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Mitsubishi Electric MELSERVO-J5 Series User Manual
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Mitsubishi Electric MELSERVO-J5 Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5-G-N1/MR-J5W-G-N1
User's Manual
(Introduction)
-MR-J5-_G-_N1
-MR-J5W_-_G-N1

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Summary of Contents for Mitsubishi Electric MELSERVO-J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction) -MR-J5-_G-_N1 -MR-J5W_-_G-N1...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

  • Page 4: 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: •...
  • Page 5 If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. (1) Introduction This manual is necessary primarily for installing, wiring, and using options. (3) Rotary Servo Motor (2) Hardware (4) Linear Servo Motor (5) Direct Drive Motor...

  • Page 6: U.s. Customary Units

    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.

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE .
  • Page 8 Motor driving by test operation ............. . 53 Motor-less operation .
  • Page 9 Basic setting servo parameters group ([Pr. PA_ _ ]) ..........77 Gain/filter setting servo parameters group ([Pr.
  • Page 10 [Pr. NPB23_For manufacturer setting]............106 [Pr.

  • Page 11: Chapter 1 Specifications

    SPECIFICATIONS Outline MR-J5_-_G-_N1 are EtherCAT servo amplifiers. 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. One MR-J5W_-_G-N1 servo amplifier can drive two or three servo motors. The footprint of one MR-J5_-_G-_N1 servo amplifier is considerably smaller than that of two or three MR-J5-_G-_N1 servo amplifiers.
  • Page 12 Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. ■MR-J5-_G-_N1 M R - - 6 0 G Special specification Series Symbol Special specification Rated output None Standard Symbol Rated output [kW] Load-side encoder A/B/Z-phase input compatible/safety sub-function MR-J5-_G-N1 without the dynamic brake MR-J5-_G-RJN1 without the dynamic brake...

  • Page 13: Servo Amplifier/Motor Combinations

    ■MR-J5W_-_G-N1 M R - J 5 W 2 - 4 4 G - E D N 1 Special specification Series Symbol Special specification None Standard Number of axes Without the dynamic brake Number Symbol of axes Rated output Rated output [kW] Symbol A-axis B-axis...

  • Page 14: Servo Amplifier Standard Specifications

    MR-J5-_G-N1 Mitsubishi Electric high-speed serial communication encoder MR-J5-_G-RJN1 Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal interface Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection,...
  • Page 15 Model: MR-J5-_-(RJ)N1 100G 200G 350G 500G 700G Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) Close mounting 3-phase power supply Possible input  1-phase power supply Possible Impossible input Mass [kg] *1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 If closely mounting the servo amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective load ratio.

  • Page 16: Mr-J5W2-_G-N1

    Supported Scale measurement function Supported Load-side encoder interface Mitsubishi Electric high-speed serial communication Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection,...

  • Page 17: Mr-J5W3-_G-N1

    MR-J5W3-_G-N1 Model: MR-J5W3-_-N1 222G 444G Output Voltage 3-phase 0 V AC to 240 V AC Rated current (each axis) [A] Main circuit power Voltage/ At AC input 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz supply input Frequency At DC input...

  • Page 18: Functional Safety

    Functional safety Servo amplifier specifications Item Specifications MR-J5-_G-N1 MR-J5-_G-RJN1/MR-J5W_-_G-N1 Safety Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC EN ISO 13849-1:2015 Category 4 PL e, IEC performance 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 Mean time to dangerous failure MTTFd ≥...

  • Page 19: Environment

    List of safety sub-function compatible units Servo Function Servo motor type Safety sub-function (IEC/EN 61800-5-2) amplifier achieving method SS1-t SS1-r SS2-t, (wiring SS2-r destination)           MR-J5-_G- DI/O Servo motor with Cat. connection functional safety 3PL e,...

  • Page 20: Function Block Diagram

    Function block diagram The following shows the function block diagram of this servo amplifier. MR-J5-_G-_N1 Power factor improving Regenerative DC reactor option Servo amplifier Servo motor Diode stack Dynamic brake circuit Relay MCCB Current Power detector supply Regenerative Charge light Cooling fan Electromagnetic brake...

  • Page 21: Mr-J5W_-_G-N1

    MR-J5W_-_G-N1 The following is an example using MR-J5W3-_G-N1. Regenerative option P+ C CNP1 CNP2 Diode Built-in stack regenerative A-axis Relay TRM (A) resistor servo motor MCCB Regenerative Power Current A-axis supply detector output Charge Dynamic light brake circuit A Cooling fan A-axis STO circuit Control...

  • Page 22: Configuration Including Peripheral Equipment

    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 servo amplifier and servo motor is optional or a recommended product. The following is an example using MR-J5-20G-RJN1. R S T Power supply CN1A...

  • Page 23: Special Specifications

    Special specifications Servo amplifiers without the dynamic brake (-ED/-RU) Summary This section describes the servo amplifiers without the dynamic brake. Items not described in this section are the same as the MR-J5-_G-(RJ)N1 and MR-J5W_-_G-N1. Specifications The built-in dynamic brakes of the servo amplifiers with capacity of 7 kW or less 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.

  • Page 24: Chapter 2 Function

    FUNCTION Function restrictions Category Detailed functions Network communication cycle restrictions (minimum) MR-J5-_G-N1 MR-J5-_G-RJN1 MR-J5W2-_G-N1 MR-J5W3-_G-N1 Control mode Profile position mode (pp) 250 μs 250 μs 500 μs 500 μs Profile velocity mode (pv) 250 μs 250 μs Not used Not used Profile torque mode (tq) 250 μs 250 μs...
  • Page 25 Drive motor Functions Detailed functions Description Supported Detailed explanation firmware version Universal drive Linear servo motor Using the linear servo motor and linear encoder Refer to "USING A LINEAR enables the linear servo system to be SERVO MOTOR" in the configured.
  • Page 26 Operation function Functions Detailed functions Description Supported Detailed explanation firmware version Stop function Quick Stop This function stops the servo motor with a Refer to "Quick stop" in the specified method and switches to the servo-off following manual. status. MR-J5 User's Manual (Function) Halt This function stops the servo motor while the...
  • Page 27 Control function Functions Detailed functions Description Supported Detailed explanation firmware version Vibration Advanced vibration This function suppresses vibration and residual Refer to "Advanced vibration suppression suppression control II vibration at an arm end. suppression control II" in the following manual. MR-J5 User's Manual (Adjustment) Machine resonance...
  • Page 28 Adjustment function Functions Detailed functions Description Supported Detailed explanation firmware version Automatic Quick tuning This function automatically adjusts the gain at Refer to "Quick tuning" in the adjustment servo-on in a short time without acceleration/ following manual. deceleration operation of the servo motor. MR-J5 User's Manual Response without overshoot is possible, saving (Adjustment)
  • Page 29 I/O, monitor Functions Detailed functions Description Supported Detailed explanation firmware version DI/DO Input signal selection (device This function assigns input devices such as LSP Refer to "Assigning I/O selection) (Forward rotation stroke end) to certain pins of devices" in the following the connector.
  • Page 30 Engineering tool Functions Detailed functions Description Supported Detailed explanation firmware version Page 43 STARTUP Setup software MR Configurator2 This function performs settings (such as servo parameter settings), test operation, and monitoring with a personal computer. Protective functions Functions Detailed functions Description Supported Detailed explanation...
  • Page 31 Functional safety Functions Detailed functions Description Supported Detailed explanation firmware version Safety sub-function STO (Safe torque off) This servo amplifier supports the STO function Refer to "USING STO (When functional safety for functional safety as per IEC/EN 61800-5-2. FUNCTION" in the following parameters are not used) This allows a safety system to be easily manual.
  • Page 32 Diagnostics Functions Detailed functions Description Supported Detailed explanation firmware version Drive data diagnosis Drive recorder This function continuously monitors the servo Refer to "Drive recorder" in status and records the state transition before the following manual. and after an alarm for a fixed period of time. The MR-J5 User's Manual recorded data can be checked by the (Function)

  • Page 33: Security

    (Function) alarm. 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. 2 FUNCTION 2.2 Security...

  • Page 34: Chapter 3 Structure

    STRUCTURE Parts identification MR-J5-_G-_N1 The diagram shows MR-J5-10G-RJN1. Inside of the display cover SFTY (14) (20) Side (15) (16) (10) (11) (17) (12) (13) (18) (19) Bottom Name Application Detailed explanation Page 36 Switch setting and Display section The 3-digit, 7-segment LED display shows the servo status and alarm number.
  • Page 35 Name Application Detailed explanation Functional safety I/O signal connector Connect an external safety relay to use the STO function. When Refer to "USING STO (CN8) using other safety-sub functions, refer to "FUNCTIONAL SAFETY" FUNCTION" and "USING in the following manual. FUNCTIONAL SAFETY"...
  • Page 36 MR-J5W_-_G-N1 (21) Inside of the display cover (10) (12) SFTY (13) (14) (22) Side (15) (16) (17) (18) (19) (20) (11) Name Application Detailed explanation Display section The 3-digit, 7-segment LED display shows the servo status and Page 36 Switch setting and alarm number.
  • Page 37 Name Application Detailed explanation (15) Functional safety I/O signal connector Connect an external safety relay to use the STO function. When Refer to "USING STO (CN8) using other safety-sub functions, refer to "FUNCTIONAL SAFETY" FUNCTION" and "USING in the following manual. FUNCTIONAL SAFETY"...

  • Page 38: Switch Setting And Display Of The Servo Amplifier

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

  • Page 39: 7-Segment Led

    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 52 Test operation Disabling control axis switches (SW3-2, SW3-3, and SW3-4) Turning "ON (up)"...
  • Page 40 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 servo amplifier Network status Blank Status display Alarm No. Alarm detail Blank After 1.6 s...
  • Page 41 When the network is not connected The network connection status is displayed for each axis. 1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier C-axis network status B-axis network status B-axis network status Network status A-axis network status A-axis network status The 7-segment LED display during cyclic communication is as follows.

  • Page 42: Cn1A/Cn1B Connector Led

    Other status displays 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. CN1A/CN1B connector LED The following shows the LED display of the CN1A and CN1B connectors.

  • Page 43: Status Leds

    Status LEDs The LED states (RUN MS/ERR NS) indicate the network status of the servo amplifier. SFTY Description RUNMS Page 42 LED display (green) ERRNS (red) SFTY Off: Indicates that the functional safety cannot be activated. (green) On: Indicates that the functional safety can be activated. 3 STRUCTURE 3.2 Switch setting and display of the servo amplifier...

  • Page 44: Led Display

    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. LED status Definition The LED is lit steady. The LED is unlit.

  • Page 45: Chapter 4 Startup

    STARTUP • MR-J5_-_G-_N1 servo amplifiers can only be set with MR Configurator2 version 1.105K or later. • This chapter explains how to start up the servo amplifier by using MR Configurator2 with software version 1.100E. • Before starting operation, check each servo parameter. Depending on the machine, an unexpected operation may occur.
  • Page 46 Start MR Configurator2 and create a new project. For the connection setting, select USB. Select the servo amplifier model. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen. 4 STARTUP...
  • Page 47 Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings. After changing the servo parameter, click "Selected Items Write" or "Axis Writing". 4 STARTUP...
  • Page 48 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...

  • Page 49: Turning On Servo Amplifier For The First Time

    Turning on servo amplifier for the first time • For the controller settings, refer to the relevant controller manual. • For the gain adjustment, refer to the following. MR-J5 User's Manual (Adjustment) When turning on the servo amplifier for the first time, follow the steps below. Procedure Description Reference...

  • Page 50: Test Operation Of The Servo Motor Alone In Test Operation Mode

    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 servo amplifier 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.

  • Page 51: Equipment Configuration Setting

    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. After the test operation is complete, turn off the power and "OFF (down)"...

  • Page 52: Operation By Controller Command

    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.

  • Page 53: Instructions On Startup

    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.

  • Page 54: Duplicate Setting

    Duplicate setting Servo amplifier parameters for which setting has been completed can be copied to another servo amplifier. Use this function when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up multiple devices with the same configuration. Restrictions ■The following data is not duplicated.

  • Page 55: Test Operation Mode

    Test operation mode Setting the servo amplifier to the test operation mode enables the test operation while the personal computer and servo amplifier are connected via a USB cable. Turn off the power. Turn "ON (up)" the test operation select switch (SW3-1). SFTY Set SW3-1 to "ON (up)".
  • Page 56 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.
  • Page 57 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. Open the Program Operation screen of MR Configurator2. Item Screen operation Program display...

  • Page 58: Motor-Less Operation

    Motor-less operation • The motor-less operation cannot be used in the linear servo motor control mode or direct drive motor control mode. Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running.

  • Page 59: Output Signal (Do) Forced Output

    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.

  • Page 60: Servo Amplifier Setting Initialization

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

  • Page 61: Chapter 5 Maintenance, Inspection And Parts Replacement

    MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 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 servo amplifier. Periodic inspection Perform the following inspections.

  • Page 62: Replacing Fan Unit

    Servo amplifier 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.

  • Page 63: Chapter 6 Compliance With Global Standards

    COMPLIANCE WITH GLOBAL STANDARDS Compliance with global standards Refer to the following manual for information about compliance with global standards. Safety Instructions and Precautions for MR-J5 AC Servos (IB(NA)-0300391) Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods Rev.
  • Page 64 ■Transportation precaution for customers For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric is also required.

  • Page 65: Symbol For The New Eu Battery Directive

    • 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.

  • Page 66: Compliance With China Compulsory Certification (Ccc)

    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.

  • Page 67: Compliance With The China Rohs Directive

    Compliance with the China RoHS directive Outline The China RoHS directive: (Management Methods for Controlling Pollution by Electronic 电子信息产品污染控制管理办法 Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China 电器电子产品有害物质限制使用管理办法 RoHS directive: (Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products).
  • Page 68 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.

  • Page 69: Chapter 7 Servo Parameters

    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) Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Setting method Ver. 00003000h Refer to the relevant detail No.

  • Page 70: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB82_Position command smoothing filtering time constant (PFT)] Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 100.0 Each axis 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). 7 SERVO PARAMETERS 7.2 Gain/filter setting servo parameters group ([Pr.

  • Page 71: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC42_Function selection C-10 (COP10)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC42.0_Forward/Reverse rotation torque limit 2 selection] Initial value Setting range Ver.

  • Page 72: [Pr. Pc44_Reverse Rotation Torque Limit 2 (Tln2)]

    [Pr. PC44_Reverse rotation torque limit 2 (TLN2)] Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration, or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration.

  • Page 73: [Pr. Pc73_Speed Reached 2 - Output Filtering Time (Sa2F)]

    [Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 65535 Each axis This servo parameter sets the time until the speed reached 2 output turns on. If the state where the error between the speed command and the servo motor speed is within [Pr. PC72 Speed reached 2 - Output range] continues for the setting value of this servo parameter or longer, bit 10 (Target velocity reached) of [Statusword (Obj.

  • Page 74: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE53_Maximum torque limit 1 (TLMX1)] Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis The torque or thrust generated by the servo motor can be limited. When [Pr.

  • Page 75: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _ ]) [Pr. PT01_Command mode selection (**CTY)] Initial value Setting range Setting method Ver. 00000300h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT01.1_Speed/acceleration/deceleration unit selection] Initial value Setting range Ver.

  • Page 76: Network Setting Servo Parameters Group ([Pr. Pn

    Network setting servo parameters group ([Pr. PN_ _ ]) [Pr. PN02_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PN05_For manufacturer setting] This servo parameter is for manufacturer setting. [Pr. PN18_Counter level for communication error detection (CERN)] Initial value Setting range Setting method Ver.

  • Page 77: Positioning Extension Setting Servo Parameters Group ([Pr. Pv

    Positioning extension setting servo parameters group ([Pr. PV_ _ ]) [Pr. PV23_Speed unit conversion - Electronic gear - Numerator (*VCMX)] Initial value Setting range Setting method Ver. 1 to 1024 Each axis Set the electric gear numerator for converting the speed (command unit/s) into a value in speed units. This function is enabled when [Pr.

  • Page 78: Lists Of Supported Control Modes

    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...

  • Page 79: Basic Setting Servo Parameters Group ([Pr. Pa

    Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PA01 PA01.1                ...

  • Page 80: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD             PB01 PB01.0    ...
  • Page 81 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PB45 PB45.0-1                         PB45.2 PB46 ...

  • Page 82: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD              PC01    ...

  • Page 83: I/O Setting Servo Parameters Group ([Pr. Pd

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PC73                          PC76 PC76.1 PC76.2...

  • Page 84: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD             PE01 PE01.0   ...

  • Page 85: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PF02 PF02.0               ...

  • Page 86: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD             PF82 PF82.0             PF82.1 ...

  • Page 87: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PT01 PT01.1               ...

  • Page 88: Positioning Extension Setting Servo Parameters Group ([Pr. Pv

    Positioning extension setting servo parameters group ([Pr. PV_ _ Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard DD PV01                 ...

  • Page 89: Lists Of Servo Parameter Initial Values

    Lists of servo parameter initial values Basic setting servo parameters group ([Pr. PA_ _ ]) Initial value Remark  PA01 00003000h  PA02 00000000h  PA03 00000000h  PA04 00002000h PA05 10000 For manufacturer setting  PA06 PA07   PA08 00000001h PA09...

  • Page 90: Gain/Filter Setting Servo Parameters Group ([Pr. Pb

    Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Initial value Remark  PB01 00000000h PB02 00000000h   PB03 36000  PB04 PB05 For manufacturer setting  PB06 7.00 PB07 15.0   PB08 37.0 PB09   PB10 33.7 ...
  • Page 91 Initial value Remark  PB52 100.0  PB53 100.0  PB54 0.00  PB55 0.00  PB56  PB57 PB58 0.00   PB59 0.00 PB60  PB61 For manufacturer setting PB62 00000000h For manufacturer setting PB63 00000000h For manufacturer setting PB64 00000000h For manufacturer setting...

  • Page 92: Extension Setting Servo Parameters Group ([Pr. Pc

    Extension setting servo parameters group ([Pr. PC_ _ ]) Initial value Remark  PC01 PC02   PC03 00000000h  PC04 00000000h  PC05 00000000h  PC06 00000000h PC07   PC08 PC09 00000000h   PC10 00000001h  PC11 ...
  • Page 93 Initial value Remark PC52 00000000h For manufacturer setting PC53 00000000h For manufacturer setting PC54 00000000h For manufacturer setting PC55 00000000h For manufacturer setting PC56 00000000h For manufacturer setting PC57 00000000h For manufacturer setting PC58 00000000h For manufacturer setting PC59 00000000h For manufacturer setting PC60 00000000h...

  • Page 94: I/O Setting Servo Parameters Group ([Pr. Pd

    I/O setting servo parameters group ([Pr. PD_ _ ]) Initial value Remark  PD01 00000000h PD02 00000000h For manufacturer setting  PD03 0000000Ah  PD04 0000000Bh  PD05 00000022h PD06 00000000h For manufacturer setting PD07 00000005h   PD08 00000004h PD09 00000003h ...
  • Page 95 Initial value Remark PD52 00000000h For manufacturer setting PD53 00000000h For manufacturer setting PD54 00000000h For manufacturer setting PD55 00000000h For manufacturer setting PD56 00000000h For manufacturer setting PD57 00000000h For manufacturer setting PD58 00000000h For manufacturer setting PD59 00000000h For manufacturer setting PD60 00000000h...

  • Page 96: Extension Setting 2 Servo Parameters Group ([Pr. Pe

    Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Initial value Remark  PE01 00000000h PE02 00000000h For manufacturer setting  PE03 00000003h  PE04  PE05  PE06 PE07   PE08 PE09 00000000h For manufacturer setting  PE10 00000000h PE11...
  • Page 97 Initial value Remark PE52 00000000h For manufacturer setting  PE53 1000.0 PE54 00000000h For manufacturer setting PE55 00000000h For manufacturer setting PE56 00000000h For manufacturer setting PE57 00000000h For manufacturer setting PE58 00000000h For manufacturer setting PE59 00000000h For manufacturer setting PE60 00000000h For manufacturer setting...

  • Page 98: Extension Setting 3 Servo Parameters Group ([Pr. Pf

    Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Initial value Remark PF01 00000000h For manufacturer setting PF02 00000000h  PF03 00000000h For manufacturer setting PF04 For manufacturer setting PF05 00000000h For manufacturer setting  PF06 00000013h PF07 00000000h For manufacturer setting PF08 00000000h...
  • Page 99 Initial value Remark PF52 00000000h For manufacturer setting PF53 For manufacturer setting PF54 For manufacturer setting PF55 For manufacturer setting PF56 For manufacturer setting PF57 00000000h For manufacturer setting PF58 00000000h For manufacturer setting PF59 00000000h For manufacturer setting PF60 00000000h For manufacturer setting PF61...

  • Page 100: Motor Extension Setting Servo Parameters Group ([Pr. Pl

    Motor extension setting servo parameters group ([Pr. PL_ _ ]) Initial value Remark  PL01 00000301h PL02 1000   PL03 1000  PL04 00000003h  PL05  PL06 PL07   PL08 00001010h PL09  PL10 For manufacturer setting PL11 For manufacturer setting PL12...
  • Page 101 Initial value Remark PL52 For manufacturer setting PL53 For manufacturer setting PL54 00000000h For manufacturer setting PL55 00000000h For manufacturer setting PL56 00000000h For manufacturer setting PL57 00000000h For manufacturer setting PL58 00000000h For manufacturer setting PL59 00000000h For manufacturer setting PL60 00000000h For manufacturer setting...

  • Page 102: Positioning Control Setting Servo Parameters Group ([Pr. Pt

    Positioning control setting servo parameters group ([Pr. PT_ _ ]) Initial value Remark  PT01 00000310h PT02 00000001h  PT03 00000000h For manufacturer setting PT04 00000000h For manufacturer setting  PT05 100.00  PT06 10.00 PT07   PT08 PT09 1000 ...
  • Page 103 Initial value Remark PT52 For manufacturer setting  PT53 100.0 PT54 For manufacturer setting  PT55 00000000h  PT56  PT57 PT58 100.00 For manufacturer setting PT59 500.00 For manufacturer setting PT60 1000.00 For manufacturer setting PT61 200.00 For manufacturer setting PT62 00000000h For manufacturer setting...

  • Page 104: Network Setting Servo Parameters Group ([Pr. Pn

    Network setting servo parameters group ([Pr. PN_ _ ]) Initial value Remark PN01 00000000h For manufacturer setting PN02 For manufacturer setting PN03 00000000h For manufacturer setting PN04 For manufacturer setting PN05 For manufacturer setting PN06 00000000h For manufacturer setting PN07 00000000h For manufacturer setting PN08...

  • Page 105: Positioning Extension Setting Servo Parameters Group ([Pr. Pv

    Positioning extension setting servo parameters group ([Pr. PV_ _ Initial value Remark  PV01 PV02 For manufacturer setting  PV03 2147483647 PV04 For manufacturer setting  PV05 PV06 For manufacturer setting PV07  PV08 For manufacturer setting PV09  PV10 For manufacturer setting PV11 500000...

  • Page 106: Chapter 8 Network Parameters

    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) 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.

  • Page 107: User Authentication Parameters

    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.

  • Page 108: [Pr. Npb17_For Manufacturer Setting]

    [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.

  • Page 109: Chapter 9 Functional Safety Parameters

    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) Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) [Pr. PSA01_Safety sub-function mode selection (**SOA)] Initial value Setting range Setting method Ver.

  • Page 110: [Pr. Psa10_For Manufacturer Setting]

    [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.

  • Page 111: Safety Sub-Function 2 Parameters Group ([Pr. Psb

    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.

  • Page 112: Network Parameters Group ([Pr. Psc

    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.

  • Page 113: Safety I/O Device Parameters Group ([Pr. Psd

    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)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
  • Page 114 [Pr. PSD02.3_Input axis selection DI1] Initial value Setting range Ver. Refer to the text For a multi-axis servo amplifier, set which axis will use the input device that was assigned in [Pr. PSD02.0-1 Safety input device selection DI1]. When this functional safety parameter is set to "0h", the input device is enabled for all axes using the automatic setting. Servo parameter number Setting digit (BIN) Setting details...

  • Page 115: [Pr. Psd08_Output Device Selection Do1 (**Sdo1)]

    [Pr. PSD08_Output device selection DO1 (**SDO1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of the CN8-6/CN8-7 pin. If this functional safety parameter is set incorrectly, [AL.

  • Page 116: Revisions

    Section 1.3, Section 1.7, Section 6.4, Section 8.2, Chapter 9 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 117: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 118: Trademarks

    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.
  • Page 120 SH(NA)-030366ENG-B(2007)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

This manual is also suitable for:

Melservo mr-j5 g n1 seriesMelservo mr-j5w2 g-n1 seriesMelservo mr-j5w3 g-n1 series

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