. If the packages are shipped domestically, the mark (Figure 1) is not displayed. Thus, when customers transport the domestic-bound packages overseas, the lithium battery mark (Figure 1) must be displayed on the packages by customers. The responsibility for the cargo lies with the customers. Please contact a transportation company for details on the lithium battery mark (Figure 1). For both domestic and overseas shipments, the target battery units which must be handled as Class 9 Dangerous Goods are packaged according to UN specification packaging requirements, and the packages bear the lithium battery hazard label (Figure 2).

Figure 1: Lithium battery mark example

* UN number(s) ** Telephone number for additional information

Figure 2: Lithium battery hazard label example

Transportation precaution for customers For maritime or air transportation, the lithium battery mark (Figure 1) is required also for the outer package containing several packages of Mitsubishi Electric cells or batteries. When the content of a package must be handled as dangerous goods (Class 9), the package must comply with UN specification packaging requirements. Please issue Shipper's Declaration for Dangerous Goods and an Air Waybill (AWB) and attach the lithium battery hazard label (Figure 2) to the packages for transportation. This section outlines the IATA Dangerous Goods Regulations 63rd Edition and the conditions of SP188 for non-dangerous goods transported by sea. The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually. When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations and International Maritime Dangerous Goods Code (IMDG Code).

6 COMPLIANCE WITH GLOBAL STANDARDS 6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods 67

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6.3 Symbol for the new EU Battery Directive The symbol for the new EU Battery Directive (2006/66/EC) that is plastered to the AC servo battery is explained here.

This mark is valid only in EU.

This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused. This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from household waste. If a chemical symbol is shown beneath the above symbol, a heavy metal of the corresponding chemical symbol is contained in the battery or the accumulator with the following standard concentration or more. This will be indicated as follows. Hg: mercury (0.0005 %), Cd: cadmium (0.002 %), Pb: lead (0.004 %) In the European Union, there are separate collection systems for used batteries and accumulators. Batteries and accumulators must be disposed of properly. Help us to conserve the environment we live in.

6 COMPLIANCE WITH GLOBAL STANDARDS 6.3 Symbol for the new EU Battery Directive

6

6.4 Compliance with China Compulsory Certification (CCC)

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

Outline of CCC CCC is a system for product certification that has been in effect in China since August 2003, the purpose of which is to protect consumers and ensure safety domestically in China. The certification system currently has five types of certification: safety, electromagnetic compatibility (EMC), safety + EMC, fire-fighting equipment, and wireless LAN. Products subject to the certification are allowed to be exported, distributed, or sold to China only if they are certified by this system. Products that have received certification proving compliance with the relevant technical standards (or products declared by the manufacturer as being compliant) must carry the specified mark (CCC mark). Many of the technical standards to be applied are GB standards (Chinese national standards), which comply with global standards such as those set forth by the IEC (International Electrotechnical Commission) and CISPR (International Special Committee on Radio Interference). As part of the State Administration for Market Supervision and Administration Announcement No. 18 of 2020 ("Announcement on the Catalogue of Compulsory Product Certification" (April 21, 2020)), a revised list of products subject to CCC certification (2020 version) has been published. Simultaneously, CCC Product Certification List No. 45 of 2014 (CNCA Notice No. 45 of 2014) was repealed.

Judgment 17 product groups divided into 103 categories are specified as the subject products (announcement No. 18 of 2020). The following table shows the judgment rendered regarding the CCC compliance requirement for servo products.

*1 AC servo motors are included in the list of low-power motors (small motors 750 W or less) in the list of products subject to compulsory certification, but are not subject to certification requirements for the following reason. Explosion proof motors and controlled motors (servo motors, stepping motors, etc.) are excluded from the subject small capacity motors.

*2 Mitsubishi Electric option cables use the wires that is not classified into the cable category in the catalog.

Product Judgment AC servo amplifier Not subject

AC servo motor *1 Not subject

Options *2 Not subject

CCC mark

6 COMPLIANCE WITH GLOBAL STANDARDS 6.4 Compliance with China Compulsory Certification (CCC) 69

70

6.5 Compliance with the China RoHS directive

Outline The China RoHS directive: (Management Methods for Controlling Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: (Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016. The China RoHS directive restricts the following hazardous substances: six hazardous substances (lead, mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) which are also restricted by EU RoHS 2 (directive 2011/65/EU), and other hazardous substances specified by the State (currently no applicable substances).

Status of our products for compliance with the China RoHS directive The following table shows the logo types for the environmental protection use period, and whether the six hazardous substances are contained in our products or not. This table was created based on the standard SJ/T11364.

*1 : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of GB/T26572. : Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit requirement of GB/T26572.

*2 Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic products" [SJ/T11364- 2014]

Part name Hazardous substance (substance/threshold/standard) *1 Logo for environmental protection use period *2

Remark

Lead (Pb)

Mercury (Hg)

Cadmium (Cd)

Hexavalent chromium (Cr(VI))

PBB PBDE

Threshold: cadmium: 0.01 wt% (100 ppm), other than cadmium: 0.1 wt% (1000 ppm)

Servo amplifier Servo system controller Converter unit Drive unit

Mounting board

Heat sink

Resin cabinet

Plate and screw

Servo motor Bracket

Mounting board

Resin cabinet

Core and cable

Cable product Wire Including connector setConnector

Optional unit Mounting board

Resin cabinet

Plate and screw

Indicates that a certain hazardous substance is contained in the product manufactured or sold in China. Follow safety and usage precautions for the product, and use the product within a limited number of years from the production date. Doing so prevents any hazardous substances in the product from causing environmental pollution or seriously affecting human health or property.

Indicates that no certain hazardous substance is contained in the product.

6 COMPLIANCE WITH GLOBAL STANDARDS 6.5 Compliance with the China RoHS directive

6

Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "") in the China RoHS directive. The following shows some restriction exemptions and their examples according to the EU RoHS directive. Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to 0.35 % lead by

weight, lead as an alloying element in aluminum containing up to 0.4 % lead by weight, and copper alloy containing up to 4 % lead by weight, e.g. brass-made insert nuts

Lead in high melting temperature type solders (i.e. lead-based alloys containing 85 % by weight or more lead) Electrical and electronic components (such as piezoelectric sensors) containing lead in glass or ceramic materials, but not

including the dielectric ceramics used in capacitors Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors

Status of our products for compliance with the China RoHS directive (Chinese) The following table is given in Chinese according with a request by "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products". Page 70 Status of our products for compliance with the China RoHS directive

(//)*1 *2

(Pb)

(Hg)

(Cd)

(Cr(VI))

PBB PBDE

: : 0.01wt% (100ppm): 0.1wt% (1000ppm)

*1 : GB/T26572

: GB/T26572

*2 [SJ/T11364-2014]

/

6 COMPLIANCE WITH GLOBAL STANDARDS 6.5 Compliance with the China RoHS directive 71

72

7 SERVO PARAMETERS

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

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

[Pr. PA01.0_Control mode selection]

Select a control mode. 0: Network standard mode 6: Positioning mode (point table method)

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-J5D2-_G_-N1. In that case, use the MR-J5D1-_G_-N1. When this servo parameter is set to "1" in the linear servo motor control mode, [AL. 037 Parameter error] occurs. Setting "1" on the MR-J5D3-_G_-N1 triggers [AL. 037]. 0: Disabled (semi closed loop control mode) 1: Enabled (fully closed loop control mode)

[Pr. PA01.7_For manufacturer setting] This servo parameter is for manufacturer setting.

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

Supported control mode

[Pr. PA01.0] = "0" [Pr. PA01.0] = "6" csp/csv/cst/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

7 SERVO PARAMETERS 7.1 Basic setting servo parameters group ([Pr. PA_ _ ])

7

7.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ])

[Pr. PB03_For manufacturer setting] This servo parameter is for manufacturer setting.

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

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

Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 100.0 Each axis A5

7 SERVO PARAMETERS 7.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) 73

74

7.3 Extension setting servo parameters group ([Pr. PC_ _ ])

[Pr. PC42_Function selection C-10 (COP10)]

[Pr. PC42.0_Forward/Reverse rotation torque limit 2 selection]

Enable or disable the torque limit value switching which is performed by CPTL (bit 11 of [Controlword (Obj. 6040h)]) and by CNTL (bit 12 of [Controlword]). 0: Disabled 1: Enabled For the combinations of servo parameters and objects that are switched by CPTL/CNTL, refer to the following table.

This servo parameter corresponds to [Positive/Negative torque limit 2 select (Obj. 2D6Dh: 01h)].

[Pr. PC43_Forward rotation torque limit 2 (TLP2)]

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 servo parameter corresponds to [Positive torque limit value 2 (Obj. 2D6Dh: 02h)]. Depending on the settings in [Pr. PC29] and [Pr. PA14], the corresponding object changes to [Negative torque limit value 2 (Obj. 2D6Dh: 03h)]. 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. 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

[Pr. PC42.0]/ [Positive/Negative torque limit 2 select (Obj. 2D6Dh: 01h)]

Forward rotation torque limit value Reverse rotation torque limit value

CPTL: 0 CPTL: 1 CNTL: 0 CNTL: 1

0h/ 0000h

[Pr. PA11]/ [Positive torque limit value (Obj. 60E0h)]

[Pr. PA11]/ [Positive torque limit value (Obj. 60E0h)]

[Pr. PA12]/ [Negative torque limit value (Obj. 60E1h)]

[Pr. PA12]/ [Negative torque limit value (Obj. 60E1h)]

1h/ 0001h

[Pr. PA11]/ [Positive torque limit value (Obj. 60E0h)]

[Pr. PC43]/ [Positive torque limit value2 (Obj. 2D6Dh: 02h)]

[Pr. PA12]/ [Negative torque limit value (Obj. 60E1h)]

[Pr. PC44]/ [Negative torque limit value2 (Obj. 2D6Dh: 03h)]

Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis A5

7 SERVO PARAMETERS 7.3 Extension setting servo parameters group ([Pr. PC_ _ ])

7

[Pr. PC44_Reverse rotation torque limit 2 (TLN2)]

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 2 (Obj. 2D6Dh: 03h)]. Depending on the settings in [Pr. PC29] and [Pr. PA14], the corresponding object changes to [Positive torque limit value 2 (Obj. 2D6Dh: 02h)]. 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.

[Pr. PC69_Following error output filtering time (FEWF)]

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. 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. 1000.0 [%] 0.0 to 1000.0 Each axis A5

Initial value Setting range Setting method Ver. 0 [ms] 0 to 65535 Each axis A5

Initial value Setting range Setting method Ver. 0 [ms] 0 to 65535 Each axis A5

7 SERVO PARAMETERS 7.3 Extension setting servo parameters group ([Pr. PC_ _ ]) 75

76

[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 range] 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.

[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

[Pr. PC81_For manufacturer setting] This servo parameter is for manufacturer setting.

Initial value Setting range Setting method Ver. 0 [ms] 0 to 65535 Each axis A5

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. 1h Refer to the text A5

7 SERVO PARAMETERS 7.3 Extension setting servo parameters group ([Pr. PC_ _ ])

7

7.4 I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD15_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD22_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD23_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD26_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD30_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD31_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PD32_For manufacturer setting] This servo parameter is for manufacturer setting.

7.5 Extension setting 2 servo parameters group ([Pr. PE_ _ ])

[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. 1000.0 [%] 0.0 to 1000.0 Each axis A5

7 SERVO PARAMETERS 7.4 I/O setting servo parameters group ([Pr. PD_ _ ]) 77

78

7.6 Positioning control setting servo parameters 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, and positioning mode (point table method).

*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. Servo parameters to be enabled by this servo parameter 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. 1h 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 zero (Obj. 6099h: 2h)]

[Pr. PT06 Creep speed] [Pr. PV13 Creep speed extension setting] [Speed during search for switch (Obj. 6099h: 1h)]

[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)]

7 SERVO PARAMETERS 7.6 Positioning control setting servo parameters group ([Pr. PT_ _ ])

7

[Pr. PT01.2_Unit for position data]

0: mm 1: inch 2: degree 3: pulse If this servo parameter is changed, perform homing. The compatible control modes and firmware versions are as follows.

*1 If [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 If this parameter is set to "2", the control mode cannot be switched to the cyclic synchronous mode. *4 Setting this value in a control mode other than the positioning mode (point table method) will cause [AL. 037].

[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.

[Pr. PT85_Function selection T-14 (*TOP14)]

[Pr. PT85.0_Infinite feed function selection]

Select whether to enable or disable the infinite feed function. 0: Disabled 1: Enabled When [Pr. PT85.0] is changed while the absolute position detection system is enabled, perform homing again. If homing is not performed, [AL. 090.5 Homing incomplete warning] occurs at the start of an operation.

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. 100.0 [%/s] 0.0 to 1000000.0 Each axis 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 D0

7 SERVO PARAMETERS 7.6 Positioning control setting servo parameters group ([Pr. PT_ _ ]) 79

80

7.7 Network setting servo parameters group ([Pr. PN_ _ ])

[Pr. PN02_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PN03_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PN05_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PN07_Communication cycle initial setting (**CCS)]

The initial value of the communication cycle in the PDO communication can be set. Use this servo parameter when [Cycle Time (Obj. 1C32h: 02h)] and [Cycle Time (Obj. 1C33h: 02h)] are not to be set with the master controller (asynchronous mode). This servo parameter setting is not required for master controllers that can change the communication cycle with the objects in the asynchronous mode. The setting value of this servo parameter will be set in [Cycle Time (Obj. 1C32h: 02h)] and [Cycle Time (Obj. 1C33h: 02h)] as the initial value. Once this servo parameter is set to "0", the objects will be set to "250000 ns (250 s)". Setting an unsupported communication cycle triggers [AL. 037 Parameter error].

[Pr. PN13_For manufacturer setting] This servo parameter is for manufacturer setting.

Initial value Setting range Setting method Ver. 00000000h Refer to the text Common B6

Setting value Communication cycle 00 Automatic (250 s)

04 125 s

05 250 s

06 500 s

07 1 ms

08 2 ms

09 4 ms

0A 8 ms

7 SERVO PARAMETERS 7.7 Network setting servo parameters group ([Pr. PN_ _ ])

7

[Pr. PN18_Counter level for communication error detection (CERN)]

Set the threshold until [AL. 086.1 Network receive data error (Network communication error 1)] is detected. When "0" is set, this parameter is disabled. If the PDO data is not updated with Sync0, the internal error counter will be added by 3 at a time. When the PDO data is updated properly, the internal error counter is subtracted by 1. Refer to the following for the example of the counter.

This servo parameter corresponds to [Sync Error Counter Limit (Obj. 10F1h: 02h)]. If detection of [AL. 086.1] is disabled, the servo motor cannot be stopped at occurrence of a communication error. In addition, if the setting value is increased, it takes longer for the servo motor to stop at occurrence of a communication error. Be careful when changing the set value as there is a danger of collision.

[Pr. PN20_For manufacturer setting] This servo parameter is for manufacturer setting.

[Pr. PN22_For manufacturer setting] This servo parameter is for manufacturer setting.

Initial value Setting range Setting method Ver. 9 0 to 32767 Common A5

Receive (SM2) Event 1 0 1 0 1 0 1 0 1 0 1 Internal Error Counter (Setting value = 9)

0 3 2 5 4 7 6 9 (error)

9 9 9

7 SERVO PARAMETERS 7.7 Network setting servo parameters group ([Pr. PN_ _ ]) 81

82

7.8 Positioning extension setting servo parameters group ([Pr. PV_ _ ])

[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".

[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".

[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".

[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".

[Pr. PV33_For manufacturer setting] This servo parameter is for manufacturer setting.

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

7 SERVO PARAMETERS 7.8 Positioning extension setting servo parameters group ([Pr. PV_ _ ])

7

7.9 Lists of supported control modes The following shows the meaning of each abbreviation used in the lists. "" indicates the modes that can be used, and "" indicates the modes that cannot be used or modes that are not used even if set.

Mode List abbreviation Meaning 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

7 SERVO PARAMETERS 7.9 Lists of supported control modes 83

84

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 PA01 PA01.0

PA01.1

PA01.4

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

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

7 SERVO PARAMETERS 7.9 Lists of supported control modes

7

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 PB01 PB01.0

PB01.3

PB02 PB02.0

PB02.1

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

7 SERVO PARAMETERS 7.9 Lists of supported control modes 85

86

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

7 SERVO PARAMETERS 7.9 Lists of supported control modes

7

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 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 PC16.5

PC17 PC17.1

PC19 PC19.0

PC19.4

PC19.6

PC20 PC20.2

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

PC42

PC43

PC44

PC46 PC46.1

PC46.2

PC46.3

PC65

PC66

PC67

PC69

PC70

7 SERVO PARAMETERS 7.9 Lists of supported control modes 87

88

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 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

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

7 SERVO PARAMETERS 7.9 Lists of supported control modes

7

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 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

7 SERVO PARAMETERS 7.9 Lists of supported control modes 89

90

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 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

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

7 SERVO PARAMETERS 7.9 Lists of supported control modes

7

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 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

7 SERVO PARAMETERS 7.9 Lists of supported control modes 91

92

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 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

PT85

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 PN07

PN18

7 SERVO PARAMETERS 7.9 Lists of supported control modes

7

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 PV01

PV03

PV05

PV07

PV09

PV11

PV13

PV15

PV17

PV19

PV20

PV21

PV23

PV24

PV25

PV26

PV29

PV31

7 SERVO PARAMETERS 7.9 Lists of supported control modes 93

94

7.10 Lists of servo parameter initial values 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

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

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

PB49 00000000h

PB50 4500

PB51 00000000h

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 95

96

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 00000000h

PB88 00000000h

PB89 00000000h

PB90 00000000h

PB91 00000000h

PB92 00000000h

No. Initial value

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

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 1000.0

PC44 1000.0

PC45 00000000h

PC46 00000000h

PC47 00000000h

PC48 00000000h

PC49 00000000h

PC50 00000000h

PC51 00000000h

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 97

98

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 0

PC70 400

PC71 0

PC72 20.00

PC73 0

PC74 10.0

PC75 10

PC76 00000001h

PC77 1000.0

PC78 00000010h

PC79 00000000h

PC80 00000000h

PC81 00000000h

PC82 0

PC83 00000000h

PC84 00000000h

PC85 00000000h

PC86 00000000h

PC87 00000000h

PC88 00000000h

PC89 00000000h

PC90 00000000h

No. Initial value

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

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 00000000h

PD25 00000000h

PD26 00000000h

PD27 00000000h

PD28 00000000h

PD29 00000000h

PD30 0

PD31 0

PD32 0

PD33 00000000h

PD34 00000000h

PD35 00000000h

PD36 00000000h

PD37 00110001h

PD38 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

PD51 00000062h

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 99

10

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

0 7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

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

PE49 0

PE50 0

PE51 00000000h

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 101

10

PE52 00000000h

PE53 1000.0

PE54 00000000h

PE55 00000000h

PE56 00000000h

PE57 00000000h

PE58 00000000h

PE59 00000000h

PE60 00000000h

PE61 0.000

PE62 0.000

PE63 0.000

PE64 0.000

PE65 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

2 7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

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

PF49 100

PF50 100

PF51 00000000h

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 103

10

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 00000000h

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

4 7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

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 00000000h

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

PL49 00000000h

PL50 0

PL51 0

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 105

10

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

6 7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

Positioning control setting servo parameters group ([Pr. PT_ _ ]) No. Initial value PT01 00000310h

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

PT49 0

PT50 0

PT51 0

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 107

10

PT52 0

PT53 100.0

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

8 7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

7

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 00000001h

PN13 00000100h

PN14 00000000h

PN15 00000000h

PN16 00000000h

PN17 00000000h

PN18 9

PN19 00000000h

PN20 0

PN21 00000000h

PN22 00000000h

PN23 00000000h

PN24 00000000h

PN25 00000000h

PN26 00000000h

PN27 00000000h

PN28 00000000h

PN29 00000000h

PN30 00000000h

PN31 00000000h

PN32 00000000h

7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values 109

11

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 0

PV31 0

PV32 0

PV33 0

PV34 0

PV35 00000000h

PV36 00000000h

PV37 00000000h

PV38 00000000h

PV39 00000000h

PV40 00000000h

0 7 SERVO PARAMETERS 7.10 Lists of servo parameter initial values

8

8 NETWORK PARAMETERS

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

8.1 Network basic parameters [Pr. NPA01_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPA02_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPA04_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPA08_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPA09_Node address setting]

Set the node address of the network. When using this network parameter, set the ID setting switch to "00h".

[Pr. NPA12_For manufacturer setting] This network parameter is for manufacturer setting.

Initial value Setting range Size Ver. 00000000h 00000000h to 0000FFFFh 4 bytes A5

8 NETWORK PARAMETERS 8.1 Network basic parameters 111

11

8.2 User authentication parameters [Pr. NPB01_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB04_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB05_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB06_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB07_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB08_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB09_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB10_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB11_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB12_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB13_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB14_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB15_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB16_For manufacturer setting] This network parameter is for manufacturer setting.

2 8 NETWORK PARAMETERS 8.2 User authentication parameters

8

[Pr. NPB17_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB18_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB19_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB20_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB21_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB22_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB23_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB24_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB25_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB26_For manufacturer setting] This network parameter is for manufacturer setting.

[Pr. NPB27_For manufacturer setting] This network parameter is for manufacturer setting.

8 NETWORK PARAMETERS 8.2 User authentication parameters 113

11

9 FUNCTIONAL SAFETY PARAMETERS

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

9.1 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 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 the functional safety parameter is set incorrectly, [AL. 537.2 Parameter combination error A (safety sub-function)] occurs. If the functional safety parameter is set to "1", [AL. 537.1 Parameter setting range error A (safety sub-function)] occurs.

[Pr. PSA05_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA06_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA07_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA08_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA09_For manufacturer setting] This functional safety parameter is for manufacturer setting.

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

4 9 FUNCTIONAL SAFETY PARAMETERS 9.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])

9

[Pr. PSA10_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA11_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA12_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA13_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA14_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA17_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA18_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA19_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA27_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSA28_For manufacturer setting] This functional safety parameter is for manufacturer setting.

9 FUNCTIONAL SAFETY PARAMETERS 9.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) 115

11

9.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ])

[Pr. PSB01_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB02_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB06_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB10_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB11_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB12_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB13_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB14_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB15_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB16_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB17_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSB18_For manufacturer setting] This functional safety parameter is for manufacturer setting.

6 9 FUNCTIONAL SAFETY PARAMETERS 9.2 Safety sub-function 2 parameters group ([Pr. PSB_ _ ])

9

9.3 Network parameters group ([Pr. PSC_ _ ]) [Pr. PSC01_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSC03_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSC06_For manufacturer setting] This functional safety parameter is for manufacturer setting.

9 FUNCTIONAL SAFETY PARAMETERS 9.3 Network parameters group ([Pr. PSC_ _ ]) 117

11

9.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) [Pr. PSD01_For manufacturer setting] This functional safety parameter is for manufacturer setting.

[Pr. PSD02_Input device selection DI1 (**SDI1)]

Select the device to be assigned to the input signal of the CN8-4/CN8-5 pin. 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. 537.2 Parameter combination error A (safety sub-function)] occurs. If this functional safety parameter is set incorrectly, [AL. 537.2] 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.

If a value other than "00" (none), "01" (STOC), or "02" (SS1C) is selected, [AL. 537.1 Parameter setting range error A (safety sub-function)] 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. 00h Refer to the text B2

Setting value Input device 00 None

01 STOC (STO command)

02 SS1C (SS1 command)

8 9 FUNCTIONAL SAFETY PARAMETERS 9.4 Safety I/O device parameters group ([Pr. PSD_ _ ])

9

[Pr. PSD02.3_Input axis selection DI1]

For a multi-axis drive unit, set which axis will use the input device that was assigned in [Pr. PSD02.0-1 Safety input device selection DI1]. When this functional safety parameter is set to "0h", the input device is enabled for all axes using the automatic setting.

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 other than "0h" is set on the MR-J5D1-_G_-N1. When C-axis selection is enabled on the MR-J5D2-_G_-N1.

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

9 FUNCTIONAL SAFETY PARAMETERS 9.4 Safety I/O device parameters group ([Pr. PSD_ _ ]) 119

12

[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. 537.2 Parameter combination error A (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.

If a value other than "00" (none), "01" (STOS), "02" (SS1S), or "0A" (SBCS) is selected, [AL. 537.1 Parameter setting range error A (safety sub-function)] occurs.

[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 drive unit is used.

[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")

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)

0A SBCS (SBC output)

Initial value Setting range Ver. 0h Refer to the text B2

Initial value Setting range Ver. 0h Refer to the text B2

0 9 FUNCTIONAL SAFETY PARAMETERS 9.4 Safety I/O device parameters group ([Pr. PSD_ _ ])

9

9.5 Lists of functional safety parameter initial values Refer to "LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Parameters)

9 FUNCTIONAL SAFETY PARAMETERS 9.5 Lists of functional safety parameter initial values 121

122

REVISIONS *The manual number is given on the bottom left of the back cover.

2021 MITSUBISHI ELECTRIC CORPORATION

Revision date *Manual number Description June 2021 IB(NA)-0300543ENG-A First edition

July 2022 IB(NA)-0300543ENG-B Added/edited: Section 1.7, Chapter 4, Chapter 6, Section 6.1, Section 6.2, Section 6.4, Section 7.4, Section 7.6, Section 7.7, Section 7.8, Section 7.9, Section 7.10

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

123

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.

124

TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.

IB(NA)-0300543ENG-B

IB(NA)-0300543ENG-B(2207)MEE MODEL: MODEL CODE:

Specifications are subject to change without notice. Compliance with the indicated global standards and regulations is current as of the release date of this manual.

When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

HEAD OFFICE : TOKYO BUILDING, 2-7-

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