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MELSERVO-JET Series
Mitsubishi Electric MELSERVO-JET Series Manuals
Manuals and User Guides for Mitsubishi Electric MELSERVO-JET Series. We have
3
Mitsubishi Electric MELSERVO-JET Series manuals available for free PDF download: User Manual, Quick Connection Manual
Mitsubishi Electric MELSERVO-JET 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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Mitsubishi Electric MELSERVO-JET Series User Manual (124 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 9.8 MB
Table of Contents
Safety Instructions
3
About the Manual
5
U.s. Customary Units
5
Table of Contents
6
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
Error Settings (Obj. 10F1H)]
22
[Error Settings (Obj. 10F1H: 00H)]
22
[Local Error Reaction (Obj. 10F1H: 01H)]
22
[Sync Error Counter Limit (Obj. 10F1H: 02H)]
22
Version Number (Obj. 67Feh)]
23
[Version Number (Obj. 67Feh: 00H)]
23
CHAPTER 3 PDO Mapping Objects
24
1St Receive PDO Mapping (Obj. 1600H)]
24
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
24
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
25
2Nd Receive PDO Mapping (Obj. 1601H)]
26
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
26
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
27
3Rd Receive PDO Mapping (Obj. 1602H)]
28
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
28
4Th Receive PDO Mapping (Obj. 1603H)]
28
[4Th Receive PDO Mapping (Obj. 1603H: 00H)]
28
1St Transmit PDO Mapping (Obj. 1A00H)]
28
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
28
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
29
2Nd Transmit PDO Mapping (Obj. 1A01H)]
30
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
30
3Rd Transmit PDO Mapping (Obj. 1A02H)]
30
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
30
4Th Transmit PDO Mapping (Obj. 1A03H)]
30
[4Th Transmit PDO Mapping (Obj. 1A03H: 00H)]
30
CHAPTER 4 Sync Manager Communication Objects
31
Sync Manager Communication Type (Obj. 1C00H)]
31
[Sync Manager Communication Type (Obj. 1C00H: 00H)]
31
[Sync Manager 0 (Obj. 1C00H: 01H)]
31
[Sync Manager 1 (Obj. 1C00H: 02H)]
31
[Sync Manager 2 (Obj. 1C00H: 03H)]
31
[Sync Manager 3 (Obj. 1C00H: 04H)]
31
Sync Manager Rxpdo Assign (Obj. 1C12H)]
32
[Sync Manager Rxpdo Assign (Obj. 1C12H: 00H)]
32
[Assigned PDO 001 (Obj. 1C12H: 01H)]
32
[Assigned PDO 002 (Obj. 1C12H: 02H)]
32
[Assigned PDO 003 (Obj. 1C12H: 03H)]
32
[Assigned PDO 004 (Obj. 1C12H: 04H)]
32
Sync Manager Txpdo Assign (Obj. 1C13H)]
33
[Sync Manager Txpdo Assign (Obj. 1C13H: 00H)]
33
[Assigned PDO 001 (Obj. 1C13H: 01H)]
33
[Assigned PDO 002 (Obj. 1C13H: 02H)]
33
[Assigned PDO 003 (Obj. 1C13H: 03H)]
33
[Assigned PDO 004 (Obj. 1C13H: 04H)]
33
SM Output Parameter (Obj. 1C32H)]
34
[SM Output Parameter (Obj. 1C32H: 00H)]
34
[Synchronization Type (Obj. 1C32H: 01H)]
34
[Cycle Time (Obj. 1C32H: 02H)]
34
[Synchronization Types Supported (Obj. 1C32H: 04H)]
35
[Minimum Cycle Time (Obj. 1C32H: 05H)]
35
[Calc and Copy Time (Obj. 1C32H: 06H)]
35
[Delay Time (Obj. 1C32H: 09H)]
36
[Cycle Time too Small (Obj. 1C32H: 0Ch)]
36
SM Input Parameter (Obj. 1C33H)]
36
[SM Input Parameter (Obj. 1C33H: 00H)]
36
[Synchronization Type (Obj. 1C33H: 01H)]
36
[Cycle Time (Obj. 1C33H: 02H)]
37
[Synchronization Types Supported (Obj. 1C33H: 04H)]
37
[Minimum Cycle Time (Obj. 1C33H: 05H)]
38
[Calc and Copy Time (Obj. 1C33H: 06H)]
38
[Delay Time (Obj. 1C33H: 09H)]
38
[Cycle Time too Small (Obj. 1C33H: 0Ch)]
38
CHAPTER 5 Parameter Objects
39
PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
39
PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
39
PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
39
PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
39
PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]
39
PF01 (Obj. 2281H)] - [PF99 (Obj. 22E3H)]
39
PL01 (Obj. 2401H)] - [PL72 (Obj. 2448H)]
39
PT01 (Obj. 2481H)] - [PT90 (Obj. 24Dah)]
39
PN01 (Obj. 2581H)] - [PN32 (Obj. 25A0H)]
39
PV Group Parameters (Obj. 2691H)]
40
[PV Group Parameters (Obj. 2691H: 00H)]
40
[PV01 (Obj. 2691H: 01H)] - [PV32 (Obj. 2691H: 20H)]
40
CHAPTER 6 Alarm Objects
41
Alarm History Newest (Obj. 2A00H)]
41
[Alarm History Newest (Obj. 2A00H: 00H)]
41
[Alarm No. (Obj. 2A00H: 01H)]
41
[Alarm Time (Hour) (Obj. 2A00H: 02H)]
41
[Alarm2 No. (Obj. 2A00H: 03H)]
41
[Alarm Time (Second) (Obj. 2A00H: 04H)]
42
[Alarm Time (Nanosecond) (Obj. 2A00H: 05H)]
42
[Alarm Time (Time Zone) (Obj. 2A00H: 06H)]
42
[Alarm Time (Summer Time) (Obj. 2A00H: 07H)]
42
Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]
43
Clear Alarm History (Obj. 2A40H)]
43
[Clear Alarm History (Obj. 2A40H: 00H)]
43
Current Alarm (Obj. 2A41H)]
43
[Current Alarm (Obj. 2A41H: 00H)]
43
Parameter Error Number (Obj. 2A44H)]
43
[Parameter Error Number (Obj. 2A44H: 00H)]
43
Parameter Error List (Obj. 2A45H)]
44
[Parameter Error List (Obj. 2A45H: 00H)]
44
[Parameter Error List 1 (Obj. 2A45H: 01H)] - [Parameter Error List 254 (Obj. 2A45H: Feh)]
44
Reset Alarm (Obj. 2A46H)]
45
[Reset Alarm (Obj. 2A46H: 00H)]
45
Drive Recorder History Newest (Obj. 2A70H)]
45
[Drive Recorder History Newest (Obj. 2A70H: 00H)]
45
[Drive Recorder History Index (Obj. 2A70H: 01H)]
45
[Drive Recorder History Alarm Number (Obj. 2A70H: 02H)]
45
[Drive Recorder History Power on Time (Obj. 2A70H: 03H)]
46
[Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]
46
[Drive Recorder History Time (Nanosecond) (Obj. 2A70H: 05H)]
46
[Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]
46
[Drive Recorder History (Summer Time) (Obj. 2A70H: 07H)]
46
Drive Recorder History_1 (Obj. 2A71H)] - [Drive Recorder History_15 (Obj. 2A7Fh)]
47
CHAPTER 7 Monitor Objects
48
Cumulative Feedback Pulses (Obj. 2B01H)]
48
[Cumulative Feedback Pulses (Obj. 2B01H: 00H)]
48
Servo Motor Speed (Obj. 2B02H)]
48
Status DO 9 (Obj. 2D19H)]
70
[Status DO 9 (Obj. 2D19H: 00H)]
70
Status DO 10 (Obj. 2D1Ah)]
70
[Status DO 10 (Obj. 2D1Ah: 00H)]
70
Velocity Limit Value (Obj. 2D20H)]
71
[Velocity Limit Value (Obj. 2D20H: 00H)]
71
Motor Rated Speed (Obj. 2D28H)]
71
[Motor Rated Speed (Obj. 2D28H: 00H)]
71
Manufacturer Device Name 2 (Obj. 2D30H)]
71
[Manufacturer Device Name 2 (Obj. 2D30H: 00H)]
71
Serial Number 2 (Obj. 2D33H)]
72
[Serial Number 2 (Obj. 2D33H: 00H)]
72
Encoder Status (Obj. 2D35H)]
72
[Encoder Status (Obj. 2D35H: 00H)]
72
[Encoder Status 1 (Obj. 2D35H: 01H)]
72
[Encoder Status 2 (Obj. 2D35H: 02H)]
72
Servo Motor Serial Number (Obj. 2D46H)]
73
[Servo Motor Serial Number (Obj. 2D46H: 00H)]
73
Motor Data 2 (Obj. 2D48H)]
73
[Motor Data 2 (Obj. 2D48H: 00H)]
73
[Motor ID 1 (Obj. 2D48H: 01H)]
73
[Motor ID 2 (Obj. 2D48H: 02H)]
73
[Encoder ID 1 (Obj. 2D48H: 03H)]
74
[Encoder ID 2 (Obj. 2D48H: 04H)]
74
One-Touch Tuning Mode (Obj. 2D50H)]
74
[One-Touch Tuning Mode (Obj. 2D50H: 00H)]
74
One-Touch Tuning Status (Obj. 2D51H)]
74
[One-Touch Tuning Status (Obj. 2D51H: 00H)]
74
One-Touch Tuning Stop (Obj. 2D52H)]
75
[One-Touch Tuning Stop (Obj. 2D52H: 00H)]
75
One-Touch Tuning Clear (Obj. 2D53H)]
75
[One-Touch Tuning Clear (Obj. 2D53H: 00H)]
75
One-Touch Tuning Error Code (Obj. 2D54H)]
76
[One-Touch Tuning Error Code (Obj. 2D54H: 00H)]
76
CHAPTER 9 PDS Control Objects
77
Error Code (Obj. 603Fh)]
77
[Error Code (Obj. 603Fh: 00H)]
77
Controlword (Obj. 6040H)]
77
[Controlword (Obj. 6040H: 00H)]
77
Statusword (Obj. 6041H)]
79
[Statusword (Obj. 6041H: 00H)]
79
Quick Stop Option Code (Obj. 605Ah)]
81
[Quick Stop Option Code (Obj. 605Ah: 00H)]
81
Halt Option Code (Obj. 605Dh)]
82
[Halt Option Code (Obj. 605Dh: 00H)]
82
Modes of Operation (Obj. 6060H)]
83
[Modes of Operation (Obj. 6060H: 00H)]
83
Modes of Operation Display (Obj. 6061H)]
84
[Modes of Operation Display (Obj. 6061H: 00H)]
84
Supported Drive Modes (Obj. 6502H)]
85
[Supported Drive Modes (Obj. 6502H: 00H)]
85
CHAPTER 10 Position Control Function Objects
86
Position Demand Value (Obj. 6062H)]
86
[Position Demand Value (Obj. 6062H: 00H)]
86
Position Actual Internal Value (Obj. 6063H)]
86
[Position Actual Internal Value (Obj. 6063H: 00H)]
86
Position Actual Value (Obj. 6064H)]
86
[Position Actual Value (Obj. 6064H: 00H)]
86
Following Error Window (Obj. 6065H)]
86
[Following Error Window (Obj. 6065H: 00H)]
86
Following Error Time out (Obj. 6066H)]
87
[Following Error Time out (Obj. 6066H: 00H)]
87
Position Window (Obj. 6067H)]
87
[Position Window (Obj. 6067H: 00H)]
87
Position Window Time (Obj. 6068H)]
87
[Position Window Time (Obj. 6068H: 00H)]
87
Positioning Option Code (Obj. 60F2H)]
88
[Positioning Option Code (Obj. 60F2H: 00H)]
88
Following Error Actual Value (Obj. 60F4H)]
88
[Following Error Actual Value (Obj. 60F4H: 00H)]
88
Control Effort (Obj. 60Fah)]
89
[Control Effort (Obj. 60Fah: 00H)]
89
CHAPTER 11 Profile Velocity Mode Objects
90
Velocity Demand Value (Obj. 606Bh)]
90
[Velocity Demand Value (Obj. 606Bh: 00H)]
90
Velocity Actual Value (Obj. 606Ch)]
90
[Velocity Actual Value (Obj. 606Ch: 00H)]
90
Velocity Window (Obj. 606Dh)]
91
[Velocity Window (Obj. 606Dh: 00H)]
91
Velocity Window Time (Obj. 606Eh)]
91
[Velocity Window Time (Obj. 606Eh: 00H)]
91
Velocity Threshold (Obj. 606Fh)]
91
[Velocity Threshold (Obj. 606Fh: 00H)]
91
Velocity Threshold Time (Obj. 6070H)]
92
[Velocity Threshold Time (Obj. 6070H: 00H)]
92
Target Velocity (Obj. 60Ffh)]
92
[Target Velocity (Obj. 60Ffh: 00H)]
92
CHAPTER 12 Profile Torque Mode Objects
93
Positive/Negative Torque Limit 2 (Obj. 2D6Dh)]
93
[Positive/Negative Torque Limit 2 Setting (Obj. 2D6Dh: 00H)]
93
[Positive/Negative Torque Limit 2 Select (Obj. 2D6Dh: 01H)]
93
[Positive Torque Limit Value 2 (Obj. 2D6Dh: 02H)]
93
[Negative Torque Limit Value 2 (Obj. 2D6Dh: 03H)]
94
Target Torque (Obj. 6071H)]
94
[Target Torque (Obj. 6071H: 00H)]
94
Max Torque (Obj. 6072H)]
94
[Max Torque (Obj. 6072H: 00H)]
94
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)]
95
[Current Actual Value (Obj. 6078H: 00H)]
95
Torque Slope (Obj. 6087H)]
95
[Torque Slope (Obj. 6087H: 00H)]
95
Torque Profile Type (Obj. 6088H)]
96
[Torque Profile Type (Obj. 6088H: 00H)]
96
Positive Torque Limit Value (Obj. 60E0H)]
96
[Positive Torque Limit Value (Obj. 60E0H: 00H)]
96
Negative Torque Limit Value (Obj. 60E1H)]
96
[Negative Torque Limit Value (Obj. 60E1H: 00H)]
96
CHAPTER 13 Profile Position Mode Objects
97
Target Position (Obj. 607Ah)]
97
[Target Position (Obj. 607Ah: 00H)]
97
Position Range Limit (Obj. 607Bh)]
98
[Position Range Limit (Obj. 607Bh: 00H)]
98
[Min Position Range Limit (Obj. 607Bh: 01H)]
98
[Max Position Range Limit (Obj. 607Bh: 02H)]
98
Software Position Limit (Obj. 607Dh)]
99
[Software Position Limit (Obj. 607Dh: 00H)]
99
[Min Position Limit (Obj. 607Dh: 01H)]
99
[Max Position Limit (Obj. 607Dh: 02H)]
99
Max Profile Velocity (Obj. 607Fh)]
100
[Max Profile Velocity (Obj. 607Fh: 00H)]
100
Max Motor Speed (Obj. 6080H)]
100
[Max Motor Speed (Obj. 6080H: 00H)]
100
Profile Velocity (Obj. 6081H)]
101
[Profile Velocity (Obj. 6081H: 00H)]
101
Profile Acceleration (Obj. 6083H)]
101
[Profile Acceleration (Obj. 6083H: 00H)]
101
Profile Deceleration (Obj. 6084H)]
102
[Profile Deceleration (Obj. 6084H: 00H)]
102
Quick Stop Deceleration (Obj. 6085H)]
102
[Quick Stop Deceleration (Obj. 6085H: 00H)]
102
Motion Profile Type (Obj. 6086H)]
103
[Motion Profile Type (Obj. 6086H: 00H)]
103
CHAPTER 14 Homing Mode Objects
104
Home Offset (Obj. 607Ch)]
104
[Home Offset (Obj. 607Ch: 00H)]
104
Homing Method (Obj. 6098H)]
104
[Homing Method (Obj. 6098H: 00H)]
104
Homing Speeds (Obj. 6099H)]
104
[Homing Speeds (Obj. 6099H: 00H)]
104
[Speed During Search for Switch (Obj. 6099H: 01H)]
105
[Speed During Search for Zero (Obj. 6099H: 02H)]
105
Homing Acceleration (Obj. 609Ah)]
106
[Homing Acceleration (Obj. 609Ah: 00H)]
106
Supported Homing Method (Obj. 60E3H)]
106
[Supported Homing Method (Obj. 60E3H: 00H)]
106
[1St Supported Homing Method (Obj. 60E3H: 01H)] - [41St Supported Homing Method (Obj. 60E3H: 29H)]
107
CHAPTER 15 Factor Group Objects
108
Polarity (Obj. 607Eh)]
108
[Polarity (Obj. 607Eh: 00H)]
108
Position Encoder Resolution (Obj. 608Fh)]
109
[Position Encoder Resolution (Obj. 608Fh: 00H)]
109
[Encoder Increments (Obj. 608Fh: 01H)]
109
[Motor Revolutions (Obj. 608Fh: 02H)]
109
Gear Ratio (Obj. 6091H)]
110
[Gear Ratio (Obj. 6091H: 00H)]
110
[Motor Revolutions (Obj. 6091H: 01H)]
110
[Shaft Revolutions (Obj. 6091H: 02H)]
110
Feed Constant (Obj. 6092H)]
111
[Feed Constant (Obj. 6092H: 00H)]
111
[Feed (Obj. 6092H: 01H)]
111
[Shaft Revolutions (Obj. 6092H: 02H)]
111
Unit Position (Obj. 60A8H)]
111
[SI Unit Position (Obj. 60A8H: 00H)]
111
Unit Velocity (Obj. 60A9H)]
112
[SI Unit Velocity (Obj. 60A9H: 00H)]
112
Unit Acceleration (Obj. 60Aah)]
112
[SI Unit Acceleration (Obj. 60Aah: 00H)]
112
CHAPTER 16 Optional Application FE Objects
113
Digital Inputs (Obj. 60Fdh)]
113
[Digital Inputs (Obj. 60Fdh: 00H)]
113
Digital Outputs (Obj. 60Feh)]
116
[Digital Outputs (Obj. 60Feh: 00H)]
116
[Physical Outputs (Obj. 60Feh: 01H)]
117
[Bitmask (Obj. 60Feh: 02H)]
117
CHAPTER 17 Cyclic Synchronous Position Mode Objects
118
Position Offset (Obj. 60B0H)]
118
[Position Offset (Obj. 60B0H: 00H)]
118
Velocity Offset (Obj. 60B1H)]
118
[Velocity Offset (Obj. 60B1H: 00H)]
118
Torque Offset (Obj. 60B2H)]
118
[Torque Offset (Obj. 60B2H: 00H)]
118
Revisions
120
Warranty
121
Trademarks
122
Mitsubishi Electric MELSERVO-JET Series Quick Connection Manual (64 pages)
Electric Programmable Controller for CC-Link IE Field Network Basic
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 12.66 MB
Table of Contents
Introduction
2
Table of Contents
3
Relevant Manuals
5
Features
7
Chapter 1 Preparation
10
Applicable Models
10
Operation Flow Diagram
10
Required Products
11
System Configuration
12
Chapter 2 Servo Amplifier Setting
13
Switch Setting and Display
13
List of Related Parameters
14
Ethernet Parameter Settings
15
Parameter Settings
17
Write to Servo Amplifier
18
Servo Amplifier Reset
19
Chapter 3 Programmable Controller Settings
20
Part Names
20
Downloading the FB Library
20
Importing the FB Library
21
Communication Settings of GX Works3
23
Parameter Settings
26
Adding Structures and Global Labels
30
Writing Data to the Programmable Controller
36
CHAPTER 4 COMMUNICATIONS CHECK over CC-Link IE Field Network Basic
38
Chapter 5 Creating Programs
40
Operation
40
Adding the FB Library
41
Local Labels
42
How to Set Local Labels
42
List of Local Labels
44
Device Comments
45
How to Use the FB Library
46
Program Examples
48
Writing Data to the Programmable Controller
51
Operation Check
51
Chapter 6 Troubleshooting
55
Checking Procedure
55
Checking the Programmable Controller
56
Checking the Servo Amplifiers
58
Appendices
59
Appendix 1 Application Examples of the FB Library
59
Appendix 2 Downloading and Registering a Profile
60
Appendix 3 Supplementary Information
61
Revisions
62
Warranty
63
Safety Precautions
63
Trademarks
63
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