Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Parameters) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1...
Page 3: Safety Instructions
SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for converter units/drive units) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...
Page 5: About The Manual
ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
Page 6: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 7 [Pr. PB16_Notch shape selection 2 (NHQ2)]........... . 42 [Pr.
Page 8 [Pr. PB79_Gain switching 2 - Model control gain (PG1C)] ......... 67 [Pr.
Page 9 [Pr. PD14_Function selection D-3 (*DOP3)] ........... 102 [Pr.
Page 10 [Pr. PF42_Friction failure prediction - Average characteristics (PAV)] ....... . 127 [Pr.
Page 11 [Pr. PT05_Homing speed (ZRF)] ............157 [Pr.
Page 12 [Pr. PV25_Acceleration unit conversion - Electronic gear numerator (*ACMX)] ......182 [Pr. PV26_Acceleration unit conversion - Electronic gear denominator (*ACDV)] ..... . 182 [Pr.
Page 13 [Pr. NPB09_Password No.2] ............. . . 220 [Pr.
Page 14 [Pr. PSA28_SDI negative direction monitor delay time (**SDIDTN)]....... . . 232 Safety sub-function 2 parameters group ([Pr.
Page 15: Chapter 1 Servo Parameter Details
Settable servo parameters and values depend on the controller model, servo amplifier firmware version, and MR Configurator2 software version. For details, refer to the controller user's manual. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, or by other means.
Page 16: Explanation Of Servo Parameters
Explanation of servo parameters For how to interpret the servo parameter numbers, refer to "Interpreting servo parameter numbers" in User's Manual (Introduction). The following explains how to read the details of servo parameters. Item Explanation Indicates the servo parameter No., which Servo parameter No., symbols, and names are indicated as follows.
Page 17: Basic Setting Servo Parameters Group ([Pr. Pa
Basic setting servo parameters group ([Pr. PA_ _ ]) [Pr. PA01_Operation mode (**STY)] Initial value Setting range Setting method Ver. 00003000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA01.0_Control mode selection] Initial value Setting range Ver.
Page 18 [Pr. PA01.7_High-speed mode selection] Initial value Setting range Ver. Refer to the text When using the servo amplifier in the motion mode (high-speed), set "1" (enabled). Setting "1" on the MR-J5W_-_G triggers [AL. 037 Parameter error]. 0: Disabled 1: Enabled When this servo parameter is set to "1"...
Page 19: [Pr. Pa02_Regenerative Option (**Reg)]
[Pr. PA02_Regenerative option (**REG)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PA02.0-1_Regenerative option selection] Initial value Setting range Ver. Refer to the text Select a regenerative option. Incorrect setting may cause the regenerative option to burn.
Page 20 [Pr. PA02.4_Simple converter selection] Initial value Setting range Ver. Refer to the text When using the simple converter, set this servo parameter. The simple converter and external regenerative option can be used together. When using an external regenerative option, set the regenerative option to be used with [Pr.
Page 21: [Pr. Pa03_Absolute Position Detection System (*Abs)]
[Pr. PA03_Absolute position detection system (*ABS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA03.0_Absolute position detection system selection] Initial value Setting range Ver. Refer to the text Set this servo parameter when using the absolute position detection system.
Page 22: [Pr. Pa04_Function Selection A-1 (*Aop1)]
[Pr. PA04_Function selection A-1 (*AOP1)] Initial value Setting range Setting method Ver. 00002000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PA04.2_Servo forced stop selection] Initial value Setting range Ver. Refer to the text 0: Enabled (the forced stop input EM2 or EM1 is used) 1: Disabled (the forced stop input EM2 and EM1 are not used) [Pr.
Page 23: [Pr. Pa08_Auto Tuning Mode (Atu)]
[Pr. PA08_Auto tuning mode (ATU)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA08.0_Gain adjustment mode selection] Initial value Setting range Ver. Refer to the text Select the gain adjustment mode.
Page 24 [Pr. PA08.4_Quick tuning - Load to motor inertia ratio setting] Initial value Setting range Ver. Refer to the text Set the load to motor inertia ratio at quick tuning. If the load connected to the servo motor is larger than the load to motor inertia ratio set in the servo parameter, an overshoot may occur in positioning operation after quick tuning.
Page 25: [Pr. Pa09_Auto Tuning Response (Rsp)]
[Pr. PA09_Auto tuning response (RSP)] Initial value Setting range Setting method Ver. Refer to the text Each axis Set the auto tuning response. Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] Low response 10.0 11.3 12.7 14.3 16.1 18.1 20.4...
Page 26: [Pr. Pa10_In-Position Range (Inp)]
[Pr. PA10_In-position range (INP)] Initial value Setting range Setting method Ver. 25600 [Refer to the text below for the 0 to 16777215 Each axis unit.] Set the in-position range in the command pulse unit. With the setting of [Pr. PC06.0 In-position range unit selection], the unit can be changed to the servo motor encoder pulse unit.
Page 27: [Pr. Pa12_Reverse Rotation Torque Limit (Tln)]
[Pr. PA12_Reverse rotation torque limit (TLN)] Initial value Setting range Setting method Ver. 1000.0 [%] 0.0 to 1000.0 Each axis The torque or thrust generated by the servo motor can be limited. Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter to limit the torque of the servo motor for CW power running or CCW regeneration, or to limit the thrust of the linear servo motor for positive direction power running or negative direction regeneration.
Page 28: [Pr. Pa14_Travel Direction Selection (*Pol)]
[Pr. PA14_Travel direction selection (*POL)] Initial value Setting range Setting method Ver. 0 to 1 Each axis The rotation/travel direction can be changed without changing the polarity of the command from the controller. The polarities of the position and speed information are changed by the setting value of [Pr. PA14 Travel direction selection]. Torque information changes with the combination of [Pr.
Page 29: [Pr. Pa15_Encoder Output Pulses (*Enr)]
[Pr. PA15_Encoder output pulses (*ENR)] Initial value Setting range Setting method Ver. 4000 [pulse/rev] 1 to 67108864 Each axis Set the encoder output pulses output from the servo amplifier, by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) Selecting "1"...
Page 30: [Pr. Pa17_Servo Motor Series Setting (**Msr)]
[Pr. PA17_Servo motor series setting (**MSR)] Initial value Setting range Setting method Ver. 00000000h Refer to the text Each axis To select the linear servo motor to be used, set this servo parameter and [Pr. PA18.0-3 Servo motor type setting]. Set this at the same time with [Pr.
Page 31: [Pr. Pa18_Servo Motor Type Setting (**Mty)]
Linear servo motor series Linear servo motor (primary side) Servo parameter Setting value of [Pr. PA17] Setting value of [Pr. PA18.0-3] LM-AJ LM-AJP1B-07K-JSS0 000000DAh 1201h LM-AJP1D-14K-JSS0 1401h LM-AJP2B-12S-JSS0 2201h LM-AJP2D-23T-JSS0 2401h LM-AJP3B-17N-JSS0 3201h LM-AJP3D-35R-JSS0 3401h LM-AJP4B-22M-JSS0 4201h LM-AJP4D-45N-JSS0 4401h LM-AU LM-AUP3A-03V-JSS0 000000DBh 3102h...
Page 32: [Pr. Pa19_Servo Parameter Writing Prohibited (*Blk)]
[Pr. PA19_Servo parameter writing prohibited (*BLK)] Initial value Setting range Setting method Ver. 000000ABh Refer to the text Each axis Select a reference range and writing range for the servo parameter. Refer to the following table for setting values. PA19 Setting value PT, PV operation...
Page 33: [Pr. Pa20_Tough Drive Setting (*Tds)]
[Pr. PA20_Tough drive setting (*TDS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA20.1_Vibration tough drive selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Machine resonance suppression filter change mode enabled 2: Machine resonance suppression filter automatic setting mode...
Page 34: [Pr. Pa22_Position Control Configuration Selection (**Pcs)]
[Pr. PA22_Position control configuration selection (**PCS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA22.1_Super trace function selection] Initial value Setting range Ver. Refer to the text 0: Disabled 2: Enabled [Pr.
Page 35: [Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (Drat)]
[Pr. PA23_Drive recorder desired alarm trigger setting (DRAT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. This servo parameter is enabled in the following conditions: • [Pr. PF80.0 Drive recorder - Operation mode selection] = "0" (automatic setting mode) •...
Page 36: [Pr. Pa24_Function Selection A-4 (Aop4)]
[Pr. PA24_Function selection A-4 (AOP4)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA24.0_Vibration suppression mode selection] Initial value Setting range Ver. Refer to the text 0: Standard mode 1: 3 inertia mode 2: Low response mode...
Page 37: [Pr. Pa26_Function Selection A-5 (*Aop5)]
[Pr. PA26_Function selection A-5 (*AOP5)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PA26.0_Torque limit function selection at instantaneous power failure] Initial value Setting range Ver.
Page 38: Gain/Filter Setting Servo Parameters Group ([Pr. Pb
Gain/filter setting servo parameters group ([Pr. PB_ _ ]) [Pr. PB01_Adaptive tuning mode (adaptive filter II) (FILT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB01.0_Filter tuning mode selection] Initial value Setting range Ver.
Page 39: [Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control Ii) (Vrft)]
[Pr. PB02_Vibration suppression control tuning mode (advanced vibration suppression control II) (VRFT)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection] Initial value Setting range Ver.
Page 40: [Pr. Pb06_Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2)]
[Pr. PB06_Load to motor inertia ratio/load to motor mass ratio (GD2)] Initial value Setting range Setting method Ver. 7.00 [Multiplier] 0.00 to 300.00 Each axis Set the load to motor inertia ratio or load to motor mass ratio. Setting a value different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.
Page 41: [Pr. Pb08_Position Control Gain
[Pr. PB08_Position control gain (PG2)] Initial value Setting range Setting method Ver. 37.0 [rad/s] 1.0 to 2000.0 Each axis Set the gain of the position loop. Set this servo parameter when increasing the position responsiveness to level load disturbance. Increasing the setting value improves responsiveness to the load disturbance, but increasing the value too much raises the likelihood of vibration and noise.
Page 42: [Pr. Pb11_Speed Differential Compensation (Vdc)]
[Pr. PB11_Speed differential compensation (VDC)] Initial value Setting range Setting method Ver. 0 to 1000 Each axis Set the differential compensation. The enabling conditions vary depending on the setting value in [Pr. PB24.1 PI-PID switching control selection]. [Pr. PB24.1] The enabling conditions for this servo parameter "0"...
Page 43: [Pr. Pb14_Notch Shape Selection 1 (Nhq1)]
[Pr. PB14_Notch shape selection 1 (NHQ1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB14.1_Notch depth selection 1] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB...
Page 44: [Pr. Pb16_Notch Shape Selection 2 (Nhq2)]
[Pr. PB16_Notch shape selection 2 (NHQ2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set forms of the machine resonance suppression filter 2. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
Page 45: [Pr. Pb17_Shaft Resonance Suppression Filter (Nhf)]
[Pr. PB17_Shaft resonance suppression filter (NHF)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set the shaft resonance suppression filter. Use this to suppress a high-frequency machine vibration. When [Pr.
Page 46 Setting value Frequency [Hz] Disabled Disabled Disabled Disabled Disabled Disabled Disabled Disabled 4500 4000 3600 3272 3000 2769 2571 2400 2250 2117 2000 1894 1800 1714 1636 1565 1500 1440 1384 1333 1285 1241 1200 1161 1125 1090 1058 1028 1000 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr.
Page 47 Setting value Frequency [Hz] 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Page 48: [Pr. Pb18_Low-Pass Filter Setting (Lpf)]
Setting value Frequency [Hz] [Pr. PB17.2_Notch depth selection] Initial value Setting range Ver. Refer to the text 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB [Pr. PB18_Low-pass filter setting (LPF)] Initial value Setting range Setting method Ver.
Page 49: [Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (Vrf11)]
[Pr. PB19_Vibration suppression control 1 - Vibration frequency (VRF11)] Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis Set the vibration frequency of vibration suppression control 1 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection], this servo parameter will be set automatically.
Page 50: [Pr. Pb23_Low-Pass Filter Selection (Vfbf)]
[Pr. PB23_Low-pass filter selection (VFBF)] Initial value Setting range Setting method Ver. 00001000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB23.0_Shaft resonance suppression filter selection] Initial value Setting range Ver. Refer to the text Select the shaft resonance suppression filter.
Page 51: [Pr. Pb24_Slight Vibration Suppression Control (*Mvs)]
[Pr. PB24_Slight vibration suppression control (*MVS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PB24.0_Slight vibration suppression control selection] Initial value Setting range Ver. Refer to the text Select the slight vibration suppression control.
Page 52: [Pr. Pb26_Gain Switching Function (*Cdp)]
[Pr. PB26_Gain switching function (*CDP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the gain switching condition. Set the conditions to enable the following values: the gain switching values that have been set from [Pr. PB29 Gain switching - Load to motor inertia ratio/load to motor mass ratio] to [Pr.
Page 53 [Pr. PB26.4_Gain switching 2 selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Signal (CDP2/C_CDP2) 2: The same condition as [Pr. PB26.0 Gain switching selection] When "1" is selected, the gain changes to "Gain after gain switching 2" by using the control command (C_CDP2) from the controller or the input device CDP2 (Gain switching 2).
Page 54: [Pr. Pb27_Gain Switching Condition (Cdl)]
[Pr. PB27_Gain switching condition (CDL)] Initial value Setting range Setting method Ver. 10 [Refer to the text below for the 0 to 16777215 Each axis unit.] Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26 Gain switching function].
Page 55: [Pr. Pb32_Gain Switching - Speed Integral Compensation (Vicb)]
[Pr. PB32_Gain switching - Speed integral compensation (VICB)] Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 5000.0 Each axis Set the speed integral compensation for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB10 Speed integral compensation] is applied.
Page 56: [Pr. Pb36_Gain Switching - Vibration Suppression Control 1 - Resonance Frequency Damping (Vrf14B)]
[Pr. PB36_Gain switching - Vibration suppression control 1 - Resonance frequency damping (VRF14B)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the resonance frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
Page 57 Setting value Frequency [Hz] 34.5 33.3 31.3 29.4 27.8 26.3 25.0 23.8 22.7 21.7 20.8 20.0 19.2 18.5 17.9 17.2 16.7 15.6 14.7 13.9 13.2 12.5 11.9 11.4 10.9 10.4 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Page 58 Setting value Frequency [Hz] 4.31 4.17 3.91 3.68 3.47 3.29 3.13 2.98 2.84 2.72 2.60 2.50 2.40 2.31 2.23 2.08 1.95 1.84 1.74 1.64 1.56 1.49 1.42 1.36 1.30 1.25 1.20 1.16 1.12 1 SERVO PARAMETER DETAILS 1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Page 59: [Pr. Pb46_Machine Resonance Suppression Filter 3 (Nh3)]
[Pr. PB45.2_Notch depth selection] Initial value Setting range Ver. Refer to the text Refer to the following table for details. Setting value Depth [dB] -40.0 -24.1 -18.1 -14.5 -12.0 -10.1 -8.5 -7.2 -6.0 -5.0 -4.1 -3.3 -2.5 -1.8 -1.2 -0.6 [Pr.
Page 60: [Pr. Pb47_Notch Shape Selection 3 (Nhq3)]
[Pr. PB47_Notch shape selection 3 (NHQ3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set forms of the machine resonance suppression filter 3. [Pr. PB47.0_Machine resonance suppression filter 3 selection] Initial value Setting range Ver.
Page 61: [Pr. Pb49_Notch Shape Selection 4 (Nhq4)]
[Pr. PB49_Notch shape selection 4 (NHQ4)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set forms of the machine resonance suppression filter 4. [Pr. PB49.0_Machine resonance suppression filter 4 selection] Initial value Setting range Ver.
Page 62: [Pr. Pb51_Notch Shape Selection 5 (Nhq5)]
[Pr. PB51_Notch shape selection 5 (NHQ5)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Set forms of the machine resonance suppression filter 5. When [Pr. PA08.0 Gain adjustment mode selection] is set to "5" (quick tuning mode), the setting value of this servo parameter reflects the adjustment result of quick tuning.
Page 63: [Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (Vrf22)]
[Pr. PB53_Vibration suppression control 2 - Resonance frequency (VRF22)] Initial value Setting range Setting method Ver. 100.0 [Hz] 0.1 to 300.0 Each axis Set the resonance frequency of vibration suppression control 2 to suppress low-frequency machine vibration. When "1" (automatic setting) is selected in [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection], this servo parameter will be set automatically.
Page 64: [Pr. Pb57_Gain Switching - Vibration Suppression Control 2 - Resonance Frequency (Vrf22B)]
[Pr. PB57_Gain switching - Vibration suppression control 2 - Resonance frequency (VRF22B)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.
Page 65: [Pr. Pb65_Gain Switching 2 Condition (Cdl2)]
[Pr. PB65_Gain switching 2 condition (CDL2)] Initial value Setting range Setting method Ver. 10 [Refer to the text below for the 0 to 16777215 Each axis unit.] Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain switching selection].
Page 66: [Pr. Pb70_Gain Switching 2 - Speed Integral Compensation (Vicc)]
[Pr. PB70_Gain switching 2 - Speed integral compensation (VICC)] Initial value Setting range Setting method Ver. 0.0 [ms] 0.0 to 5000.0 Each axis Set the speed integral compensation for when the gain switching 2 is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB10 Speed integral compensation] is applied.
Page 67: [Pr. Pb73_Gain Switching 2 - Vibration Suppression Control 1 - Vibration Frequency Damping (Vrf13C)]
[Pr. PB73_Gain switching 2 - Vibration suppression control 1 - Vibration frequency damping (VRF13C)] Initial value Setting range Setting method Ver. 0.00 0.00 to 0.30 Each axis Set the damping of the vibration frequency for vibration suppression control 1 for when the gain switching is enabled. This servo parameter is enabled in the following conditions: •...
Page 68: [Pr. Pb76_Gain Switching 2 - Vibration Suppression Control 2 - Resonance Frequency (Vrf22C)]
[Pr. PB76_Gain switching 2 - Vibration suppression control 2 - Resonance frequency (VRF22C)] Initial value Setting range Setting method Ver. 0.0 [Hz] 0.0 to 300.0 Each axis Set the resonance frequency for vibration suppression control 2 for when the gain switching is enabled. When the setting value of this servo parameter is less than "0.1", the setting value of [Pr.
Page 69: [Pr. Pb79_Gain Switching 2 - Model Control Gain (Pg1C)]
[Pr. PB79_Gain switching 2 - Model control gain (PG1C)] Initial value Setting range Setting method Ver. 0.0 [rad/s] 0.0 to 8000.0 Each axis Set the model control gain for when the gain switching is enabled. When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied. This servo parameter is enabled in the following conditions: •...
Page 70: Extension Setting Servo Parameters Group ([Pr. Pc
Extension setting servo parameters group ([Pr. PC_ _ ]) [Pr. PC01_Excessive error alarm trigger level (ERZ)] Initial value Setting range Setting method Ver. 0 [rev], [mm] 0 to 1000 Each axis Set an excessive error alarm trigger level. If using a rotary servo motor or direct drive motor, set the level in units of rev. If 200 rev or higher is set, the value will be clamped to 200 rev.
Page 71 [Pr. PC03.1_Encoder output pulse setting selection] Initial value Setting range Ver. Refer to the text Select the encoder output pulse setting. This servo parameter cannot be set for C-axis. If this servo parameter is set to "0" while [Pr. PC03.2 Encoder selection for encoder output pulse] is set to "1", [AL. 037 Parameter error] occurs.
Page 72 • When [Pr. PC03.2] = "1" (load-side encoder) Setting value of [Pr. PC03.1] When in the fully closed loop control mode When the scale measurement function is enabled "0" (output pulse setting) [AL. 037] occurs. "1" (dividing ratio setting) Set the dividing ratio relative to the resolution per servo Set the dividing ratio relative to the travel distance of the motor revolution with [Pr.
Page 73: [Pr. Pc04_Function Selection C-1 (**Cop1)]
[Pr. PC04_Function selection C-1 (**COP1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC04.3_Encoder cable communication method selection] Initial value Setting range Ver. Refer to the text 0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential output type encoder, set "0".
Page 74: [Pr. Pc06_Function Selection C-3 (*Cop3)]
[Pr. PC06_Function selection C-3 (*COP3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC06.0_In-position range unit selection] Initial value Setting range Ver. Refer to the text Select a unit of the in-position range.
Page 75: [Pr. Pc09_Analog Monitor 1 Output (Mod1)]
[Pr. PC09_Analog monitor 1 output (MOD1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC09.0-1_Analog monitor 1 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be output to analog monitor 1.
Page 76: [Pr. Pc10_Analog Monitor 2 Output (Mod2)]
[Pr. PC10_Analog monitor 2 output (MOD2)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC10.0-1_Analog monitor 2 output selection] Initial value Setting range Ver. Refer to the text Select the signal to be output to analog monitor 2.
Page 77: [Pr. Pc16_Function Selection C-3A (*Cop3A)]
[Pr. PC16_Function selection C-3A (*COP3A)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC16.4_Servo motor incorrect wiring detection function selection] Initial value Setting range Ver. Refer to the text Set the servo motor incorrect wiring detection function to either enabled or disabled.
Page 78: [Pr. Pc19_Function Selection C-6 (*Cop6)]
[Pr. PC19_Function selection C-6 (*COP6)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC19.0_[AL. 099 Stroke limit warning] selection] Initial value Setting range Ver. Refer to the text Enable or disable [AL.
Page 79: [Pr. Pc20_Function Selection C-7 (*Cop7)]
[Pr. PC20_Function selection C-7 (*COP7)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC20.2_Undervoltage alarm selection] Initial value Setting range Ver. Refer to the text Select the alarm or warning that occurs when the bus voltage drops to the undervoltage alarm trigger level. 0: [AL.
Page 80: [Pr. Pc21_Alarm History Clear (*Bps)]
[Pr. PC20.6_Input open-phase status output selection] Initial value Setting range Ver. Refer to the text Select the conditions to turn on bit 10 (S_PNL) of [Status DO 5 (Obj. 2D15h)]. When turning on the bit in an input open-phase state due to incorrect wiring or disconnection, set this servo parameter to "0" or "2".
Page 81: [Pr. Pc24_Deceleration Time Constant At Forced Stop (Rsbr)]
[Pr. PC24_Deceleration time constant at forced stop (RSBR)] Initial value Setting range Setting method Ver. 100 [ms] 0 to 20000 Each axis Set the deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 [r/min] (0 [mm/s]) in units of ms. When "0"...
Page 82: [Pr. Pc27_Function Selection C-9 (**Cop9)]
[Pr. PC27_Function selection C-9 (**COP9)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC27.0_Encoder pulse count polarity selection] Initial value Setting range Ver. Refer to the text Select a polarity of the linear encoder or load-side encoder.
Page 83: [Pr. Pc29_Function Selection C-B (*Copb)]
[Pr. PC29_Function selection C-B (*COPB)] Initial value Setting range Setting method Ver. 00101000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC29.0_[AL. 0E2.2 Servo motor temperature warning 2] selection] Initial value Setting range Ver.
Page 84 Set this servo parameter to "0" (disabled) when configuring the absolute position detection system in cyclic synchronous mode with a motion module manufactured by Mitsubishi Electric. While the infinite feed function ("2" (degree unit) in [Pr. PT01.2 Unit for position data]) is used, [AL. 0E3.1 Multi-revolution counter travel distance excess warning] does not occur even when this servo parameter is set to "1"...
Page 85: [Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (Rsup1)]
[Pr. PC31_Vertical axis freefall prevention compensation amount (RSUP1)] Initial value Setting range Setting method Ver. 0 [0.0001 rev], [0.01 mm] -25000 to 25000 Each axis Set the compensation amount of the vertical axis freefall prevention function. Set the compensation amount in either the servo motor rotation amount unit or linear servo motor travel distance unit. When a positive value is set, the compensation is performed to the command address increasing direction.
Page 86: [Pr. Pc41_Function Selection C-J (*Copj)]
[Pr. PC41_Function selection C-J (*COPJ)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC41.0_[AL. 090.1 Homing incomplete] detection selection] Initial value Setting range Ver. Refer to the text Enable or disable [AL.
Page 87: [Pr. Pc46_Drive Unit Function Selection 2 (*Duop2)]
[Pr. PC46_Drive unit function selection 2 (*DUOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PC46.1_Converter stop mode selection] Initial value Setting range Ver. Refer to the text Select the converter stop mode.
Page 88: [Pr. Pc65_Zero Speed 2 Level (Zsp2L)]
[Pr. PC65_Zero speed 2 level (ZSP2L)] Initial value Setting range Setting method Ver. 50.00 [r/min], [mm/s] 0.00 to 655.35 Each axis Set the level of speed at which zero speed 2 turns on. If the state where the absolute value of the servo motor speed exceeds the setting value of this servo parameter continues for the time set in [Pr.
Page 89: [Pr. Pc69_Following Error Output Filtering Time (Fewf)]
[Pr. PC69_Following error output filtering time (FEWF)] Initial value Setting range Setting method Ver. 10 [ms] 0 to 65535 Each axis 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.
Page 90: [Pr. Pc72_Speed Reached 2 - Output Range (Sa2R)]
[Pr. PC72_Speed reached 2 - Output range (SA2R)] Initial value Setting range Setting method Ver. 20.00 [r/min], [mm/s] 0.00 to 655.35 Each axis This servo parameter sets the range of speed at which speed reached 2 output turns on. If the state where the error between the command speed and the servo motor speed is within the setting value of this servo parameter continues for the time set in [Pr.
Page 91: [Pr. Pc76_Function Selection C-E (*Cope)]
[Pr. PC76_Function selection C-E (*COPE)] Initial value Setting range Setting method Ver. 00000001h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PC76.1_ZSP disabled selection at control switching] Initial value Setting range Ver. Refer to the text Select whether to switch the control mode from or to the position mode within the ZSP range.
Page 92: [Pr. Pc79_Function Selection C-G (*Copg)]
[Pr. PC79_Function selection C-G (*COPG)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. For DI pin numbers corresponding to setting digits, refer to the following table. If this servo parameter is set incorrectly, [AL.
Page 93 [Pr. PC79.0_DI status read selection] Initial value Setting range Ver. Refer to the text Select whether to return the on/off state of the input device or the on/off state of the pin when reading [Digital inputs (Obj. 60FDh)]. Setting digit (BIN) Functions ...
Page 94: I/O Setting Servo Parameters Group ([Pr. Pd
I/O setting servo parameters group ([Pr. PD_ _ ]) [Pr. PD01_Input signal automatic ON selection 1 (*DIA1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD01.0_For manufacturer setting] This servo parameter is for manufacturer setting.
Page 95: [Pr. Pd03_Input Device Selection 1 (*Di1)]
[Pr. PD03_Input device selection 1 (*DI1)] Initial value Setting range Setting method Ver. 0000000Ah Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
Page 96: [Pr. Pd04_Input Device Selection 2 (*Di2)]
[Pr. PD04_Input device selection 2 (*DI2)] Initial value Setting range Setting method Ver. 0000000Bh Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
Page 97: [Pr. Pd05_Input Device Selection 3 (*Di3)]
[Pr. PD05_Input device selection 3 (*DI3)] Initial value Setting range Setting method Ver. 00000022h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3 connector. The connector pin numbers to be assigned are as follows.
Page 98 [Pr. PD05.4_Input axis selection 3] Initial value Setting range Ver. Refer to the text For a multi-axis servo amplifier, set which axis will use the input device that was assigned in [Pr. PD05.0-1 Device selection]. When this servo parameter is "0h", only the axis to which the device is assigned by [Pr. PD05.0-1] is automatically set to be enabled.
Page 99: [Pr. Pd07_Output Device Selection 1 (*Do1)]
[Pr. PD07_Output device selection 1 (*DO1)] Initial value Setting range Setting method Ver. 00000005h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
Page 100: [Pr. Pd08_Output Device Selection 2 (*Do2)]
[Pr. PD08_Output device selection 2 (*DO2)] Initial value Setting range Setting method Ver. 00000004h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
Page 101: [Pr. Pd09_Output Device Selection 3 (*Do3)]
[Pr. PD09_Output device selection 3 (*DO3)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the output signal of CN3 connector. The connector pin numbers to be assigned are as follows.
Page 102: [Pr. Pd11_Input Filter Setting (*Dif)]
[Pr. PD11_Input filter setting (*DIF)] Initial value Setting range Setting method Ver. 00000007h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PD11.0_Input signal filter selection] Initial value Setting range Ver. Refer to the text Setting value Filtering time [ms] No filter...
Page 103: [Pr. Pd13_Function Selection D-2 (*Dop2)]
[Pr. PD13_Function selection D-2 (*DOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD13.2_INP output signal ON condition selection] Initial value Setting range Ver. Refer to the text Select a condition for outputting INP (In-position).
Page 104: [Pr. Pd14_Function Selection D-3 (*Dop3)]
[Pr. PD14_Function selection D-3 (*DOP3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD14.1_Output device status at warning occurrence] Initial value Setting range Ver. Refer to the text Select ALM (Malfunction) output status at warning occurrence.
Page 105: [Pr. Pd22_Driver Communication Setting - Slave - Master Axis 1 - Station No. Setting ( *Sm1N)]
[Pr. PD22_Driver communication setting - Slave - Master axis 1 - Station No. setting ( *SM1N)] Initial value Setting range Setting method Ver. 0 to 255 Each axis Set the station No. of master axis 1. This servo parameter is enabled when it is set as the slave axis (when [Pr. PD15.1] is set to "1"). When "0"...
Page 106: [Pr. Pd26_Master-Slave Operation Simultaneous Stop Function Operation Setting (*Msto)]
[Pr. PD26_Master-slave operation simultaneous stop function operation setting (*MSTO)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PD26.0_Driver communication setting - Slave - Simultaneous stop command permission setting] Initial value Setting range...
Page 107: [Pr. Pd31_Master-Slave Operation - Slave-Side Speed Limit Coefficient (Vlc)]
[Pr. PD31_Master-slave operation - Slave-side speed limit coefficient (VLC)] Initial value Setting range Setting method Ver. 0 [%] 0 to 500 Each axis For the speed limit command value received from the master axis, set the coefficient to reflect to the internal speed limit value. This servo parameter is enabled only in the slave axis torque mode (slt).
Page 108: [Pr. Pd38_Input Device Selection 4 (*Di4)]
[Pr. PD38_Input device selection 4 (*DI4)] Initial value Setting range Setting method Ver. 0000002Ch Refer to the relevant detail No. Each axis Refer to the relevant detail No. Assign a device to the input signal of the CN3 connector. The touch probe function can be used by setting this servo parameter to TPR1 to TPR3.
Page 109: [Pr. Pd39_Input Device Selection 5 (*Di5)]
[Pr. PD39_Input device selection 5 (*DI5)] Initial value Setting range Setting method Ver. 0000002Dh Refer to the relevant detail No. Each axis Refer to the relevant detail No. Assign a device to the input signal of the CN3 connector. The touch probe function can be used by setting this servo parameter to TPR1 to TPR3.
Page 110: [Pr. Pd41_Function Selection D-4 (*Dop4)]
The status of the limit switches (S_FLS and S_RLS) is returned. Even if "1" is set, the limit switches are enabled during the test operation and at magnetic pole detection. Set "1" if the controller is a Mitsubishi Electric motion module. [Pr. PD41.3_Sensor input method selection]...
Page 111: [Pr. Pd51_Input Device Selection 3-2 (*Di3W2)]
[Pr. PD51_Input device selection 3-2 (*DI3W2)] Initial value Setting range Setting method Ver. 00000062h Refer to the relevant detail No. Common Refer to the relevant detail No. Select the device to be assigned to the input signal of the CN3-15 pin of the MR-J5W2-_G_ or the CN3-11 pin of the MR- J5D2-_G_.
Page 112: [Pr. Pd60_Di Pin Polarity Selection (*Dip)]
[Pr. PD60_DI pin polarity selection (*DIP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. For DI pin numbers corresponding to setting digits, refer to the following table. If this servo parameter is set incorrectly, [AL.
Page 113 [Pr. PD60.0_DI pin polarity selection] Initial value Setting range Ver. Refer to the text Select the DI pin polarity. Setting digit (BIN) Functions _ _ _ x DI pin polarity selection 1 0: ON with 24 V input 1: ON with 0 V input _ _ x _ DI pin polarity selection 2 0: ON with 24 V input...
Page 114: Extension Setting 2 Servo Parameters Group ([Pr. Pe
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) [Pr. PE01_Fully closed loop control function selection 1 (**FCT1)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr.
Page 115: [Pr. Pe03_Fully Closed Loop Control Function Selection 2 (*Fct2)]
[Pr. PE03_Fully closed loop control function selection 2 (*FCT2)] Initial value Setting range Setting method Ver. 00000003h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PE03.0_Fully closed loop control error - Detection function selection] Initial value Setting range Ver.
Page 116: [Pr. Pe04_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Numerator (**Fbn)]
[Pr. PE04_Fully closed loop control - Feedback pulse electronic gear 1 - Numerator (**FBN)] Initial value Setting range Setting method Ver. 1 to 4294967295 Each axis If using the fully closed loop control, set the electronic gear numerator to the servo motor encoder pulses. Set the electronic gear so that the number of the servo motor encoder pulses per servo motor revolution is converted into load-side encoder resolution.
Page 117: [Pr. Pe10_Fully Closed Loop Function Selection 3 (Fct3)]
[Pr. PE10_Fully closed loop function selection 3 (FCT3)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PE10.1_Fully closed loop control - Position deviation error detection level - Unit selection] Initial value Setting range...
Page 118: [Pr. Pe45_Lost Motion Compensation Negative-Side Compensation Value Selection (Lmcn)]
[Pr. PE45_Lost motion compensation negative-side compensation value selection (LMCN)] Initial value Setting range Setting method Ver. 0 [0.01 %] 0 to 30000 Each axis Set the lost motion compensation for when positive speed switches to negative speed in increments of 0.01 % in relation to the rated torque as 100 %.
Page 119: [Pr. Pe49_Lost Motion Compensation Timing (Lmcd)]
[Pr. PE49_Lost motion compensation timing (LMCD)] Initial value Setting range Setting method Ver. 0 [0.1 ms] 0 to 30000 Each axis Set the lost motion compensation timing in units of 0.1 ms. The timing to perform the lost motion compensation function can be delayed by a set time. This function is enabled in the position mode and positioning mode.
Page 120: Extension Setting 3 Servo Parameters Group ([Pr. Pf
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) [Pr. PF02_Function selection F-2 (*FOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PF02.0_Target alarm selection of the other axis error warning] Initial value Setting range Ver.
Page 121: [Pr. Pf06_Function Selection F-5 (*Fop5)]
[Pr. PF06_Function selection F-5 (*FOP5)] Initial value Setting range Setting method Ver. 00000013h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF06.0_Electronic dynamic brake selection] Initial value Setting range Ver. Refer to the text Enable or disable the electronic dynamic brake.
Page 122: [Pr. Pf18_Sto Diagnosis Error Detection Time (**Stod)]
[Pr. PF18_STO diagnosis error detection time (**STOD)] Initial value Setting range Setting method Ver. 10 [s] 0 to 60 Common Set the time from when the error of the STO input or STO circuit is detected until the occurrence of [AL. 068.1 STO signal mismatch error].
Page 123: [Pr. Pf20_Friction Failure Prediction - Compensation Coefficient 2 (Tic)]
[Pr. PF20_Friction failure prediction - Compensation coefficient 2 (TIC)] Initial value Setting range Setting method Ver. 0 [0.1 %] -10000 to 10000 Each axis Set compensation coefficient 2 to compensate the dynamic friction being used for the friction failure prediction. When the friction failure prediction warning selection is set to the automatic threshold setting, the value will be calculated automatically from the estimated dynamic friction.
Page 124: [Pr. Pf25_Semi-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive Detection Time) (Cvat)]
[Pr. PF25_SEMI-F47 function - Instantaneous power failure detection time (Instantaneous power failure tough drive detection time) (CVAT)] Initial value Setting range Setting method Ver. 200 [ms] 30 to 500 Common Set the time until the occurrence of [AL. 010.1 Voltage drop in the control circuit power]. To comply with SEMI-F47 standard, it is not required to change the time from the initial value (200 ms).
Page 125: [Pr. Pf31_Machine Diagnosis Function - Friction Estimate Area Judgment Speed At Low Speed (Fric)]
[Pr. PF31_Machine diagnosis function - Friction estimate area judgment speed at low speed (FRIC)] Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 65535 Each axis Set the servo motor speed to divide the friction estimation area between low-speed and high-speed in the friction estimation process of machine diagnosis.
Page 126: [Pr. Pf34_Machine Diagnosis Function Selection (*Mfp)]
[Pr. PF34_Machine diagnosis function selection (*MFP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF34.0_Friction failure prediction warning selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled (automatic threshold setting) 2: Enabled (manual threshold setting)
Page 127 [Pr. PF34.5_Static friction failure prediction warning selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Automatic threshold setting 2: Manual threshold setting 3: Threshold reset When "2" is set, if the static friction exceeds the set threshold, [AL. 0F7.5 Friction failure prediction warning] will occur. When "3"...
Page 128: [Pr. Pf40_Machine Failure Prediction Servo Parameter (Mfpp)]
[Pr. PF40_Machine failure prediction servo parameter (MFPP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF40.0_Friction failure prediction - Threshold multiplication] Initial value Setting range Ver.
Page 129: [Pr. Pf41_Failure Prediction - Servo Motor Total Travel Distance (Fpmt)]
[Pr. PF41_Failure prediction - Servo motor total travel distance (FPMT)] Initial value Setting range Setting method Ver. 0 [10 rev], [m] 0 to 4294967295 Each axis Set a servo motor total travel distance required for determining the threshold used in the friction failure prediction function and the servo motor total travel distance failure prediction function.
Page 130: [Pr. Pf46_Vibration Failure Prediction - Standard Deviation (Vsd)]
[Pr. PF46_Vibration failure prediction - Standard deviation (VSD)] Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 20000 Each axis Set the vibration level standard deviation during servo motor operation. This servo parameter is enabled when [Pr. PF34.0 Friction failure prediction warning selection] is set to "2" (enabled (manual threshold setting)).
Page 131: [Pr. Pf63_Function Selection F-15 (*Fop15)]
[Pr. PF63_Function selection F-15 (*FOP15)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF63.0_[AL. 01A.5 Servo motor combination error 3] selection] Initial value Setting range Ver.
Page 132: [Pr. Pf66_Gear Setting For Backlash Estimation (Blg)]
[Pr. PF66_Gear setting for backlash estimation (BLG)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF66.0-3_Gear for backlash estimation - Numerator] Initial value Setting range Ver.
Page 133: [Pr. Pf67_Backlash Nominal Value (Bln)]
[Pr. PF67_Backlash nominal value (BLN)] Initial value Setting range Setting method Ver. 0 [0.01 degree] 0 to 3600000 Each axis To set the threshold for gear failure prediction, a backlash nominal value must be set. Input a backlash value presented by the manufacturer of the gear connected to the servo motor.
Page 134: [Pr. Pf71_Belt Failure Prediction Function Selection (Bfp)]
[Pr. PF71_Belt failure prediction function selection (BFP)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF71.0_Belt tension deterioration prediction function selection] Initial value Setting range Ver.
Page 135: [Pr. Pf74_Static Friction During Installation (Ssf)]
[Pr. PF74_Static friction during installation (SSF)] Initial value Setting range Setting method Ver. 0 [0.1 %] 0 to 10000 Each axis Set a static friction for when the belt is attached to the equipment. Set the static friction with any of the following values estimated by the friction estimation function depending on the value of [Pr.
Page 136: [Pr. Pf80_Drive Recorder - Operation Condition Selection (Drmc)]
[Pr. PF80_Drive recorder - Operation condition selection (DRMC)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF80.0_Drive recorder - Operation mode selection] Initial value Setting range Ver.
Page 137: [Pr. Pf81_Drive Recorder - Sampling Operation Selection (Drms)]
[Pr. PF81_Drive recorder - Sampling operation selection (DRMS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF81.0_Drive recorder - Sampling start selection] Initial value Setting range Ver.
Page 138: [Pr. Pf82_Drive Recorder - Trigger Operation Selection (Drtm)]
[Pr. PF82_Drive recorder - Trigger operation selection (DRTM)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF82.0_Drive recorder - Trigger mode selection] Initial value Setting range Ver.
Page 139 [Pr. PF82.2_Drive recorder - Trigger operation selection 1] Initial value Setting range Ver. Refer to the text Select whether sampling starts when the signal output for the drive recorder channel set in [Pr. PF84.0-1 Drive recorder - Trigger channel selection 1] exceeds or falls below the set trigger level. When [Pr.
Page 140: [Pr. Pf83_Drive Recorder - Trigger Operation Axis Common Selection (**Drtax)]
[Pr. PF83_Drive recorder - Trigger operation axis common selection (**DRTAX)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PF83.0_Drive recorder - Trigger axis common selection] Initial value Setting range Ver.
Page 141: [Pr. Pf84_Drive Recorder - Trigger Channel Selection (Drtc)]
[Pr. PF84_Drive recorder - Trigger channel selection (DRTC)] Initial value Setting range Setting method Ver. 005A8101h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF84.0-1_Drive recorder - Trigger channel selection 1] Initial value Setting range Ver.
Page 142: [Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (Drtl1)]
[Pr. PF85_Drive recorder - Trigger level setting 1 (DRTL1)] Initial value Setting range Setting method Ver. -2147483648 to 2147483647 Each axis Set the trigger level of trigger channel No. 1 of the drive recorder in decimal. Set the value considering the decimal point. For example, if setting a torque of 100.0 [%] for the trigger level, set this servo parameter to "1000"...
Page 143: [Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (Drac1)]
[Pr. PF87_Drive recorder - Analog channel setting 1 (DRAC1)] Initial value Setting range Setting method Ver. 00020201h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF87.0-2_Drive recorder - Analog channel 1 selection] Initial value Setting range Ver.
Page 144: [Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (Drac2)]
Setting value Data type Unit Category Servo motor speed + 0.1 r/min 32-bit data Command pulse frequency + kpulse/s Command pulse frequency (speed unit) + 0.1 r/min Droop pulses (1 pulse unit) + pulse Speed command + 0.1 r/min Position within one-revolution + pulse Load-side encoder information 1 + pulse...
Page 145: [Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (Drac3)]
[Pr. PF88.4-6_Drive recorder - Analog channel 4 selection] Initial value Setting range Ver. 204h Refer to the text Select the analog channel 4 of the drive recorder. The servo parameter is disabled in the following conditions. • [Pr. PF80.0 Drive recorder - Operation mode selection] is set to "0" (automatic setting mode) Refer to the following for values that can be assigned.
Page 146: [Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (Drdc1)]
[Pr. PF91_Drive recorder - Digital channel setting 1 (DRDC1)] Initial value Setting range Setting method Ver. 00120000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF91.0-3_Drive recorder - Digital channel 1 selection] Initial value Setting range Ver.
Page 147 Setting value Symbol Name Classification 8000 Ready 8001 Speed reached 8002 Zero speed detection 8003 Limiting torque 8004 Limiting speed 8005 In-position completion 8007 Warning 8008 Malfunction 8009 Z-phase output 800A Electromagnetic brake interlock 800B External dynamic brake 800F BWNG Battery warning 8010 ALM2...
Page 148 *1 Available on servo amplifiers with firmware version A5 or later. *2 Available on servo amplifiers with firmware version B2 or later. *3 Available on servo amplifiers with firmware version B6 or later. *4 Available on servo amplifiers with firmware version B8 or later. *5 Available only on the MR-J5D_-_G_.
Page 149: [Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (Drdc2)]
[Pr. PF92_Drive recorder - Digital channel setting 2 (DRDC2)] Initial value Setting range Setting method Ver. 80058010h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF92.0-3_Drive recorder - Digital channel 3 selection] Initial value Setting range Ver.
Page 150: [Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (Drdc4)]
[Pr. PF94_Drive recorder - Digital channel setting 4 (DRDC4)] Initial value Setting range Setting method Ver. 801D8015h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PF94.0-3_Drive recorder - Digital channel 7 selection] Initial value Setting range Ver.
Page 151: Motor Extension Setting Servo Parameters Group ([Pr. Pl
The setting value "0" can be used on servo amplifiers with firmware version D0 or later when the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected by the direct drive motor control mode. Do not set any value other than "0", "1", and "5".
Page 152: [Pr. Pl03_Linear Encoder Resolution Setting - Denominator (**Lid)]
[Pr. PL03_Linear encoder resolution setting - Denominator (**LID)] Initial value Setting range Setting method Ver. 1000 [μm] 1 to 65535 Each axis Set the linear encoder resolution with [Pr. PL02] and [Pr. PL03]. Set a denominator in [Pr. PL03]. This servo parameter is enabled for linear servo motors. [Pr.
Page 153: [Pr. Pl05_Position Deviation Error Detection Level (Lb1)]
[Pr. PL05_Position deviation error detection level (LB1)] Initial value Setting range Setting method Ver. 0 [mm], [0.01 rev] 0 to 1000 Each axis Set a position deviation error detection level of the servo control error detection. When the difference between a model feedback position and actual feedback position is larger than the setting value, [AL. 042.1 Servo control error based on position deviation] will occur.
Page 154: [Pr. Pl08_Function Selection L-3 (*Lit3)]
[Pr. PL08_Function selection L-3 (*LIT3)] Initial value Setting range Setting method Ver. 00001010h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select a function of the linear servo motor or direct drive motor. [Pr. PL08.0_Magnetic pole detection method selection] Initial value Setting range Ver.
Page 155: [Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (Ltsts)]
[Pr. PL17_Magnetic pole detection - Minute position detection method - Function selection (LTSTS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. This servo parameter is enabled when [Pr. PL08.0 Magnetic pole detection method selection] is set to "4" (minute position detection method).
Page 156: [Pr. Pl18_Magnetic Pole Detection - Minute Position Detection Method - Identification Signal Amplitude (Idlv)]
[Pr. PL17.1_Load to motor mass ratio/load to motor inertia ratio selection] Initial value Setting range Ver. Refer to the text Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used for the minute position detection method.
Page 157: 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 158: [Pr. Pt02_Function Selection T-1 (*Top1)]
[Pr. PT01.2_Unit for position data] Initial value Setting range Ver. Refer to the text 0: mm 1: inch 2: degree 3: pulse If this servo parameter is changed, perform homing. Refer to the following for the supported control mode and firmware version. Control mode Setting value *1*2...
Page 159: [Pr. Pt03_Feed Function Selection (*Fty)]
[Pr. PT03_Feed function selection (*FTY)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT03.2_Degree unit rotation direction selection] Initial value Setting range Ver. Refer to the text Select the rotation direction for when [Pr.
Page 160: [Pr. Pt06_Creep Speed (Crf)]
[Pr. PT06_Creep speed (CRF)] Initial value Setting range Setting method Ver. 10.00 [r/min], [mm/s] 0.00 to 167772.15 Each axis When performing a homing, set the servo motor speed after proximity dog. The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed in [Pr.
Page 161: [Pr. Pt08_Homing Position Data (Zps)]
[Pr. PT08_Homing position data (ZPS)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis Set the address that is to be the reference point of the machine coordinate system. Subtracting the setting value of this servo parameter from the machine home position gives the coordinate of the home position.
Page 162: [Pr. Pt09_Travel Distance After Proximity Dog (Dct)]
[Pr. PT09_Travel distance after proximity dog (DCT)] Initial value Setting range Setting method Ver. 1000 [Refer to the text below for the 0 to 2147483647 Each axis unit.] Set a travel distance after proximity dog at homing for the count type (Front end detection Z-phase reference) (Homing method -2, -34) and dog reference.
Page 163: [Pr. Pt15_Software Position Limit + (Lmp)]
[Pr. PT15_Software position limit + (LMP)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis Set the address increasing side of the software position limit. This function is enabled in the cyclic synchronous position mode, profile position mode, and positioning mode (point table method).
Page 164: [Pr. Pt19_Position Range Output 1 Address + (*Lpp1)]
[Pr. PT19_Position range output 1 address + (*LPP1)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] -2147483648 to 2147483647 Each axis Set the address increasing side of the position range output 1 address. Use this servo parameter and [Pr.
Page 165: [Pr. Pt26_Function Selection T-2 (*Top2)]
[Pr. PT26_Function selection T-2 (*TOP2)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT26.4_Touch probe latch position selection] Initial value Setting range Ver. 0h to 2h Select the reflecting patterns of [Pr.
Page 166: [Pr. Pt34_Positioning Operation Data Default (**Pdef)]
[Pr. PT34_Positioning operation data default (**PDEF)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT34.0_Point table default] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When initializing the point table, set "1".
Page 167: [Pr. Pt41_Function Selection T-8 (Top8)]
[Pr. PT41_Function selection T-8 (TOP8)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT41.0_Homing prohibition selection] Initial value Setting range Ver. Refer to the text 0: Disabled 1: Enabled When "1"...
Page 168 • Homing methods For details regarding the homing methods, refer to "Homing mode (hm) and homing" in the User's Manual (Function). Settin Homing direction Homing methods Description Forward rotation (CCW) Dog type (Rear end detection - Z-phase reference) Performs homing using the Z-phase pulse after a moving or positive direction part has moved past the proximity dog.
Page 169 Settin Homing direction Homing methods Description Reverse rotation (CW) Dog type (Rear end detection - Z-phase reference) The same as the setting -1. or negative direction Count type (Front end detection - Z-phase reference) The same as the setting -2. Stopper type (Stopper position reference) The same as the setting -4.
Page 170 Settin Homing direction Homing methods Description Reverse rotation (CW) Method 11 (Homing on home switch and index pulse) This is the same as the dog type last Z-phase reference or negative direction homing. Method 12 (Homing on home switch and index pulse) This is the same as the dog cradle type homing.
Page 171 Settin Homing direction Homing methods Description Forward rotation (CCW) Method 34 (Homing on index pulse) Although this type is the same as the dogless Z-phase or positive direction reference homing, the creep speed is applied as the movement start speed. ...
Page 172: [Pr. Pt49_Speed Acceleration Time Constant (Sta)]
[Pr. PT49_Speed acceleration time constant (STA)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 50000 Each axis Set the acceleration time taken by the motor to reach the rated speed from a full stop for the command. If the preset speed command is lower than Servo motor speed the rated speed, acceleration/deceleration...
Page 173: [Pr. Pt51_S-Pattern Acceleration/Deceleration Time Constants (Stc)]
[Pr. PT51_S-pattern acceleration/deceleration time constants (STC)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 5000 Each axis Set the time of the arc part for S-pattern acceleration/deceleration time constants. This setting enables smooth start/stop of the servo motor. When "0"...
Page 174: [Pr. Pt55_Function Selection T-10 (*Top10)]
[Pr. PT55_Function selection T-10 (*TOP10)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT55.0_Homing deceleration time constant selection] Initial value Setting range Ver. Refer to the text Set a value to be used for the acceleration time constant and deceleration time constant at homing.
Page 175: [Pr. Pt65_Profile Speed Command (Pvc)]
[Pr. PT65_Profile speed command (PVC)] Initial value Setting range Setting method Ver. 100.00 [r/min], [mm/s] 0.00 to 21474836.47 Each axis This function is enabled in the profile position mode and positioning mode (point table method). This function corresponds to [Profile velocity (Obj. 6081h)]. When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller overwrites the servo parameter values written with engineering tools.
Page 176: [Pr. Pt68_Function Selection T-11 (Top11)]
[Pr. PT68_Function selection T-11 (TOP11)] Initial value Setting range Setting method Ver. 00000002h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PT68.0_Quick stop method selection] Initial value Setting range Ver. Refer to the text Select the quick stop method.
Page 177: Network Setting Servo Parameters Group ([Pr. Pn
1.10 Network setting servo parameters group ([Pr. PN_ _ ]) [Pr. PN02_Communication error - Detection time (CERT)] Initial value Setting range Setting method Ver. 0 [ms] 0 to 1000 Common • For CC-Link IE TSN Class B Set the threshold until network disconnecting and [AL. 086.2 Network communication error 2] are detected. The maximum setting range is 1000 ms.
Page 178 [Pr. PN13.0-3_Network protocol setting] Initial value Setting range Ver. 0000h Refer to the text Set the network to be used. Setting a value other than the following triggers [AL. 037 Parameter error]. Setting value of [Pr. PN13.0-3] Setting details 0000h CC-Link IE TSN 0004h CC-Link IE Field Network Basic...
Page 179: [Pr. Pn20_Parameter Automatic Backup Update Interval (**Pabi)]
[Pr. PN20_Parameter automatic backup update interval (**PABI)] Initial value Setting range Setting method Ver. 0 to 1000 Common This servo parameter can be used only with CC-Link IE TSN. Set the backup interval for a parameter automatic backup to be performed when the specified time passes on an hourly basis. When the value is set to "0", a parameter automatic backup when the specified time passes is not performed.
Page 180: Positioning Extension Setting Servo Parameters Group ([Pr. Pv
1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) [Pr. PV01_Profile speed command extension setting (PVC2)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis Set the speed command used in the profile position mode (pp) and JOG operation mode (jg). The unit can be changed to 0.001 mm/s, 0.0001 inch/s, 0.001 degree/s, or pulse/s with [Pr.
Page 181: [Pr. Pv07_Profile Deceleration (Pdec)]
[Pr. PV07_Profile deceleration (PDEC)] Initial value Setting range Setting method Ver. 0 [Refer to the text below for the unit.] 0 to 4294967295 Each axis Set the deceleration used in the profile position mode (pp), profile velocity mode (pv), and JOG operation mode (jg). The unit can be changed to 0.001 mm/s , 0.0001 inch/s , 0.001 degree/s...
Page 182: [Pr. Pv13_Creep Speed Extension Setting (Crfe)]
[Pr. PV13_Creep speed extension setting (CRFE)] Initial value Setting range Setting method Ver. 100000 [Refer to the text below for 0 to 4294967295 Each axis the unit.] When performing a homing, set the servo motor speed after proximity dog. The unit can be changed to 0.001 mm/s, 0.0001 inch/s, 0.001 degree/s, or pulse/s with [Pr. PT01.2 Unit for position data]. This function is enabled when [Pr.
Page 183: [Pr. Pv19_Speed Reached 2 - Output Range - Extension Setting (Sa2Re)]
[Pr. PV19_Speed reached 2 - Output range - Extension setting (SA2RE)] Initial value Setting range Setting method Ver. 20000 [Refer to the text below for the 0 to 65535 Each axis unit.] Set the speed range in which the speed reached 2 turns on in the profile velocity mode (pv). If the state where the error between the command speed and the servo motor speed is within the setting value of this servo parameter continues for the time set in [Pr.
Page 184: [Pr. Pv23_Speed Unit Conversion - Electronic Gear Numerator (*Vcmx)]
[Pr. PV23_Speed unit conversion - Electronic gear numerator (*VCMX)] Initial value Setting range Setting method Ver. 1 to 1024 Each axis Set the electric gear numerator for converting the speed (command unit/s) into a value in speed units. This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". Setting a value other than "1"...
Page 185: [Pr. Pv29_Acceleration Limit (Acclmt)]
[Pr. PV29_Acceleration limit (ACCLMT)] Initial value Setting range Setting method Ver. 0 to 4294967295 Each axis Set the acceleration limit value to be used in the profile position mode (pp), profile velocity mode (pv), homing mode (hm), and JOG operation mode (jg). The unit can be changed to 0.001 mm/s , 0.0001 inch/s , 0.001 degree/s...
Page 186: Chapter 2 Lists Of Servo Parameter Supported Modes
LISTS OF SERVO PARAMETER SUPPORTED MODES Structure The following shows the meaning of each abbreviation used in the lists. "" indicates the modes that can be used, and "" indicates the modes that cannot be used or modes that are not used even if set. Mode List abbreviation Meaning...
Page 187: Lists Of Supported Control Modes
Lists of supported control modes Basic setting servo parameters group ([Pr. PA_ _ ]) Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard csv cst PA01 PA01.0          ...
Page 188: 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 csv cst                 PB01 PB01.0 ...
Page 189 Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard csv cst PB45 PB45.0-1                        ...
Page 190: 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 csv cst                 ...
Page 191: I/O Setting Servo Parameters Group ([Pr. Pd
Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard csv cst PC71                         ...
Page 192: 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 csv cst                ...
Page 193: 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 csv cst PF02 PF02.0              ...
Page 194: Motor Extension Setting Servo Parameters Group ([Pr. Pl
Detail No. Operation mode Control mode Semi closed Fully closed Standard Linear Standard csv cst                 PF80 PF80.0        ...
Page 195: 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 csv cst PT01 PT01.1              ...
Page 196: 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 csv cst PV01                ...
Page 197: Chapter 3 Lists Of Servo Parameter Initial Values
LISTS OF SERVO PARAMETER INITIAL VALUES Basic setting servo parameters group ([Pr. PA_ _ ]) Initial value PA01 00003000h PA02 00000000h PA03 00000000h PA04 00002000h PA05 10000 PA06 PA07 PA08 00000001h PA09 PA10 25600 PA11 1000.0 PA12 1000.0 PA13 00000000h PA14 PA15 4000...
Page 198: Gain/Filter Setting Servo Parameters Group ([Pr. Pb
Gain/filter setting servo parameters group ([Pr. PB_ _ ]) Initial value PB01 00000000h PB02 00000000h PB03 36000 PB04 PB05 PB06 7.00 PB07 15.0 PB08 37.0 PB09 PB10 33.7 PB11 PB12 PB13 4500 PB14 00000000h PB15 4500 PB16 00000000h PB17 00000000h PB18 3141 PB19...
Page 199 Initial value PB49 00000000h PB50 4500 PB51 00000000h PB52 100.0 PB53 100.0 PB54 0.00 PB55 0.00 PB56 PB57 PB58 0.00 PB59 0.00 PB60 PB61 PB62 00000000h PB63 00000000h PB64 00000000h PB65 PB66 PB67 7.00 PB68 PB69 PB70 PB71 PB72 PB73 0.00 PB74 0.00...
Page 200: Extension Setting Servo Parameters Group ([Pr. Pc
Extension setting servo parameters group ([Pr. PC_ _ ]) Initial value PC01 PC02 PC03 00000000h PC04 00000000h PC05 00000000h PC06 00000000h PC07 PC08 PC09 00000000h PC10 00000001h PC11 PC12 PC13 PC14 PC15 PC16 00000000h PC17 00000000h PC18 00000000h PC19 00000000h PC20 00000000h PC21...
Page 201 Initial value PC49 00000000h PC50 00000000h PC51 00000000h PC52 00000000h PC53 00000000h PC54 00000000h PC55 00000000h PC56 00000000h PC57 00000000h PC58 00000000h PC59 00000000h PC60 00000000h PC61 00000000h PC62 00000000h PC63 00000000h PC64 00000000h PC65 50.00 PC66 PC67 00C00000h PC68 00000000h PC69 PC70...
Page 202: I/O Setting Servo Parameters Group ([Pr. Pd
I/O setting servo parameters group ([Pr. PD_ _ ]) 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...
Page 203 Initial value PD51 00000062h PD52 00000000h PD53 00000000h PD54 00000000h PD55 00000000h PD56 00000000h PD57 00000000h PD58 00000000h PD59 00000000h PD60 00000000h PD61 00000000h PD62 00000000h PD63 00000000h PD64 00000000h PD65 00000000h PD66 00000000h PD67 00000000h PD68 00000000h PD69 00000000h PD70 00000000h PD71...
Page 204: Extension Setting 2 Servo Parameters Group ([Pr. Pe
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) Initial value PE01 00000000h PE02 00000000h PE03 00000003h PE04 PE05 PE06 PE07 PE08 PE09 00000000h PE10 00000000h PE11 00000000h PE12 00000000h PE13 00000000h PE14 00000111h PE15 PE16 00000000h PE17 00000100h PE18 00000000h PE19...
Page 205 Initial value PE49 PE50 PE51 PE52 00000000h PE53 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 PE66 PE67 PE68 00000000h PE69 00000000h PE70 0.00 PE71 PE72 1.0000 PE73...
Page 206: Extension Setting 3 Servo Parameters Group ([Pr. Pf
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) Initial value PF01 00000000h PF02 00000000h PF03 00000000h PF04 PF05 00000000h PF06 00000013h PF07 00000000h PF08 00000000h PF09 00000000h PF10 00000000h PF11 00000000h PF12 2000 PF13 00000000h PF14 PF15 00000000h PF16 00000000h PF17...
Page 207 Initial value PF49 PF50 PF51 00000000h PF52 00000000h PF53 PF54 PF55 PF56 PF57 00000000h PF58 00000000h PF59 00000000h PF60 00000000h PF61 00000000h PF62 00000000h PF63 00000000h PF64 PF65 00000000h PF66 00000000h PF67 PF68 PF69 PF70 PF71 00000000h PF72 PF73 PF74 PF75 PF76 PF77...
Page 208: Motor Extension Setting Servo Parameters Group ([Pr. Pl
Motor extension setting servo parameters group ([Pr. PL_ _ ]) Initial value PL01 00000301h PL02 1000 PL03 1000 PL04 00000003h PL05 PL06 PL07 PL08 00001010h PL09 PL10 PL11 PL12 PL13 00000000h PL14 00000000h PL15 PL16 PL17 00000000h PL18 PL19 PL20 PL21 PL22 PL23...
Page 209 Initial value PL49 00000000h PL50 PL51 PL52 PL53 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...
Page 210: Positioning Control Setting Servo Parameters Group ([Pr. Pt
Positioning control setting servo parameters group ([Pr. PT_ _ ]) Initial value PT01 00000300h PT02 00000001h PT03 00000000h PT04 00000000h PT05 100.00 PT06 10.00 PT07 PT08 PT09 1000 PT10 PT11 15.0 PT12 PT13 00000000h PT14 PT15 PT16 00000000h PT17 PT18 00000000h PT19 PT20...
Page 211 Initial value PT49 PT50 PT51 PT52 PT53 PT54 PT55 00000000h PT56 PT57 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 PT73 00000000h...
Page 212: Network Setting Servo Parameters Group ([Pr. Pn
Network setting servo parameters group ([Pr. PN_ _ ]) Initial value PN01 00000000h PN02 PN03 00000000h PN04 PN05 PN06 00000000h PN07 00000000h PN08 00000000h PN09 PN10 PN11 3600 PN12 00000000h PN13 00000000h PN14 00000000h PN15 00000000h PN16 00000000h PN17 00000000h PN18 PN19 00000000h...
Page 213: Positioning Extension Setting Servo Parameters Group ([Pr. Pv
3.10 Positioning extension setting servo parameters group ([Pr. PV_ _ ]) Initial value PV01 PV02 PV03 2147483647 PV04 PV05 PV06 PV07 PV08 PV09 PV10 PV11 500000 PV12 PV13 100000 PV14 PV15 PV16 PV17 PV18 PV19 20000 PV20 PV21 2147483647 PV22 PV23 PV24 PV25...
Page 214: Chapter 4 Servo Parameter Setting Method
Engineering tool Servo parameters can be set using an engineering tool manufactured by Mitsubishi Electric such as MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
Page 215 MEMO 4 SERVO PARAMETER SETTING METHOD 4.2 Object dictionary...
Page 216: Chapter 5 Network Parameter Details
Depending on the model of the motion module, servo amplifier firmware version, and MR Configurator2 software version, some network parameters and ranges cannot be set. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2.
Page 217: Network Basic Parameters
Network basic parameters [Pr. NPA01_IP address setting] Initial value Setting range Size Ver. Refer to the text 4 bytes For the setting of IP addresses which are necessary for communication, select whether to use the rotary switches or to use network parameters to obtain the IP addresses.
Page 218: [Pr. Npa02_Ip Address]
[Pr. NPA02_IP address] Initial value Setting range Size Ver. 192.168.3.1 (C0A80301h) Refer to the text 4 bytes Set the IP address. Set each octet to a value between 0 to 255. In the eight digits of hexadecimal, the first to fourth octets are expressed with each pair of digits. digits digits digits...
Page 219: [Pr. Npa08_Host Name]
[Pr. NPA08_Host name] Initial value Setting range Size Ver. 0 (All NULL) 63 characters (Refer to the text.) 64 bytes Select a host name. Set a character string of up to 63 characters for the host name. The characters that can be input as the host name are 0 to 9, A to Z, a to z, hyphen (-), period (.), colon (:), and underscore (_).
Page 220: User Authentication Parameters
User authentication parameters [Pr. NPB01_User authentication and authorization setting] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the connection method to use for setting the user authentication parameter. To enable this network parameter, cycle the power or reset the software after setting. When this network parameter is set to "1"...
Page 221: [Pr. Npb05_Authorization Level No.1]
[Pr. NPB05_Authorization level No.1] Initial value Setting range Size Ver. 00000001h Refer to the text 4 bytes Set the authorization level for the user (No.1). Refer to the following table for details. Network parameter No. Setting digit (BIN) Description [Pr. NPB05.0] _ _ _ x Firmware update permission selection 0: Prohibited...
Page 222: [Pr. Npb09_Password No.2]
[Pr. NPB09_Password No.2] Initial value Setting range Size Ver.    Set the password (No.2) to use when accessing the FTP server function of the servo amplifier. Page 219 [Pr. NPB06_Password No.1] [Pr. NPB10_User name No.3] Initial value Setting range Size Ver.
Page 223: [Pr. Npb17_Authorization Level No.5]
[Pr. NPB17_Authorization level No.5] Initial value Setting range Size Ver. 00000000h Refer to the text 4 bytes Set the authorization level for the user (No.5). Page 219 [Pr. NPB05_Authorization level No.1] [Pr. NPB18_Password No.5] Initial value Setting range Size Ver. ...
Page 224: [Pr. Npb25_User Name No.8]
[Pr. NPB25_User name No.8] Initial value Setting range Size Ver. 0 (All NULL) 32 characters 36 bytes Set the user name (No.8) to use when accessing the FTP server function of the servo amplifier. Page 218 [Pr. NPB04_User name No.1] [Pr.
Page 225: Chapter 6 Network Parameter Setting Method
NETWORK PARAMETER SETTING METHOD Engineering tool The network parameters can be set with MR Configurator2. Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool. 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
Page 226 MEMO 6 NETWORK PARAMETER SETTING METHOD 6.1 Engineering tool...
Page 227: Chapter 7 Functional Safety Parameter Details
Settable functional safety parameters and values depend on the servo amplifier firmware version and MR Configurator2 software version. Refer to the Mitsubishi Electric FA site for the latest software version of MR Configurator2. In addition, the firmware version of the servo amplifier can be checked with MR Configurator2, objects, or by other means.
Page 228: Safety Sub-Function 1 Parameters Group ([Pr. Psa
Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) [Pr. PSA01_Safety sub-function mode selection (**SOA)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Common Refer to the relevant detail No. Set the safety sub-function. [Pr.
Page 229: [Pr. Psa02_Functional Safety Setting (**Smd)]
[Pr. PSA02_Functional safety setting (**SMD)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. [Pr. PSA02.1_Position/Speed monitor setting] Initial value Setting range Ver. Refer to the text 0: Do not monitor the position/speed.
Page 230: [Pr. Psa04_Safety Sub-Function - Stop Speed (**Sss)]
[Pr. PSA04_Safety sub-function - Stop speed (**SSS)] Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis Set the stop speed. If the absolute value of the servo motor speed is equal to or less than the value set in this functional safety parameter, the SS2/SOS function considers the servo motor as being stopped.
Page 231: [Pr. Psa08_Sls Deceleration Monitor Time 2 (**Slsdt2)]
[Pr. PSA08_SLS deceleration monitor time 2 (**SLSDT2)] Initial value Setting range Setting method Ver. 1000 [ms] 0 to 60000 Each axis Set the threshold for the time required for the speed monitoring to start after the SLS2 command is enabled. Specify a sufficient time that allows for deceleration to the safety speed after the SLS2 command is enabled.
Page 232: [Pr. Psa14_Sls Speed 4 (**Slss4)]
[Pr. PSA14_SLS speed 4 (**SLSS4)] Initial value Setting range Setting method Ver. 50 [r/min], [mm/s] 0 to 10000 Each axis Set the threshold for the safety speed if activating the SLS function via the SLS4 command. The STO function will activate if the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS function.
Page 233: [Pr. Psa19_Ssm Hysteresis Width (**Ssmhw)]
[Pr. PSA19_SSM hysteresis width (**SSMHW)] Initial value Setting range Setting method Ver. 20 [r/min], [mm/s] 0 to 10000 Each axis Set the threshold of the hysteresis width for SSM speed judgment. Ensure that the value set in this parameter is smaller than the value set in [Pr.
Page 234: [Pr. Psa25_Ss1/Ss2 Deceleration Monitor Speed Offset (**Ssof)]
[Pr. PSA25_SS1/SS2 deceleration monitor speed offset (**SSOF)] Initial value Setting range Setting method Ver. 0 [r/min], [mm/s] 0 to 10000 Each axis Set the monitor speed offset for [Pr. PSA24 SS1/SS2 deceleration monitor time constant]. Use this parameter if overshoot occurs at the start of deceleration, etc. [Pr.
Page 235: Safety Sub-Function 2 Parameters Group ([Pr. Psb
Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) [Pr. PSB01_SLI permissible travel distance - Unit selection (**SLIPUS)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. Select the setting unit for the SLI permissible travel distance.
Page 236: [Pr. Psb11_Slt Torque Upper Limit Value 2 (**Sltp2)]
[Pr. PSB11_SLT torque upper limit value 2 (**SLTP2)] Initial value Setting range Setting method Ver. 15.0 [%] -1000.0 to 1000.0 Each axis Set the upper limit threshold for the safety torque if activating the SLT function via the SLT2 command. The STO function will activate if the torque exceeds the threshold during torque monitoring via the SLT function.
Page 237: [Pr. Psb16_Slt Torque Lower Limit Value 3 (**Sltn3)]
[Pr. PSB16_SLT torque lower limit value 3 (**SLTN3)] Initial value Setting range Setting method Ver. -15.0 [%] -1000.0 to 1000.0 Each axis Set the lower limit threshold for the safety torque if activating the SLT function via the SLT3 command. The STO function will activate if the torque falls below the threshold during torque monitoring via the SLT function.
Page 238: Network Parameters Group ([Pr. Psc
Select the transmission interval monitor time for safety communication. Set the transmission interval monitor time so that it matches the safety communication setting of the controller. This functional safety parameter can be used only with the MR-J5-G-RJ and MR-J5D_-_G_. [Pr. PSC03_Functional safety - Rotation direction selection/travel...
Page 239: Safety I/O Device Parameters Group ([Pr. Psd
Safety I/O device parameters group ([Pr. PSD_ _ ]) [Pr. PSD01_Input device automatic activation selection (**SDIA)] Initial value Setting range Setting method Ver. 00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No. This setting is enabled only when using an input device. This setting allows for automatic activation of the SLS function, SLT function, and SDI function.
Page 240: [Pr. Psd02_Input Device Selection Di1 (**Sdi1)]
[Pr. PSD01.2_SDIC function automatic activation selection] Initial value Setting range Ver. Refer to the text Setting digit (BIN) Explanation _ _ _ x SDIPC (SDIP command) 0: Do not perform automatic activation 1: Perform automatic activation _ _ x _ SDINC (SDIN command) 0: Do not perform automatic activation 1: Perform automatic activation...
Page 241 [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 242: [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 243: [Pr. Psd12_Input Device - Noise Elimination Filter Time Di1 (**Sdif1)]
[Pr. PSD08.3_Output axis selection DO1] Initial value Setting range Ver. Refer to the text 0: All axes 1: A-axis 2: B-axis 3: C-axis If the setting value is 1, the device name is _ _ _-A. (example: "STOS-A") If the setting value is 2, the device name is _ _ _-B. (example: "STOS-B") If the setting value is 3, the device name is _ _ _-C.
Page 244: [Pr. Psd18_Permissible Time For Mismatches Di1 (**Sdidt1)]
[Pr. PSD18_Permissible time for mismatches DI1 (**SDIDT1)] Initial value Setting range Setting method Ver. 20 [ms] 0 to 60000 Common Select the threshold of mismatched time for the input signal of the CN8-4/CN8-5 pin. If the mismatched time for the input signal of the CN8-4/CN8-5 pin exceeds the time set in this parameter, [AL. 557 Input device mismatch detection (safety sub-function)] occurs.
Page 245: [Pr. Psd31_Output Device - Feedback Diagnosis Execution Selection (**Sdod1)]
[Pr. PSD31_Output device - Feedback diagnosis execution selection (**SDOD1)] Initial value Setting range Setting method Ver. 00001111h Refer to the relevant detail No. Common Refer to the relevant detail No. [Pr. PSD31.0_Feedback diagnosis execution selection DO1] Initial value Setting range Ver.
Page 246: Chapter 8 Lists Of Functional Safety Parameter Initial Values
LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES Safety sub-function 1 parameters group ([Pr. PSA_ _ ]) Initial value PSA01 00000000h PSA02 00000000h PSA03 1000 PSA04 PSA05 PSA06 00000000h PSA07 1000 PSA08 1000 PSA09 1000 PSA10 1000 PSA11 PSA12 PSA13 PSA14 PSA15 PSA16 00000000h...
Page 247 Initial value PSA42 00000000h PSA43 00000000h PSA44 00000000h PSA45 00000000h PSA46 00000000h PSA47 00000000h PSA48 00000000h PSA49 00000000h PSA50 00000000h PSA51 00000000h PSA52 00000000h PSA53 00000000h PSA54 00000000h PSA55 00000000h PSA56 00000000h PSA57 00000000h PSA58 00000000h PSA59 00000000h PSA60 00000000h PSA61 00000000h PSA62...
Page 248: Safety Sub-Function 2 Parameters Group ([Pr. Psb
Safety sub-function 2 parameters group ([Pr. PSB_ _ ]) Initial value PSB01 00000000h PSB02 PSB03 00000000h PSB04 00000000h PSB05 00000000h PSB06 PSB07 00000000h PSB08 00000000h PSB09 00000000h PSB10 15.0 PSB11 15.0 PSB12 15.0 PSB13 15.0 PSB14 -15.0 PSB15 -15.0 PSB16 -15.0 PSB17 -15.0...
Page 249 Initial value PSB47 00000000h PSB48 00000000h PSB49 00000000h PSB50 00000000h PSB51 00000000h PSB52 00000000h PSB53 00000000h PSB54 00000000h PSB55 00000000h PSB56 00000000h PSB57 00000000h PSB58 00000000h PSB59 00000000h PSB60 00000000h PSB61 00000000h PSB62 00000000h PSB63 00000000h PSB64 00000000h 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.2 Safety sub-function 2 parameters group ([Pr.
Page 250: Network Parameters Group ([Pr. Psc
Network parameters group ([Pr. PSC_ _ ]) Initial value PSC01 PSC02 00000000h PSC03 00000010h PSC04 PSC05 00000000h PSC06 FFFFFFFFh PSC07 00000000h PSC08 00000000h PSC09 00000000h PSC10 00000000h PSC11 00000000h PSC12 00000000h PSC13 00000000h PSC14 00000000h PSC15 00000000h PSC16 00000000h PSC17 00000000h PSC18 00000000h...
Page 251: Safety I/O Device Parameters Group ([Pr. Psd
Safety I/O device parameters group ([Pr. PSD_ _ ]) Initial value PSD01 00000000h PSD02 00000000h PSD03 00000000h PSD04 00000000h PSD05 00000000h PSD06 00000000h PSD07 00000000h PSD08 00000000h PSD09 00000000h PSD10 00000000h PSD11 00000000h PSD12 00000001h PSD13 00000001h PSD14 00000001h PSD15 00000001h PSD16 00000001h...
Page 252 Initial value PSD48 00000000h PSD49 00000000h PSD50 00000000h PSD51 00000000h PSD52 00000000h PSD53 00000000h PSD54 00000000h PSD55 00000000h PSD56 00000000h PSD57 00000000h PSD58 00000000h PSD59 00000000h PSD60 00000000h PSD61 00000000h PSD62 00000000h PSD63 00000000h PSD64 00000000h 8 LISTS OF FUNCTIONAL SAFETY PARAMETER INITIAL VALUES 8.4 Safety I/O device parameters group ([Pr.
Page 253: Extension Setting 3 Parameters Group ([Pr. Psl
Extension setting 3 parameters group ([Pr. PSL_ _ Initial value PSL01 00000000h PSL02 1000 PSL03 1000 PSL04 00000000h PSL05 00000000h PSL06 00000000h PSL07 00000000h PSL08 00000000h PSL09 00000000h PSL10 00000000h PSL11 00000000h PSL12 00000000h PSL13 00000000h PSL14 00000000h PSL15 00000000h PSL16 00000000h PSL17...
Page 254: Chapter 9 Functional Safety Parameter Setting Method
METHOD Engineering tool Functional safety parameters can be set using an engineering tool manufactured by Mitsubishi Electric (MR Configurator2). Connect a personal computer and the servo amplifier via a USB cable or a network. For details on how to set servo parameters, refer to Help or the manual for the engineering tool.
Page 255 MEMO 9 FUNCTIONAL SAFETY PARAMETER SETTING METHOD 9.1 Engineering tool...
Page 256: Revisions
CC-Link IE TSN Class A This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 257: Warranty
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.
Page 258: Trademarks
TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030308ENG-G...
Page 260 SH(NA)-030308ENG-G(2207)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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