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MELSERVO MR-JET-G Series
Mitsubishi Electric MELSERVO MR-JET-G Series Manuals
Manuals and User Guides for Mitsubishi Electric MELSERVO MR-JET-G Series. We have
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Mitsubishi Electric MELSERVO MR-JET-G Series manuals available for free PDF download: User Manual
Mitsubishi Electric MELSERVO MR-JET-G Series User Manual (126 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 9.11 MB
Table of Contents
Section 1
6
Safety Instructions
3
About the Manual
5
U.s. Customary Units
5
Table of Contents
6
Section 2
12
Chapter 1 Summary of Object Dictionary
16
Structure
16
Object Units
17
CHAPTER 2 General Objects
18
Device Type (Obj. 1000H)]
18
[Device Type (Obj. 1000H: 00H)]
18
Error Register (Obj. 1001H)]
18
[Error Register (Obj. 1001H: 00H)]
18
Manufacturer Device Name (Obj. 1008H)]
18
[Manufacturer Device Name (Obj. 1008H: 00H)]
18
Manufacturer Hardware Version (Obj. 1009H)]
19
[Manufacturer Hardware Version (Obj. 1009H: 00H)]
19
Manufacturer Software Version (Obj. 100Ah)]
19
[Manufacturer Software Version (Obj. 100Ah: 00H)]
19
Store Parameters (Obj. 1010H)]
19
[Store Parameters (Obj. 1010H: 00H)]
19
[Save All Parameters (Obj. 1010H: 01H)]
19
Restore Default Parameters (Obj. 1011H)]
20
[Restore Default Parameters (Obj. 1011H: 00H)]
20
[Restore All Default Parameters (Obj. 1011H: 01H)]
20
Identity Object (Obj. 1018H)]
21
[Identity Object (Obj. 1018H: 00H)]
21
[Vendor ID (Obj. 1018H: 01H)]
21
[Product Code (Obj. 1018H: 02H)]
21
[Revision Number (Obj. 1018H: 03H)]
21
[Serial Number (Obj. 1018H: 04H)]
21
Version Number (Obj. 67Feh)]
22
[Version Number (Obj. 67Feh: 00H)]
22
CHAPTER 3 PDO Mapping Objects
23
1St Receive PDO Mapping (Obj. 1600H)]
23
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
23
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
24
2Nd Receive PDO Mapping (Obj. 1601H)]
25
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
25
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
26
3Rd Receive PDO Mapping (Obj. 1602H)]
27
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
27
[Mapped Object 001 (Obj. 1602H: 01H)] - [Mapped Object 032 (Obj. 1602H: 20H)]
28
1St Transmit PDO Mapping (Obj. 1A00H)]
29
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
29
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
30
2Nd Transmit PDO Mapping (Obj. 1A01H)]
31
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
31
[Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
32
3Rd Transmit PDO Mapping (Obj. 1A02H)]
33
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
33
[Mapped Object 001 (Obj. 1A02H: 01H)] - [Mapped Object 032 (Obj. 1A02H: 20H)]
34
1St PDO Config (Obj. 1C00H)]
35
[1St PDO Config (Obj. 1C00H: 00H)]
35
[PDO Assignment (Obj. 1C00H: 01H)]
35
[PDO Enable (Obj. 1C00H: 02H)]
35
[Error Handling (Obj. 1C00H: 03H)]
35
[Memory Address (Obj. 1C00H: 04H)]
36
2Nd PDO Config (Obj. 1C01H)]
37
[2Nd PDO Config (Obj. 1C01H: 00H)]
37
[PDO Assignment (Obj. 1C01H: 01H)]
37
[PDO Enable (Obj. 1C01H: 02H)]
37
[Error Handling (Obj. 1C01H: 03H)]
37
[Memory Address (Obj. 1C01H: 04H)]
38
CHAPTER 4 Sync Manager Communication Objects
39
CAN Profile Version (Obj. 1D00H)]
39
[CAN Profile Version (Obj. 1D00H: 00H)]
39
Watchdog Counter DL (Obj. 1D01H)]
39
[Watchdog Counter DL (Obj. 1D01H: 00H)]
39
[Watchdog Counter DL 1 (Obj. 1D01H: 01H)]
39
Watchdog Counter UL (Obj. 1D02H)]
40
[Watchdog Counter UL (Obj. 1D02H: 00H)]
40
[Watchdog Counter UL 1 (Obj. 1D02H: 01H)]
40
CHAPTER 5 Parameter Objects
41
PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
41
PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
41
PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
41
PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
41
PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]
41
PF01 (Obj. 2281H)] - [PF99 (Obj. 22E3H)]
41
PL01 (Obj. 2401H)] - [PL72 (Obj. 2448H)]
41
PT01 (Obj. 2481H)] - [PT90 (Obj. 24Dah)]
41
PN01 (Obj. 2581H)] - [PN32 (Obj. 25A0H)]
41
PV Group Parameters (Obj. 2691H)]
42
[PV Group Parameters (Obj. 2691H: 00H)]
42
[PV01 (Obj. 2691H: 01H)] - [PV32 (Obj. 2691H: 20H)]
42
CHAPTER 6 Alarm Objects
43
Alarm History Newest (Obj. 2A00H)]
43
[Alarm History Newest (Obj. 2A00H: 00H)]
43
[Alarm No. (Obj. 2A00H: 01H)]
43
[Alarm Time (Hour) (Obj. 2A00H: 02H)]
43
[Alarm2 No. (Obj. 2A00H: 03H)]
43
[Alarm Time (Second) (Obj. 2A00H: 04H)]
44
[Alarm Time (Nanosecond) (Obj. 2A00H: 05H)]
44
[Alarm Time (Time Zone) (Obj. 2A00H: 06H)]
44
[Alarm Time (Summer Time) (Obj. 2A00H: 07H)]
44
Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]
45
Clear Alarm History (Obj. 2A40H)]
45
[Clear Alarm History (Obj. 2A40H: 00H)]
45
Current Alarm (Obj. 2A41H)]
45
[Current Alarm (Obj. 2A41H: 00H)]
45
Parameter Error Number (Obj. 2A44H)]
45
[Parameter Error Number (Obj. 2A44H: 00H)]
45
Parameter Error List (Obj. 2A45H)]
46
[Parameter Error List (Obj. 2A45H: 00H)]
46
[Parameter Error List 1 (Obj. 2A45H: 01H)] - [Parameter Error List 254 (Obj. 2A45H: Feh)]
46
Reset Alarm (Obj. 2A46H)]
46
[Reset Alarm (Obj. 2A46H: 00H)]
46
Drive Recorder History Newest (Obj. 2A70H)]
47
[Drive Recorder History Newest (Obj. 2A70H: 00H)]
47
[Drive Recorder History Index (Obj. 2A70H: 01H)]
47
[Drive Recorder History Alarm Number (Obj. 2A70H: 02H)]
47
[Drive Recorder History Power on Time (Obj. 2A70H: 03H)]
47
[Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]
48
[Drive Recorder History Time (Nanosecond) (Obj. 2A70H: 05H)]
48
[Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]
48
[Drive Recorder History (Summer Time) (Obj. 2A70H: 07H)]
48
Drive Recorder History_1 (Obj. 2A71H)] - [Drive Recorder History_15 (Obj. 2A7Fh)]
48
CHAPTER 7 Monitor Objects
49
Cumulative Feedback Pulses (Obj. 2B01H)]
49
[Cumulative Feedback Pulses (Obj. 2B01H: 00H)]
49
Servo Motor Speed (Obj. 2B02H)]
49
[Servo Motor Speed (Obj. 2B02H: 00H)]
49
Droop Pulses (Obj. 2B03H)]
49
[Droop Pulses (Obj. 2B03H: 00H)]
49
Cumulative Command Pulses (Obj. 2B04H)]
49
[Cumulative Command Pulses (Obj. 2B04H: 00H)]
49
Command Pulse Frequency (Obj. 2B05H)]
50
[Command Pulse Frequency (Obj. 2B05H: 00H)]
50
Regenerative Load Ratio (Obj. 2B08H)]
50
[Regenerative Load Ratio (Obj. 2B08H: 00H)]
50
Effective Load Ratio (Obj. 2B09H)]
50
[Effective Load Ratio (Obj. 2B09H: 00H)]
50
Peak Load Ratio (Obj. 2B0Ah)]
50
[Peak Load Ratio (Obj. 2B0Ah: 00H)]
50
Instantaneous Torque (Obj. 2B0Bh)]
51
[Instantaneous Torque (Obj. 2B0Bh: 00H)]
51
Within One-Revolution Position (Obj. 2B0Ch)]
51
[Within One-Revolution Position (Obj. 2B0Ch: 00H)]
51
ABS Counter (Obj. 2B0Dh)]
51
[ABS Counter (Obj. 2B0Dh: 00H)]
51
Load Inertia Moment Ratio (Obj. 2B0Eh)]
51
[Load Inertia Moment Ratio (Obj. 2B0Eh: 00H)]
51
Bus Voltage (Obj. 2B0Fh)]
52
[Bus Voltage (Obj. 2B0Fh: 00H)]
52
Motor-Side Cumu. Feedback Pulses (before Gear) (Obj. 2B18H)]
52
[Motor-Side Cumu. Feedback Pulses (before Gear) (Obj. 2B18H: 00H)]
52
Electrical Angle (Obj. 2B19H)]
52
[Electrical Angle (Obj. 2B19H: 00H)]
52
Internal Temperature of Encoder (Obj. 2B25H)]
52
[Internal Temperature of Encoder (Obj. 2B25H: 00H)]
52
Settling Time (Obj. 2B26H)]
53
[Settling Time (Obj. 2B26H: 00H)]
53
Oscillation Detection Frequency (Obj. 2B27H)]
53
[Oscillation Detection Frequency (Obj. 2B27H: 00H)]
53
Number of Tough Drive Operations (Obj. 2B28H)]
53
[Number of Tough Drive Operations (Obj. 2B28H: 00H)]
53
Internal Temperature of Amplifier (Obj. 2B2Ah)]
53
[Internal Temperature of Amplifier (Obj. 2B2Ah: 00H)]
53
Unit Power Consumption (Obj. 2B2Dh)]
54
[Unit Power Consumption (Obj. 2B2Dh: 00H)]
54
Unit Total Power Consumption (Obj. 2B2Eh)]
54
[Unit Total Power Consumption (Obj. 2B2Eh: 00H)]
54
Error Excessive Alarm Margin (Obj. 2B3Fh)]
54
[Error Excessive Alarm Margin (Obj. 2B3Fh: 00H)]
54
Overload Alarm Margin (Obj. 2B40H)]
54
[Overload Alarm Margin (Obj. 2B40H: 00H)]
54
Overshoot Amount (Obj. 2B41H)]
55
[Overshoot Amount (Obj. 2B41H: 00H)]
55
Torque/Thrust Equivalent to Disturbance (Obj. 2B42H)]
55
[Torque/Thrust Equivalent to Disturbance (Obj. 2B42H: 00H)]
55
Unit Power Consumption 2 (Obj. 2B43H)]
55
[Unit Power Consumption 2 (Obj. 2B43H: 00H)]
55
CHAPTER 8 Manufacturer Specific Control Object
56
Drive Recorder Status (Obj. 2C02H)]
56
[Drive Recorder Status (Obj. 2C02H: 00H)]
56
Clear Drive Recorder History (Obj. 2C03H)]
56
[Clear Drive Recorder History (Obj. 2C03H: 00H)]
56
External Output Pin Display (Obj. 2C11H)]
57
[External Output Pin Display (Obj. 2C11H: 00H)]
57
[External Output Pin Display1 (Obj. 2C11H: 01H)]
57
Power on Cumulative Time (Obj. 2C18H)]
57
[Power on Cumulative Time (Obj. 2C18H: 00H)]
57
Number of Inrush Relay On/Off Times (Obj. 2C19H)]
57
[Number of Inrush Relay On/Off Times (Obj. 2C19H: 00H)]
57
Dynamic Relay ON/OFF Number (Obj. 2C1Ah)]
58
[Dynamic Relay ON/OFF Number (Obj. 2C1Ah: 00H)]
58
Machine Diagnostic Status (Obj. 2C20H)]
58
[Machine Diagnostic Status (Obj. 2C20H: 00H)]
58
Static Friction Torque at Forward Rotation (Obj. 2C21H)]
59
[Static Friction Torque at Forward Rotation (Obj. 2C21H: 00H)]
59
Dynamic Friction Torque at Forward Rotation (at Rated Speed) (Obj. 2C22H)]
59
[Encoder ID 1 (Obj. 2D48H: 03H)]
74
[Encoder ID 2 (Obj. 2D48H: 04H)]
75
One-Touch Tuning Mode (Obj. 2D50H)]
75
[One-Touch Tuning Mode (Obj. 2D50H: 00H)]
75
One-Touch Tuning Status (Obj. 2D51H)]
75
[One-Touch Tuning Status (Obj. 2D51H: 00H)]
75
One-Touch Tuning Stop (Obj. 2D52H)]
75
[One-Touch Tuning Stop (Obj. 2D52H: 00H)]
75
One-Touch Tuning Clear (Obj. 2D53H)]
76
[One-Touch Tuning Clear (Obj. 2D53H: 00H)]
76
One-Touch Tuning Error Code (Obj. 2D54H)]
76
[One-Touch Tuning Error Code (Obj. 2D54H: 00H)]
76
CHAPTER 9 PDS Control Objects
77
Controlword (Obj. 6040H)]
77
[Controlword (Obj. 6040H: 00H)]
77
Statusword (Obj. 6041H)]
80
[Statusword (Obj. 6041H: 00H)]
80
Quick Stop Option Code (Obj. 605Ah)]
83
[Quick Stop Option Code (Obj. 605Ah: 00H)]
83
Halt Option Code (Obj. 605Dh)]
84
[Halt Option Code (Obj. 605Dh: 00H)]
84
Modes of Operation (Obj. 6060H)]
85
[Modes of Operation (Obj. 6060H: 00H)]
85
Modes of Operation Display (Obj. 6061H)]
86
[Modes of Operation Display (Obj. 6061H: 00H)]
86
Supported Drive Modes (Obj. 6502H)]
87
[Supported Drive Modes (Obj. 6502H: 00H)]
87
CHAPTER 10 Position Control Function Objects
88
Position Actual Internal Value (Obj. 6063H)]
88
[Position Actual Internal Value (Obj. 6063H: 00H)]
88
Position Actual Value (Obj. 6064H)]
88
[Position Actual Value (Obj. 6064H: 00H)]
88
Following Error Window (Obj. 6065H)]
88
[Following Error Window (Obj. 6065H: 00H)]
88
Following Error Time out (Obj. 6066H)]
88
[Following Error Time out (Obj. 6066H: 00H)]
88
Position Window (Obj. 6067H)]
89
[Position Window (Obj. 6067H: 00H)]
89
Position Window Time (Obj. 6068H)]
89
[Position Window Time (Obj. 6068H: 00H)]
89
Positioning Option Code (Obj. 60F2H)]
90
[Positioning Option Code (Obj. 60F2H: 00H)]
90
Following Error Actual Value (Obj. 60F4H)]
90
[Following Error Actual Value (Obj. 60F4H: 00H)]
90
Control Effort (Obj. 60Fah)]
91
[Control Effort (Obj. 60Fah: 00H)]
91
CHAPTER 11 Profile Velocity Mode Objects
92
Velocity Demand Value (Obj. 606Bh)]
92
[Velocity Demand Value (Obj. 606Bh: 00H)]
92
Velocity Actual Value (Obj. 606Ch)]
92
[Velocity Actual Value (Obj. 606Ch: 00H)]
92
Velocity Window (Obj. 606Dh)]
93
[Velocity Window (Obj. 606Dh: 00H)]
93
Velocity Window Time (Obj. 606Eh)]
93
[Velocity Window Time (Obj. 606Eh: 00H)]
93
Velocity Threshold (Obj. 606Fh)]
93
[Velocity Threshold (Obj. 606Fh: 00H)]
93
Velocity Threshold Time (Obj. 6070H)]
94
[Velocity Threshold Time (Obj. 6070H: 00H)]
94
Target Velocity (Obj. 60Ffh)]
94
[Target Velocity (Obj. 60Ffh: 00H)]
94
CHAPTER 12 Profile Torque Mode Objects
95
Target Torque (Obj. 6071H)]
95
[Target Torque (Obj. 6071H: 00H)]
95
Max Torque (Obj. 6072H)]
95
[Max Torque (Obj. 6072H: 00H)]
95
Torque Demand Value (Obj. 6074H)]
95
[Torque Demand Value (Obj. 6074H: 00H)]
95
Torque Actual Value (Obj. 6077H)]
95
[Torque Actual Value (Obj. 6077H: 00H)]
95
Current Actual Value (Obj. 6078H)]
96
[Current Actual Value (Obj. 6078H: 00H)]
96
Torque Slope (Obj. 6087H)]
96
[Torque Slope (Obj. 6087H: 00H)]
96
Torque Profile Type (Obj. 6088H)]
96
[Torque Profile Type (Obj. 6088H: 00H)]
96
Positive Torque Limit Value (Obj. 60E0H)]
97
[Positive Torque Limit Value (Obj. 60E0H: 00H)]
97
Negative Torque Limit Value (Obj. 60E1H)]
97
[Negative Torque Limit Value (Obj. 60E1H: 00H)]
97
CHAPTER 13 Profile Position Mode Objects
98
Target Position (Obj. 607Ah)]
98
[Target Position (Obj. 607Ah: 00H)]
98
Position Range Limit (Obj. 607Bh)]
99
[Position Range Limit (Obj. 607Bh: 00H)]
99
[Min Position Range Limit (Obj. 607Bh: 01H)]
99
[Max Position Range Limit (Obj. 607Bh: 02H)]
99
Software Position Limit (Obj. 607Dh)]
100
[Software Position Limit (Obj. 607Dh: 00H)]
100
[Min Position Limit (Obj. 607Dh: 01H)]
100
[Max Position Limit (Obj. 607Dh: 02H)]
100
Max Profile Velocity (Obj. 607Fh)]
101
[Max Profile Velocity (Obj. 607Fh: 00H)]
101
Max Motor Speed (Obj. 6080H)]
101
[Max Motor Speed (Obj. 6080H: 00H)]
101
Profile Velocity (Obj. 6081H)]
102
[Profile Velocity (Obj. 6081H: 00H)]
102
Profile Acceleration (Obj. 6083H)]
102
[Profile Acceleration (Obj. 6083H: 00H)]
102
Profile Deceleration (Obj. 6084H)]
103
[Profile Deceleration (Obj. 6084H: 00H)]
103
Quick Stop Deceleration (Obj. 6085H)]
103
[Quick Stop Deceleration (Obj. 6085H: 00H)]
103
Motion Profile Type (Obj. 6086H)]
104
[Motion Profile Type (Obj. 6086H: 00H)]
104
CHAPTER 14 Homing Mode Objects
105
Home Offset (Obj. 607Ch)]
105
[Home Offset (Obj. 607Ch: 00H)]
105
Homing Method (Obj. 6098H)]
105
[Homing Method (Obj. 6098H: 00H)]
105
Homing Speeds (Obj. 6099H)]
106
[Homing Speeds (Obj. 6099H: 00H)]
106
[Speed During Search for Switch (Obj. 6099H: 01H)]
106
[Speed During Search for Zero (Obj. 6099H: 02H)]
106
Homing Acceleration (Obj. 609Ah)]
107
[Homing Acceleration (Obj. 609Ah: 00H)]
107
Supported Homing Method (Obj. 60E3H)]
107
[Supported Homing Method (Obj. 60E3H: 00H)]
107
[1St Supported Homing Method (Obj. 60E3H: 01H)] - [41St Supported Homing Method (Obj. 60E3H: 29H)]
108
CHAPTER 15 Factor Group Objects
109
Polarity (Obj. 607Eh)]
109
[Polarity (Obj. 607Eh: 00H)]
109
Position Encoder Resolution (Obj. 608Fh)]
110
[Position Encoder Resolution (Obj. 608Fh: 00H)]
110
[Encoder Increments (Obj. 608Fh: 01H)]
110
[Motor Revolutions (Obj. 608Fh: 02H)]
110
Gear Ratio (Obj. 6091H)]
111
[Gear Ratio (Obj. 6091H: 00H)]
111
[Motor Revolutions (Obj. 6091H: 01H)]
111
[Shaft Revolutions (Obj. 6091H: 02H)]
111
Feed Constant (Obj. 6092H)]
112
[Feed Constant (Obj. 6092H: 00H)]
112
[Feed (Obj. 6092H: 01H)]
112
[Shaft Revolutions (Obj. 6092H: 02H)]
112
Unit Position (Obj. 60A8H)]
112
[SI Unit Position (Obj. 60A8H: 00H)]
112
Unit Velocity (Obj. 60A9H)]
113
[SI Unit Velocity (Obj. 60A9H: 00H)]
113
Unit Acceleration (Obj. 60Aah)]
113
[SI Unit Acceleration (Obj. 60Aah: 00H)]
113
CHAPTER 16 Optional Application FE Objects
114
Digital Inputs (Obj. 60Fdh)]
114
[Digital Inputs (Obj. 60Fdh: 00H)]
114
Digital Outputs (Obj. 60Feh)]
118
[Digital Outputs (Obj. 60Feh: 00H)]
118
[Physical Outputs (Obj. 60Feh: 01H)]
118
[Bitmask (Obj. 60Feh: 02H)]
119
CHAPTER 17 Cyclic Synchronous Position Mode Objects
120
Position Offset (Obj. 60B0H)]
120
[Position Offset (Obj. 60B0H: 00H)]
120
Velocity Offset (Obj. 60B1H)]
120
[Velocity Offset (Obj. 60B1H: 00H)]
120
Torque Offset (Obj. 60B2H)]
120
[Torque Offset (Obj. 60B2H: 00H)]
120
Revisions
122
Warranty
123
Trademarks
124
Advertisement
Mitsubishi Electric MELSERVO MR-JET-G Series User Manual (164 pages)
AC Servo System, Parameters
Brand:
Mitsubishi Electric
| Category:
DC Drives
| Size: 7.68 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
13
Explanation of Servo Parameters
13
Basic Setting Servo Parameters Group ([Pr. PA
14
[Pr. Pa01_Operation Mode (**STY)]
14
[Pr. Pa02_Regenerative Option (**REG)]
14
[Pr. Pa03_Absolute Position Detection System (*ABS)]
14
[Pr. Pa04_Function Selection A-1 (*AOP1)]
15
[Pr. Pa06_Electronic Gear - Numerator (*CMX)]
15
[Pr. Pa07_Electronic Gear - Denominator (*CDV)]
15
[Pr. Pa08_Auto Tuning Mode (ATU)]
16
[Pr. Pa09_Auto Tuning Response (RSP)]
18
[Pr. Pa10_In-Position Range (INP)]
19
[Pr. Pa11_Forward Rotation Torque Limit (TLP)]
19
[Pr. Pa12_Reverse Rotation Torque Limit (TLN)]
20
[Pr. Pa14_Travel Direction Selection (*POL)]
21
[Pr. Pa17_Servo Motor Series Setting (**MSR)]
22
[Pr. Pa18_Servo Motor Type Setting (**MTY)]
22
[Pr. Pa19_Servo Parameter Writing Prohibited (*BLK)]
23
[Pr. Pa20_Tough Drive Setting (*TDS)]
24
[Pr. Pa21_Function Selection A-3 (*AOP3)]
24
[Pr. Pa22_Position Control Configuration Selection (**PCS)]
25
[Pr. Pa23_Drive Recorder Desired Alarm Trigger Setting (DRAT)]
25
[Pr. Pa24_Function Selection A-4 (AOP4)]
26
[Pr. Pa25_One-Touch Tuning - Overshoot Permissible Level (OTHOV)]
26
[Pr. Pa26_Function Selection A-5 (*AOP5)]
26
[Pr. Pa28_Function Selection A-6 (**AOP6)]
27
[Pr. Pa34_Quick Tuning - Permissible Travel Distance (QDIS)]
27
Gain/Filter Setting Servo Parameters Group ([Pr. PB
28
[Pr. Pb01_Adaptive Tuning Mode (Adaptive Filter II) (FILT)]
28
[Pr. Pb02_Vibration Suppression Control Tuning Mode (Advanced Vibration Suppression Control II) (VRFT)]
29
[Pr. Pb03_Torque Feedback Loop Gain (TFBGN)]
29
[Pr. Pb04_Feed Forward Gain (FFC)]
29
[Pr. Pb06_Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2)]
30
[Pr. Pb07_Model Control Gain
30
[Pr. Pb08_Position Control Gain
31
[Pr. Pb09_Speed Control Gain (VG2)]
31
[Pr. Pb10_Speed Integral Compensation (VIC)]
31
[Pr. Pb11_Speed Differential Compensation (VDC)]
31
[Pr. Pb12_Overshoot Amount Compensation (OVA)]
32
[Pr. Pb13_Machine Resonance Suppression Filter 1 (NH1)]
32
[Pr. Pb14_Notch Shape Selection 1 (NHQ1)]
32
[Pr. Pb15_Machine Resonance Suppression Filter 2 (NH2)]
32
[Pr. Pb16_Notch Shape Selection 2 (NHQ2)]
33
[Pr. Pb17_Shaft Resonance Suppression Filter (NHF)]
34
[Pr. Pb18_Low-Pass Filter Setting (LPF)]
37
[Pr. Pb19_Vibration Suppression Control 1 - Vibration Frequency (VRF11)]
38
[Pr. Pb20_Vibration Suppression Control 1 - Resonance Frequency (VRF12)]
38
[Pr. Pb21_Vibration Suppression Control 1 - Vibration Frequency Damping (VRF13)]
38
[Pr. Pb22_Vibration Suppression Control 1 - Resonance Frequency Damping (VRF14)]
38
[Pr. Pb23_Low-Pass Filter Selection (VFBF)]
39
[Pr. Pb24_Slight Vibration Suppression Control (*MVS)]
40
[Pr. Pb25_Function Selection B-1 (*BOP1)]
40
[Pr. Pb26_Gain Switching Function (*CDP)]
41
[Pr. Pb27_Gain Switching Condition (CDL)]
42
[Pr. Pb28_Gain Switching Time Constant (CDT)]
42
[Pr. Pb29_Load to Motor Inertia Ratio/Load to Motor Mass Ratio after Gain Switching (GD2B)]
42
[Pr. Pb30_Position Control Gain after Gain Switching (PG2B)]
42
[Pr. Pb31_Speed Control Gain after Gain Switching (VG2B)]
42
[Pr. Pb32_Speed Integral Compensation after Gain Switching (VICB)]
43
[Pr. Pb33_Vibration Suppression Control 1 - Vibration Frequency after Gain Switching (VRF11B)]
43
[Pr. Pb34_Vibration Suppression Control 1 - Resonance Frequency after Gain Switching (VRF12B)]
43
[Pr. Pb35_Vibration Suppression Control 1 - Vibration Frequency Damping after Gain Switching (VRF13B)]
43
[Pr. Pb36_Vibration Suppression Control 1 - Resonance Frequency Damping after Gain Switching (VRF14B)]
44
[Pr. Pb45_Command Notch Filter (CNHF)]
44
[Pr. Pb46_Machine Resonance Suppression Filter 3 (NH3)]
47
[Pr. Pb47_Notch Shape Selection 3 (NHQ3)]
47
[Pr. Pb48_Machine Resonance Suppression Filter 4 (NH4)]
48
[Pr. Pb49_Notch Shape Selection 4 (NHQ4)]
48
[Pr. Pb50_Machine Resonance Suppression Filter 5 (NH5)]
49
[Pr. Pb51_Notch Shape Selection 5 (NHQ5)]
49
[Pr. Pb52_Vibration Suppression Control 2 - Vibration Frequency (VRF21)]
50
[Pr. Pb53_Vibration Suppression Control 2 - Resonance Frequency (VRF22)]
50
[Pr. Pb54_Vibration Suppression Control 2 - Vibration Frequency Damping (VRF23)]
50
[Pr. Pb55_Vibration Suppression Control 2 - Resonance Frequency Damping (VRF24)]
50
[Pr. Pb56_Vibration Suppression Control 2 - Vibration Frequency after Gain Switching (VRF21B)]
51
[Pr. Pb57_Vibration Suppression Control 2 - Resonance Frequency after Gain Switching (VRF22B)]
51
[Pr. Pb58_Vibration Suppression Control 2 - Vibration Frequency Damping after Gain Switching (VRF23B)]
51
[Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping after Gain Switching (VRF24B)]
52
[Pr. Pb60_Model Control Gain after Gain Switching (PG1B)]
52
[Pr. Pb65_Gain Switching 2 Condition (CDL2)]
52
[Pr. Pb66_Gain Switching 2 Time Constant (CDT2)]
52
[Pr. Pb67_Gain Switching 2 - Load to Motor Inertia Ratio/Load to Motor Mass Ratio (GD2C)]
52
[Pr. Pb68_Gain Switching 2 - Position Control Gain (PG2C)]
53
[Pr. Pb69_Gain Switching 2 - Speed Control Gain (VG2C)]
53
[Pr. Pb70_Gain Switching 2 - Speed Integral Compensation (VICC)]
53
[Pr. Pb71_Vibration Suppression Control 1 - Vibration Frequency after Gain Switching 2 (VRF11C)]
53
[Pr. Pb72_Vibration Suppression Control 1 - Resonance Frequency after Gain Switching 2 (VRF12C)]
54
[Pr. Pb73_Vibration Suppression Control 1 - Vibration Frequency Damping after Gain Switching 2 (VRF13C)]
54
[Pr. Pb74_Vibration Suppression Control 1 - Resonance Frequency Damping after Gain Switching 2 (VRF14C)]
54
[Pr. Pb75_Vibration Suppression Control 2 - Vibration Frequency after Gain Switching 2 (VRF21C)]
55
[Pr. Pb76_Vibration Suppression Control 2 - Resonance Frequency after Gain Switching 2 (VRF22C)]
55
[Pr. Pb77_Vibration Suppression Control 2 - Vibration Frequency Damping after Gain Switching 2 (VRF23C)]
55
[Pr. Pb78_Vibration Suppression Control 2 - Resonance Frequency Damping after Gain Switching 2 (VRF24C)]
56
[Pr. Pb79_Gain Switching 2 - Model Control Gain (PG1C)]
56
[Pr. Pb81_Command Filter (*CFIL)]
56
[Pr. Pb82_Position Command Smoothing Filtering Time Constant (PFT)]
56
Extension Setting Servo Parameters Group ([Pr. PC
57
[Pr. Pc01_Excessive Error Alarm Trigger Level (ERZ)]
57
[Pr. Pc02_Electromagnetic Brake Sequence Output (MBR)]
57
[Pr. Pc04_Function Selection C-1 (**COP1)]
57
[Pr. Pc05_Function Selection C-2 (**COP2)]
58
[Pr. Pc06_Function Selection C-3 (*COP3)]
59
[Pr. Pc07_Zero Speed (ZSP)]
59
[Pr. Pc08_Overspeed Alarm Detection Level (OSL)]
59
[Pr. Pc17_Function Selection C-4 (**COP4)]
59
[Pr. Pc19_Function Selection C-6 (*COP6)]
60
[Pr. Pc20_Function Selection C-7 (*COP7)]
60
[Pr. Pc21_Alarm History Clear (*BPS)]
61
[Pr. Pc24_Deceleration Time Constant at Forced Stop (RSBR)]
61
[Pr. Pc26_Function Selection C-8 (**COP8)]
62
[Pr. Pc27_Function Selection C-9 (**COP9)]
62
[Pr. Pc29_Function Selection C-B (*COPB)]
63
[Pr. Pc31_Vertical Axis Freefall Prevention Compensation Amount (RSUP1)]
64
[Pr. Pc38_Excessive Error Warning Trigger Level (ERW)]
64
[Pr. Pc41_Function Selection C-J (*COPJ)]
64
[Pr. Pc65_Zero Speed 2 Level (ZSP2L)]
65
[Pr. Pc66_Zero Speed 2 Filtering Time (ZSP2F)]
65
[Pr. Pc67_Following Error Output Level (FEW)]
65
[Pr. Pc69_Following Error Output Filtering Time (FEWF)]
65
[Pr. Pc70_In-Position 2 - Output Range (INP2R)]
66
[Pr. Pc71_In-Position 2 - Output Filtering Time (INP2F)]
66
[Pr. Pc72_Speed Reached 2 - Output Range (SA2R)]
66
[Pr. Pc73_Speed Reached 2 - Output Filtering Time (SA2F)]
67
[Pr. Pc76_Function Selection C-E (*COPE)]
67
[Pr. Pc78_Function Selection C-F (*COPF)]
68
[Pr. Pc79_Function Selection C-G (*COPG)]
68
I/O Setting Servo Parameters Group ([Pr. PD
70
[Pr. Pd01_Input Signal Automatic on Selection 1 (*DIA1)]
70
[Pr. Pd03_Input Device Selection 1 (*DI1)]
71
[Pr. Pd04_Input Device Selection 2 (*DI2)]
71
[Pr. Pd05_Input Device Selection 3 (*DI3)]
72
[Pr. Pd07_Output Device Selection 1 (*DO1)]
72
[Pr. Pd08_Output Device Selection 2 (*DO2)]
73
[Pr. Pd09_Output Device Selection 3 (*DO3)]
73
[Pr. Pd11_Input Filter Setting (*DIF)]
74
[Pr. Pd12_Function Selection D-1 (*DOP1)]
74
[Pr. Pd13_Function Selection D-2 (*DOP2)]
75
[Pr. Pd14_Function Selection D-3 (*DOP3)]
76
[Pr. Pd41_Function Selection D-4 (*DOP4)]
77
[Pr. PD60_DI Pin Polarity Selection (*DIP)]
78
Extension Setting 2 Servo Parameters Group ([Pr. PE
79
[Pr. Pe41_Function Selection E-3 (EOP3)]
79
[Pr. Pe44_Lost Motion Compensation Positive-Side Compensation Value Selection (LMCP)]
79
[Pr. Pe45_Lost Motion Compensation Negative-Side Compensation Value Selection (LMCN)]
79
[Pr. Pe46_Lost Motion Filter Setting (LMFLT)]
80
[Pr. Pe47_Unbalanced Torque Offset (TOF)]
80
[Pr. Pe48_Lost Motion Compensation Function Selection (*LMOP)]
80
[Pr. Pe49_Lost Motion Compensation Timing (LMCD)]
80
[Pr. Pe50_Lost Motion Compensation Non-Sensitive Band (LMCT)]
81
[Pr. Pe53_Maximum Torque Limit 1 (TLMX1)]
81
Extension Setting 3 Servo Parameters Group ([Pr. PF
82
[Pr. Pf02_Function Selection F-2 (*FOP2)]
82
[Pr. Pf06_Function Selection F-5 (*FOP5)]
82
[Pr. Pf12_Electronic Dynamic Brake Operating Time (DBT)]
82
[Pr. Pf21_Drive Recorder Switching Time Setting (DRT)]
83
[Pr. Pf23_Vibration Tough Drive - Oscillation Detection Level (OSCL1)]
83
[Pr. Pf24_Function Selection F-9 (*FOP9)]
83
[Pr. Pf25_Instantaneous Power Failure Tough Drive Detection Time (CVAT)]
83
[Pr. Pf29_Function Selection F-10 (*FOP10)]
84
[Pr. Pf31_Machine Diagnosis Function - Friction Judgment Speed (FRIC)]
84
[Pr. Pf32_Oscillation Detection Alarm Time (*VIBT)]
85
[Pr. Pf34_Machine Diagnosis Function Selection (*MFP)]
85
[Pr. Pf80_Drive Recorder - Operation Condition Selection (DRMC)]
86
[Pr. Pf81_Drive Recorder - Sampling Operation Selection (DRMS)]
87
[Pr. Pf82_Drive Recorder - Trigger Operation Selection (DRTM)]
87
[Pr. Pf84_Drive Recorder - Trigger Channel Selection (DRTC)]
89
[Pr. Pf85_Drive Recorder - Trigger Level Setting 1 (DRTL1)]
90
[Pr. Pf86_Drive Recorder - Trigger Level Setting 2 (DRTL2)]
90
[Pr. Pf87_Drive Recorder - Analog Channel Setting 1 (DRAC1)]
91
[Pr. Pf88_Drive Recorder - Analog Channel Setting 2 (DRAC2)]
92
[Pr. Pf89_Drive Recorder - Analog Channel Setting 3 (DRAC3)]
93
[Pr. Pf90_Drive Recorder - Analog Channel Setting 4 (DRAC4)]
93
[Pr. Pf91_Drive Recorder - Digital Channel Setting 1 (DRDC1)]
94
[Pr. Pf92_Drive Recorder - Digital Channel Setting 2 (DRDC2)]
95
[Pr. Pf93_Drive Recorder - Digital Channel Setting 3 (DRDC3)]
95
[Pr. Pf94_Drive Recorder - Digital Channel Setting 4 (DRDC4)]
96
[Pr. Pf95_Drive Recorder - Clear History (*DRCLR)]
96
Motor Extension Setting Servo Parameters Group ([Pr. PL
97
[Pr. Pl01_Function Selection L-1 (**LIT1)]
97
[Pr. Pl02_Linear Encoder Resolution Setting - Numerator (**LIM)]
97
[Pr. Pl03_Linear Encoder Resolution Setting - Denominator (**LID)]
97
[Pr. Pl04_Function Selection L-2 (*LIT2)]
98
[Pr. Pl05_Position Deviation Error Detection Level (LB1)]
98
[Pr. Pl06_Speed Deviation Error Detection Level (LB2)]
98
[Pr. Pl07_Torque Deviation Error Detection Level (LB3)]
99
[Pr. Pl08_Function Selection L-3 (*LIT3)]
99
[Pr. Pl09_Magnetic Pole Detection - Voltage Level (LPWM)]
99
[Pr. Pl17_Magnetic Pole Detection - Minute Position Detection Method - Function Selection (LTSTS)]
100
[Pr. Pl18_Magnetic Pole Detection - Minute Position Detection Method - Identification Signal Amplitude (IDLV)]99
101
Positioning Control Setting Servo Parameters Group ([Pr. PT
102
[Pr. Pt01_Command Mode Selection (**CTY)]
102
[Pr. Pt02_Function Selection T-1 (*TOP1)]
103
[Pr. Pt05_Homing Speed (ZRF)]
103
[Pr. Pt06_Creep Speed (CRF)]
103
[Pr. Pt07_Home Position Shift Distance (ZST)]
103
[Pr. Pt08_Homing Position Data (ZPS)]
104
[Pr. Pt09_Travel Distance after Proximity Dog (DCT)]
104
[Pr. Pt10_Stopper Type Homing - Stopping Time (ZTM)]
104
[Pr. Pt11_Stopper Type Homing - Torque Limit Value (ZTT)]
104
[Pr. Pt12_Rough Match Output Range (CRP)]
104
[Pr. Pt15_Software Position Limit + (LMP)]
105
[Pr. Pt17_Software Position Limit - (LMN)]
105
[Pr. Pt19_Position Range Output 1 Address + (*LPP1)]
105
[Pr. Pt21_Position Range Output 1 Address - (*LNP1)]
105
[Pr. Pt29_Function Selection T-3 (*TOP3)]
105
[Pr. Pt38_Function Selection T-7 (**TOP7)]
106
[Pr. Pt41_Function Selection T-8 (TOP8)]
106
[Pr. Pt45_Homing Method (HMM)]
106
[Pr. Pt49_Speed Acceleration Time Constant (STA)]
108
[Pr. Pt50_Speed Deceleration Time Constant (STB)]
108
[Pr. PT51_S-Pattern Acceleration/Deceleration Time Constants (STC)]
109
[Pr. Pt53_Torque Slope (TQS)]
109
[Pr. Pt55_Function Selection T-10 (*TOP10)]
110
[Pr. Pt56_Homing Acceleration Time Constant (HMA)]
110
[Pr. Pt57_Homing Deceleration Time Constant (HMB)]
110
[Pr. Pt65_Profile Speed Command (PVC)]
111
[Pr. Pt66_Maximum Profile Speed (MPVC)]
111
[Pr. Pt67_Speed Limit (VLMT)]
111
[Pr. Pt68_Function Selection T-11 (**TOP11)]
112
Network Setting Servo Parameters Group ([Pr. PN
113
[Pr. Pn02_Communication Error - Detection Time (CERT)]
113
[Pr. Pn05_Communication Error - Detection Frequency Setting (CERI)]
113
[Pr. Pn20_Parameter Automatic Backup Update Interval (**PABI)]
114
Positioning Extension Setting Servo Parameters Group ([Pr. PV
115
[Pr. Pv01_Profile Speed Command Extension Setting (PVC2)]
115
[Pr. Pv03_Maximum Profile Speed Extension Setting (MPVCE)]
115
[Pr. Pv05_Profile Acceleration (PACC)]
115
[Pr. Pv07_Profile Deceleration (PDEC)]
116
[Pr. Pv09_Deceleration at Forced Stop (RSBDEC)]
116
[Pr. Pv11_Homing Speed Extension Setting (ZRFE)]
116
[Pr. Pv13_Creep Speed Extension Setting (CRFE)]
117
[Pr. Pv15_Homing Acceleration (HMACC)]
117
[Pr. Pv17_Homing Deceleration (HMDEC)]
117
[Pr. Pv19_Speed Reached 2 - Output Range - Extension Setting (SA2RE)]
118
[Pr. Pv20_Zero Speed 2 Level Extension Setting (ZSP2LE)]
118
[Pr. Pv21_Speed Limit Extension Setting (VLMTE)]
118
[Pr. Pv23_Speed Unit Conversion - Electronic Gear - Numerator (*VCMX)]
118
[Pr. Pv24_Speed Unit Conversion - Electronic Gear - Denominator (*VCDV)]
119
[Pr. Pv25_Acceleration Unit Conversion - Electronic Gear - Numerator (*ACMX)]
119
[Pr. Pv26_Acceleration Unit Conversion - Electronic Gear - Denominator (*ACDV)]
119
Chapter 2 Lists of Servo Parameter Supported Modes
120
Structure
120
Lists of Supported Control Modes
121
Basic Setting Servo Parameters Group ([Pr. PA
121
Gain/Filter Setting Servo Parameters Group ([Pr. PB
122
Extension Setting Servo Parameters Group ([Pr. PC
124
I/O Setting Servo Parameters Group ([Pr. PD
125
Extension Setting 2 Servo Parameters Group ([Pr. PE
125
Extension Setting 3 Servo Parameters Group ([Pr. PF
126
Motor Extension Setting Servo Parameters Group ([Pr. PL
127
Positioning Control Setting Servo Parameters Group ([Pr. PT
128
Network Setting Servo Parameters Group ([Pr. PN
128
Positioning Extension Setting Servo Parameters Group ([Pr. PV
129
Chapter 3 Lists of Servo Parameter Initial Values
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
135
Extension Setting 2 Servo Parameters Group ([Pr. PE
137
Extension Setting 3 Servo Parameters Group ([Pr. PF
139
Motor Extension Setting Servo Parameters Group ([Pr. PL
141
Positioning Control Setting Servo Parameters Group ([Pr. PT
143
Network Setting Servo Parameters Group ([Pr. PN
145
Positioning Extension Setting Servo Parameters Group ([Pr. PV
146
Chapter 4 Servo Parameter Setting Method
147
Engineering Tool
147
Object Dictionary
147
Chapter 5 Network Parameter Details
149
Network Basic Parameters
150
[Pr. NPA01_IP Address Setting]
150
[Pr. NPA02_IP Address]
151
[Pr. Npa04_Subnet Mask]
151
[Pr. Npa08_Host Name]
152
User Authentication Parameters
153
[Pr. Npb01_User Authentication and Authorization Setting]
153
[Pr. Npb04_User Name No.1]
153
[Pr. Npb05_Authorization Level No.1]
153
[Pr. Npb06_Password No.1]
154
[Pr. Npb07_User Name No.2]
154
[Pr. Npb08_Authorization Level No.2]
154
[Pr. Npb09_Password No.2]
154
[Pr. Npb10_User Name No.3]
154
[Pr. Npb11_Authorization Level No.3]
154
[Pr. Npb12_Password No.3]
154
[Pr. Npb13_User Name No.4]
155
[Pr. Npb14_Authorization Level No.4]
155
[Pr. Npb15_Password No.4]
155
[Pr. Npb16_User Name No.5]
155
[Pr. Npb17_Authorization Level No.5]
155
[Pr. Npb18_Password No.5]
155
[Pr. Npb19_User Name No.6]
155
[Pr. Npb20_Authorization Level No.6]
156
[Pr. Npb21_Password No.6]
156
[Pr. Npb22_User Name No.7]
156
[Pr. Npb23_Authorization Level No.7]
156
[Pr. Npb24_Password No.7]
156
[Pr. Npb25_User Name No.8]
156
[Pr. Npb26_Authorization Level No.8]
156
[Pr. Npb27_Password No.8]
157
Chapter 6 Network Parameter Setting Method
158
Engineering Tool
158
Revisions
160
Warranty
161
Trademarks
162
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