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MR-J5W-B
Mitsubishi Electric MR-J5W-B Manuals
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Mitsubishi Electric MR-J5W-B manuals available for free PDF download: User Manual
Mitsubishi Electric MR-J5W-B User Manual (158 pages)
Brand:
Mitsubishi Electric
| Category:
DC Drives
| Size: 1.6 MB
Table of Contents
Safety Instructions
3
About the Manual
5
U.s. Customary Units
5
Table of Contents
6
Chapter 1 Servo Parameter Details
12
Explanation of Servo Parameters
13
Basic Setting Servo Parameters Group ([Pr. PA
14
[Pr. Pa01_Operation Mode (**STY)]
14
[Pr. Pa02_Regenerative Option (**REG)]
15
[Pr. Pa03_Absolute Position Detection System (*ABS)]
17
[Pr. Pa04_Function Selection A-1 (*AOP1)]
18
[Pr. Pa06_Electronic Gear Numerator (*CMX)]
18
[Pr. Pa07_Electronic Gear Denominator (*CDV)]
18
[Pr. Pa08_Auto Tuning Mode (ATU)]
19
[Pr. Pa09_Auto Tuning Response (RSP)]
21
[Pr. Pa10_In-Position Range (INP)]
22
[Pr. Pa14_Travel Direction Selection (*POL)]
22
[Pr. Pa15_Encoder Output Pulses (*ENR)]
24
[Pr. Pa16_Encoder Output Pulses 2 (*ENR2)]
24
[Pr. Pa17_Servo Motor Series Setting (**MSR)]
25
[Pr. Pa18_Servo Motor Type Setting (**MTY)]
26
[Pr. Pa20_Tough Drive Setting (*TDS)]
26
[Pr. Pa21_Function Selection A-3 (*AOP3)]
27
[Pr. Pa22_Position Control Configuration Selection (**PCS)]
27
[Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (DRAT)]
28
[Pr. Pa24_Function Selection A-4 (AOP4)]
29
[Pr. Pa25_One-Touch Tuning - Overshoot Permissible Level (OTHOV)]
29
[Pr. Pa26_Function Selection A-5 (*AOP5)]
29
[Pr. Pa28_Function Selection A-6 (**AOP6)]
30
[Pr. Pa34_Quick Tuning - Permissible Travel Distance (QDIS)]
30
Gain/Filter Setting Servo Parameters Group ([Pr. PB
31
[Pr. Pb01_Adaptive Tuning Mode (Adaptive Filter II) (FILT)]
31
[Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control II) (VRFT)]
32
[Pr. Pb03_Torque Feedback Loop Gain (TFBGN)]
32
[Pr. Pb04_Feed Forward Gain (FFC)]
32
[Pr. Pb06_Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2)]
33
[Pr. Pb07_Model Control Gain
33
[Pr. Pb08_Position Control Gain
34
[Pr. Pb09_Speed Control Gain (VG2)]
34
[Pr. Pb10_Speed Integral Compensation (VIC)]
34
[Pr. Pb11_Speed Differential Compensation (VDC)]
35
[Pr. Pb12_Overshoot Amount Compensation (OVA)]
35
[Pr. Pb13_Machine Resonance Suppression Filter 1 (NH1)]
35
[Pr. Pb14_Notch Shape Selection 1 (NHQ1)]
36
[Pr. Pb15_Machine Resonance Suppression Filter 2 (NH2)]
36
[Pr. Pb16_Notch Shape Selection 2 (NHQ2)]
37
[Pr. Pb17_Shaft Resonance Suppression Filter (NHF)]
38
[Pr. Pb18_Low-Pass Filter Setting (LPF)]
41
[Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (VRF11)]
42
[Pr. Pb20_Vibration Suppression Control 1 - Resonance Frequency (VRF12)]
42
[Pr. Pb21_Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13)]
42
[Pr. Pb22_Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14)]
42
[Pr. Pb23_Low-Pass Filter Selection (VFBF)]
43
[Pr. Pb24_Slight Vibration Suppression Control (*MVS)]
44
[Pr. Pb25_Function Selection B-1 (*BOP1)]
44
[Pr. Pb26_Gain Switching Function (*CDP)]
45
[Pr. Pb27_Gain Switching Condition (CDL)]
46
[Pr. Pb28_Gain Switching Time Constant (CDT)]
46
[Pr. Pb29_Gain Switching - Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2B)]
47
[Pr. Pb30_Gain Switching - Position Control Gain (PG2B)]
47
[Pr. Pb31_Gain Switching - Speed Control Gain (VG2B)]
47
[Pr. Pb32_Gain Switching - Speed Integral Compensation (VICB)]
47
[Pr. Pb33_Gain Switching - Vibration Suppression Control 1 - Vibration Frequency (VRF11B)]
47
[Pr. Pb34_Gain Switching - Vibration Suppression Control 1 - Resonance Frequency (VRF12B)]
48
[Pr. Pb35_Gain Switching - Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13B)]
48
[Pr. Pb36_Gain Switching - Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14B)]
48
[Pr. Pb45_Command Notch Filter (CNHF)]
49
[Pr. Pb46_Machine Resonance Suppression Filter 3 (NH3)]
52
[Pr. Pb47_Notch Shape Selection 3 (NHQ3)]
52
[Pr. Pb48_Machine Resonance Suppression Filter 4 (NH4)]
53
[Pr. Pb49_Notch Shape Selection 4 (NHQ4)]
53
[Pr. Pb50_Machine Resonance Suppression Filter 5 (NH5)]
54
[Pr. Pb51_Notch Shape Selection 5 (NHQ5)]
54
[Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (VRF21)]
55
[Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (VRF22)]
55
[Pr. Pb54_Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23)]
55
[Pr. Pb55_Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24)]
55
[Pr. Pb56_Gain Switching - Vibration Suppression Control 2 - Vibration Frequency (VRF21B)]
56
[Pr. Pb57_Gain Switching - Vibration Suppression Control 2 - Resonance Frequency (VRF22B)]
56
[Pr. Pb58_Gain Switching - Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23B)]
56
[Pr. Pb59_Gain Switching - Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24B)]
57
[Pr. Pb60_Gain Switching - Model Control Gain (PG1B)]
57
[Pr. Pb65_Gain Switching 2 Condition (CDL2)]
57
[Pr. Pb66_Gain Switching 2 Time Constant (CDT2)]
58
[Pr. Pb67_Gain Switching 2 - Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2C)]
58
[Pr. Pb68_Gain Switching 2 - Position Control Gain (PG2C)]
58
[Pr. Pb69_Gain Switching 2 - Speed Control Gain (VG2C)]
58
[Pr. Pb70_Gain Switching 2 - Speed Integral Compensation (VICC)]
58
[Pr. Pb71_Gain Switching 2 - Vibration Suppression Control 1 - Vibration Frequency (VRF11C)]
59
[Pr. Pb72_Gain Switching 2 - Vibration Suppression Control 1 - Resonance Frequency (VRF12C)]
59
[Pr. Pb73_Gain Switching 2 - Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13C)]
59
[Pr. Pb74_Gain Switching 2 - Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14C)]
60
[Pr. Pb75_Gain Switching 2 - Vibration Suppression Control 2 - Vibration Frequency (VRF21C)]
60
[Pr. Pb76_Gain Switching 2 - Vibration Suppression Control 2 - Resonance Frequency (VRF22C)]
60
[Pr. Pb77_Gain Switching 2 - Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23C)]
61
[Pr. Pb78_Gain Switching 2 - Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24C)]
61
[Pr. Pb79_Gain Switching 2 - Model Control Gain (PG1C)]
61
[Pr. Pb81_Command Filter (*CFIL)]
62
[Pr. Pb82_Position Command Smoothing Filter Time Constant (PFT)]
62
Extension Setting Servo Parameters Group ([Pr. PC
63
[Pr. Pc01_Excessive Error Alarm Trigger Level (ERZ)]
63
[Pr. Pc02_Electromagnetic Brake Sequence Output (MBR)]
63
[Pr. Pc03_Encoder Output Pulses Selection (*ENRS)]
63
[Pr. Pc04_Function Selection C-1 (**COP1)]
66
[Pr. Pc05_Function Selection C-2 (**COP2)]
66
[Pr. Pc06_Function Selection C-3 (*COP3)]
67
[Pr. Pc07_Zero Speed (ZSP)]
67
[Pr. Pc08_Overspeed Alarm Detection Level (OSL)]
67
[Pr. Pc09_Analog Monitor 1 Output (MOD1)]
68
[Pr. Pc10_Analog Monitor 2 Output (MOD2)]
69
[Pr. Pc11_Analog Monitor 1 Offset (MO1)]
69
[Pr. Pc12_Analog Monitor 2 Offset (MO2)]
69
[Pr. Pc17_Function Selection C-4 (**COP4)]
69
[Pr. Pc18_Function Selection C-5 (*COP5)]
70
[Pr. Pc19_Function Selection C-6 (*COP6)]
70
[Pr. Pc20_Function Selection C-7 (*COP7)]
71
[Pr. Pc21_Alarm History Clear (*BPS)]
72
[Pr. Pc24_Deceleration Time Constant at Forced Stop (RSBR)]
72
[Pr. Pc26_Function Selection C-8 (**COP8)]
73
[Pr. Pc27_Function Selection C-9 (**COP9)]
73
[Pr. Pc29_Function Selection C-B (*COPB)]
74
[Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (RSUP1)]
75
[Pr. Pc38_Excessive Error Warning Trigger Level (ERW)]
75
[Pr. Pc84_Servo Amplifier Replacement Data 1 (SVDT1)]
75
[Pr. Pc85_Servo Amplifier Replacement Data 2 (SVDT2)]
75
[Pr. Pc86_Servo Amplifier Replacement Data 3 (SVDT3)]
76
[Pr. Pc87_Servo Amplifier Replacement Data 4 (SVDT4)]
76
[Pr. Pc88_Servo Amplifier Replacement Data 5 (SVDT5)]
76
[Pr. Pc89_Servo Amplifier Replacement Data 6 (SVDT6)]
76
[Pr. Pc90_Servo Amplifier Replacement Data 7 (SVDT7)]
76
[Pr. Pc91_Servo Amplifier Replacement Data 8 (SVDT8)]
77
[Pr. Pc92_Servo Amplifier Replacement Data 9 (SVDT9)]
77
[Pr. Pc93_Servo Amplifier Replacement Data 10 (SVDT10)]
77
[Pr. Pc94_Servo Amplifier Replacement Data 11 (SVDT11)]
77
[Pr. Pc95_Servo Amplifier Replacement Data 12 (SVDT12)]
77
I/O Setting Servo Parameters Group ([Pr. PD
78
[Pr. Pd02_Input Signal Automatic on Selection 2 (*DIA2)]
78
[Pr. Pd07_Output Device Selection 1 (*DO1)]
79
[Pr. Pd08_Output Device Selection 2 (*DO2)]
80
[Pr. Pd09_Output Device Selection 3 (*DO3)]
81
[Pr. Pd11_Input Filter Setting (*DIF)]
82
[Pr. Pd12_Function Selection D-1 (*DOP1)]
82
[Pr. Pd13_Function Selection D-2 (*DOP2)]
83
[Pr. Pd14_Function Selection D-3 (*DOP3)]
83
[Pr. Pd15_Driver Communication Setting (*IDCS)]
84
[Pr. Pd16_Driver Communication Setting - Master - Transmit Data Selection 1 (*MD1)]
84
[Pr. Pd17_Driver Communication Setting - Master - Transmit Data Selection 2 (*MD2)]
84
[Pr. Pd20_Driver Communication Setting - Slave - Master Axis No. Selection 1 (*SLA1)]
84
[Pr. Pd30_Master-Slave Operation - Slave-Side Torque Command Coefficient (TLS)]
85
[Pr. Pd31_Master-Slave Operation - Slave-Side Speed Limit Coefficient (VLC)]
85
[Pr. Pd32_Master-Slave Operation - Slave-Side Speed Limit Adjusted Value (VLL)]
85
Extension Setting 2 Servo Parameters Group ([Pr. PE
86
[Pr. Pe01_Fully Closed Loop Control Function Selection 1 (**FCT1)]
86
[Pr. Pe03_Fully Closed Loop Control Function Selection 2 (*FCT2)]
87
[Pr. Pe04_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Numerator (**FBN)]
88
[Pr. Pe05_Fully Closed Loop Control - Feedback Pulse Electronic Gear 1 - Denominator (**FBD)]
88
[Pr. Pe06_Fully Closed Loop Control - Speed Deviation Error Detection Level (BC1)]
88
[Pr. Pe07_Fully Closed Loop Control - Position Deviation Error Detection Level (BC2)]
88
[Pr. Pe08_Fully Closed Loop Dual Feedback Filter (DUF)]
88
[Pr. Pe10_Fully Closed Loop Function Selection 3 (FCT3)]
89
[Pr. Pe41_Function Selection E-3 (EOP3)]
89
[Pr. Pe44_Lost Motion Compensation Positive-Side Compensation Value Selection (LMCP)]
90
[Pr. Pe45_Lost Motion Compensation Negative-Side Compensation Value Selection (LMCN)]
90
[Pr. Pe46_Lost Motion Filter Setting (LMFLT)]
90
[Pr. Pe47_Unbalanced Torque Offset (TOF)]
90
[Pr. Pe48_Lost Motion Compensation Function Selection (*LMOP)]
91
[Pr. Pe49_Lost Motion Compensation Timing (LMCD)]
91
[Pr. Pe50_Lost Motion Compensation Dead Band (LMCT)]
91
[Pr. Pe51_Load-Side Encoder Resolution Setting (**EDV2)]
91
Extension Setting 3 Servo Parameters Group ([Pr. PF
92
[Pr. Pf02_Function Selection F-2 (*FOP2)]
92
[Pr. Pf06_Function Selection F-5 (*FOP5)]
93
[Pr. Pf12_Electronic Dynamic Brake Operating Time (DBT)]
93
[Pr. PF18_STO Diagnosis Error Detection Time (**STOD)]
94
[Pr. Pf19_Friction Failure Prediction - Compensation Coefficient 1 (TSL)]
94
[Pr. Pf20_Friction Failure Prediction - Compensation Coefficient 2 (TIC)]
94
[Pr. Pf21_Drive Recorder Switching Time Setting (DRT)]
95
[Pr. Pf23_Vibration Tough Drive - Oscillation Detection Level (OSCL1)]
95
[Pr. Pf24_Function Selection F-9 (*FOP9)]
95
[Pr. PF25_SEMI-F47 Function - Instantaneous Power Failure Detection Time (Instantaneous Power Failure Tough Drive Detection Time) (CVAT)]
96
[Pr. Pf31_Machine Diagnosis Function - Friction Estimate Area Judgment Speed at Low Speed (FRIC)]
96
[Pr. Pf34_Machine Diagnosis Function Selection (*MFP)]
97
[Pr. Pf40_Machine Failure Prediction Servo Parameter (MFPP)]
99
[Pr. Pf41_Failure Prediction - Servo Motor Total Travel Distance (FPMT)]
101
[Pr. Pf42_Friction Failure Prediction - Average Characteristics (PAV)]
101
[Pr. Pf43_Friction Failure Prediction - Standard Deviation (PSD)]
101
[Pr. Pf45_Vibration Failure Prediction - Average Characteristics (VAV)]
101
[Pr. Pf46_Vibration Failure Prediction - Standard Deviation (VSD)]
102
[Pr. Pf47_Servo Motor Total Travel Distance Offset (TMO)]
102
[Pr. Pf63_Function Selection F-15 (*FOP15)]
102
[Pr. Pf66_Gear Setting for Backlash Estimation (BLG)]
103
[Pr. Pf67_Backlash Nominal Value (BLN)]
104
[Pr. Pf68_Backlash Threshold Multiplication (BLTT)]
104
[Pr. Pf69_Static Friction Failure Prediction - Average Characteristics (SPAV2)]
104
[Pr. Pf70_Static Friction Failure Prediction - Standard Deviation (SPSD2)]
104
[Pr. Pf71_Belt Failure Prediction Function Selection (BFP)]
105
[Pr. Pf72_Belt Tension on Installation (SBT)]
105
[Pr. Pf73_Belt Tension When Extended (ABT)]
105
[Pr. Pf74_Static Friction During Installation (SSF)]
106
[Pr. Pf75_Static Friction When Extended (ASF)]
106
[Pr. Pf76_Belt Tension Irregular Threshold (BTS)]
106
[Pr. Pf80_Drive Recorder - Operation Condition Selection (DRMC)]
107
[Pr. Pf81_Drive Recorder - Sampling Operation Selection (DRMS)]
108
[Pr. Pf82_Drive Recorder - Trigger Operation Selection (DRTM)]
109
[Pr. Pf83_Drive Recorder - Trigger Operation Axis Common Selection (**DRTAX)]
111
[Pr. Pf84_Drive Recorder - Trigger Channel Selection (DRTC)]
112
[Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (DRTL1)]
113
[Pr. Pf86_Drive Recorder - Trigger Level Setting 2 (DRTL2)]
113
[Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (DRAC1)]
114
[Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (DRAC2)]
116
[Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (DRAC3)]
117
[Pr. Pf90_Drive Recorder - Analog Channel Setting 4 (DRAC4)]
117
[Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (DRDC1)]
118
[Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (DRDC2)]
120
[Pr. Pf93_Drive Recorder - Digital Channel Setting 3 (DRDC3)]
120
[Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (DRDC4)]
121
[Pr. Pf95_Drive Recorder - Clear History (*DRCLR)]
121
Motor Extension Setting Servo Parameters Group ([Pr. PL
122
[Pr. Pl01_Function Selection L-1 (**LIT1)]
122
[Pr. Pl02_Linear Encoder Resolution Setting - Numerator (**LIM)]
122
[Pr. Pl03_Linear Encoder Resolution Setting - Denominator (**LID)]
123
[Pr. Pl04_Function Selection L-2 (*LIT2)]
123
[Pr. Pl05_Position Deviation Error Detection Level (LB1)]
124
[Pr. Pl06_Speed Deviation Error Detection Level (LB2)]
124
[Pr. Pl07_Torque Deviation Error Detection Level (LB3)]
124
[Pr. Pl08_Function Selection L-3 (*LIT3)]
125
[Pr. Pl09_Magnetic Pole Detection Voltage Level (LPWM)]
125
[Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (LTSTS)]
126
Chapter 2 Lists of Servo Parameter Supported Modes
129
Structure
129
Lists of Supported Control Modes
130
Basic Setting Servo Parameters Group ([Pr. PA
130
Gain/Filter Setting Servo Parameters Group ([Pr. PB
131
Extension Setting Servo Parameters Group ([Pr. PC
133
I/O Setting Servo Parameters Group ([Pr. PD
134
Extension Setting 2 Servo Parameters Group ([Pr. PE
135
Extension Setting 3 Servo Parameters Group ([Pr. PF
136
Motor Extension Setting Servo Parameters Group ([Pr. PL
137
Chapter 3 Lists of Servo Parameter Initial Values
138
Basic Setting Servo Parameters Group ([Pr. PA
138
Gain/Filter Setting Servo Parameters Group ([Pr. PB
140
Extension Setting Servo Parameters Group ([Pr. PC
142
I/O Setting Servo Parameters Group ([Pr. PD
144
Extension Setting 2 Servo Parameters Group ([Pr. PE
146
Extension Setting 3 Servo Parameters Group ([Pr. PF
148
Motor Extension Setting Servo Parameters Group ([Pr. PL
150
Chapter 4 Servo Parameter Setting Method
152
Engineering Tool
152
Controller
152
Revisions
154
Warranty
155
Trademarks
156
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Mitsubishi Electric MR-J5W-B User Manual (78 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 2.51 MB
Table of Contents
Safety Instructions
3
About the Manual
5
Disposal of Waste
5
U.s. Customary Units
6
Table of Contents
7
Chapter 1 Specifications
9
Outline
9
Model Designation
9
Servo Amplifier/Motor Combinations
11
Servo Amplifier Standard Specifications
12
Mr-J5-_B
12
Mr-J5W2-_B
15
Mr-J5W3-_B
17
Functional Safety
19
Environment
19
Function Block Diagram
20
Mr-J5-_B
20
Mr-J5W_-_B
22
Configuration Including Peripheral Equipment
23
Special Specifications
24
Servo Amplifiers Without the Dynamic Brake (-ED/-RU)
24
Chapter 2 Function
25
Function List
25
Security
32
Chapter 3 Structure
33
Parts Identification
33
Switch Setting and Display of the Servo Amplifier
37
Switches
37
7-Segment LED
42
Status Leds
46
Chapter 4 Startup
47
Turning on Servo Amplifier for the First Time
51
Test Operation of the Servo Motor Alone in Test Operation Mode
52
Equipment Configuration Setting
53
Controller-Related Setting
53
Operation by Controller Command
54
Instructions on Startup
55
Troubleshooting at Startup
55
Duplicate Setting
56
Duplication Using MR Configurator2
56
Test Operation
56
Execution Method
56
Test Operation Mode
57
Motor Driving by Test Operation
58
Motor-Less Operation
61
Output Signal (DO) Forced Output
62
Servo Amplifier Setting Initialization
63
Initialization Procedure by MR Mode Change
63
Chapter 5 Maintenance, Inspection and Parts Replacement
64
Inspection Items
64
Periodic Inspection
64
Parts with a Service Life
65
Replacing Fan Unit
66
Chapter 6 Compliance with Global Standards
67
Compliance with Global Standards
67
Handling of AC Servo Amplifier Batteries for the United Nations Recommendations on the Transport of
67
Dangerous Goods
67
Target Model
67
Purpose
68
Handling During Transportation
68
Package at Our Shipment
69
Transportation Precaution for Customers
69
Symbol for the New EU Battery Directive
70
Compliance with China Compulsory Certification (CCC)
71
Compliance with the China Rohs Directive
72
Revisions
74
Warranty
75
Trademarks
76
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