Parameter Unit MR-PRU03 INSTRUCTION
Contents
1. 12 Output signal DO forced output 5 FORCED 00 M 6 ISTEP g 12 Single step feed 5 FORCED 00 SP 15 Note The motor less operation cannot be used with the parameter unit although it is displayed when the test operation mode is selected 6 12 6 DISPLAY 1 JOG operation O When performing JOG operation turn on LSP and LSN LSP and LSN can be set to automatic on by setting Pr PD01 to C JOG operation can be performed when there is no command from the controller a Operation drive release You can change the operation conditions with the parameter unit The initial operation condition and setting range for operation are listed below Initial setting Setting range Speed r min 200 0 to permissible instantaneous speed Note Acceleration deceleration 1000 0 to 20000 time constant ms Note Acceleration time constant is time from stop status 0 r min to reach the rated speed and deceleration time constant is time from the rated speed to reach the stop status The following shows the operation condition settings and the operation methods JOG operation Speed When setting 4000 r min 1 RESTORE 004 00 DOCO JOG 00 29 J Speed r min J Speed r min 3 POSITION gt 3000 4000 4 W O MOTOR o U e hd Displays the servo motor speed of the JOG operation Acceleration decele2. 00 Power off PUSH ESC 6 10 6 DISPLAY 6 6 Point table mode Displays setting procedures of point table data DATA ii Select any item with When setting the the keys Jb point table No to U 255 Table reading screen When setting 4567 89 or number keys POOR o O POINT TABLE 18 1234 56 No 001 2 SPD 3000 3 ACC 1009 U 255 00 A Position 1234 66 v 1 AB i 255 Position 00 1234 56 4567 89 w gt I Point table No selection Point table data are displayed Speed displa POS Position data ma Decision SPD Speed 16 eM ACC Acceleration time 3000 255 00 constant U Jl Position DEC Deceleration time Acceleration time constant display constant _ DWELL Dwell 102 oo ai AUX Sub function ze a MCD M code U Deceleration time constant display 255 00 M a Decel time Note 100 U Dwell display 255 00 U 500 i Sub function display P 255 00 Aux function o UW jo code display When setting 99 FA 00 M OO MR 00 A 7 9 1 jJ Ir Fn key displays range Decision 255 00 M
3. D B VA 00 4 1 AL v 3 Point table error When a point table setting has an error AL 37 3 Point table setting error will occur After AL 37 3 the content of the point table error will be displayed Point table error detail When the position data error at the point table No 1 Pos001 Point table No which an error is occurring Error item Pos Position data Spd Speed Acc Acceleration time constant Dec Deceleration time constant Dwl Dwell Aux Sub function Mcd M code 6 DISPLAY 6 5 Parameter mode Displays setting procedures of parameters Fr PARAM Parameter group selection 1 A Basic 00 ee 4 D 1 0 v When selecting a When selecting Pr PB10 When setting 1234 gain filter parameter asic PBO10 o ae up DO J ve OOO i 8 C Ext 33 7 33 7 4 D 1 0 hd v 12340 Displays the parameter groups The first parameter No is The parameter No symbol and A Basic Pr displayed setting value are displayed Writing Gain Pr Fn key displays range C Ext Pr PC PB10 00 D I O Pr PD d T EExt 2 Pr F Ext 3 Pr PF__ Writing completes LLM DDM Pr PL When cycling the O Option Pr Po power is required to enable the setting the following message will appear T Pos ctl Pr PT
4. disappears Test operation key Stop reset key Stops temporarily in the JOG operation Positioning operation Single step feed Used as the RESET key while the Fn key is not pressed i e at a stop Resets alarms or alarm history or clears cumulated monitor data or inputs This key is not for stopping normal operation Enter key Determines the selection numerical values Determines to exit the test operation mode Switches outputs on off of the output signal DO forced output Numerical key Enters numbers such as the parameter Nos setting values Pressing the 4 to 9 keys with pressing down the SHIFT key will enter A to F Decimal point key Used to enter a decimal point Starts the single step feed Numerical key Enter key 2 EXTERNAL APPEARANCE AND KEY EXPLANATIONS MEMO 3 SPECIFICATIONS 3 SPECIFICATIONS MR PRUOS Power supply Supplied from servo amplifier Refer to section 6 5 c o c 2 Monitor mode status Refer to section 6 3 display External I O signal DIDO display software No VC automatic offset motor information cumulative power on Alarm mode Current alarm alarm history Test operation mode JOG operation positioning operation output signal DO forced output single step feed Position data speed acceleration time constant deceleration time constant dwell sub function M code Display LCD 16 characters x 4 l
5. 45 Command remaining distance Cm remi 46 PeintiabieNo Program No Station poston No 4 we rs 48 Analog override volage orno NN 749 oa om TNX N For manufacturer setting DmoniOut2 Note 1 P Position control mode S Speed control mode T Torque control mode CP Positioning mode point table method CL Positioning mode program method PS Positioning mode indexer method Standard Standard semi closed loop system use of the rotary servo motor EN N Full Fully closed loop system use of the rotary servo motor Lin Linear servo motor use DD Direct drive DD motor use is displayed when a servo motor with thermistor is used The display shows 9999 when servo motor without thermistor is used 2 Status display The display of the parameter unit switches screen depending on the status selected The following example shows the cumulative feedback pulses is selected For other status displays refer to table 6 1 Display name unit Note The numbers will be smaller when exceeding 999999 6 DISPLAY Table 6 1 Monitor mode list Display Name Display Display Description order name unit Feedback pulses from the servo motor encoder are counted and Cumulative feedback Pulse pulse displayed P Pressing the RESET key of the parameter unit will be 0 Servo motor speed The servo motor
6. Analog speed limit voltage is displayed Regenerative load ratio Regn Load current of 10096 The maximum occurrence torque is displayed The highest value in the past 15 s is displayed relative to the rated torque of 100 ev o Peak load ratio Peak Load rated torque as 100 The position within one revolution of the servo motor is displayed by Position within one Guedes disa pulses revolution yc p When the value exceeds the maximum number of pulses it resets to 0 The instantaneous torque is displayed Instantaneous torque Instn Trq The value of torque being occurred is displayed in real time considering N When the servo motor rotates in the CCW direction the value is added The travel distance from the home position is displayed as multi revolution counter value of the absolution position encoder in the absolution position detection system Load to motor inertia The estimated ratio of the load inertia moment to the servo motor shaft 14 f Moment Rt ps ratio inertia moment is displayed Bus voltage P N Volt The voltage of main circuit converter between P and N is displayed Load side encoder cumulative feedback Opt plsFB pulse Feedback pulses from the load side encoder are counted and pulses displayed Load side encoder droop Droop pulses of the deviation counter between a load side encoder and Opt Droop pulse pulses a command are displayed When an increm
7. 039 6053 312 34 935 65 3131 34 935 89 1579 33 1 55 68 55 68 33 1 55 68 57 57 420 251 551 470 420 251 551 471 48 12 630 47 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 90 216 526 3990 90 216 526 3995 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 6473 2308 65 6476 7439 66 2682 6522 to 6531 66 2682 6020 62 21 3192 6461 62 21 3192 3942 84 8 3910 5945 84 8 3910 5947 91 20 2710 2000 91 20 2710 2100 61 2 9684 7777 61 2 9684 7245 Warranty 1 Warranty period and coverage We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Term The term of warranty for Product is twelve 12 months after your purchase or delivery of the Product to a place designated by you or eighteen 18 months from the
8. 2 when performing positioning operation One positioning operation can be performed when there is no command from the controller a Operation drive release You can change the operation conditions with the parameter unit The initial operation condition and setting range for operation are listed below Initial setting Setting range Speed r min 200 0 to permissible instantaneous speed Note 2 Acceleration deceleration 1000 0 to 20000 time constant ms Note 1 4000 0 to 99999999 Travel distance pulse Note 1 The number of command input pulses per revolution of the servo motor can be changed with Pr PAO5 2 Acceleration time constant is time from stop status 0 r min to reach the rated speed and deceleration time constant is time from the rated speed to reach the stop status 6 14 6 DISPLAY The following shows the operation condition settings and the operation methods Positioning operation Speed When setting 1500 r min 1 RESTORE 00 M POSITION 00 M XX POSITION 00 2 JOG J p Speed r min lt p reed r min S POSITION gt 200 200 4 W O MOTOR v U v e 1500 Displays the servo motor speed of the positioning operation Acceleration decelerati ime constant N When setting 2000 ms POSITION 00 DOAI POSITION 00 Acc Dec ms Acc Dec ms gt 1000 1000 2000 Displays acceleration deceleration time cons
9. CN3 Note 4 5 RJ45 connector Note 4 RJ45 connector Note 4 RJ45 connector 1 LG 1 LG 1 2 P5D 2 P5D 2 P5D 3 3 3 4 SDN 4 SDN 4 SDN 5 SDP 5 SDP 5 SDP 6 RDN r 6 RDN 6 RDN 7 LG 7 LG 7 LG 8 NC 8 NC 8 NC ne Bay Note 5 Note 5 GND 1 1 1 1 gt 1 5V 2 2 2 2 I 2 SDP 3 3 3 3 gt 3 RDN 4 4 4 4 gt gt 4 2 5 5 5 5 gt 5 RDN SDN 6 6 6 6 gt 6 GND 7 7 7 7 7 NC 8 8 8 8 8 I I Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Note 1 Recommended connector Hirose Electric NOOO RO Plug TM10P 88P Connection tool CL250 0228 1 150 O resistor The overall length is 30 m or less in low noise environment The wiring between the branch connector and servo amplifier should be as short as possible Use the EIA568 compliant cable 10BASE T cable etc Recommended branch connector BMJ 8 Hachiko Electric n lt 32 Up to 32 axes can be connected The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo amplifier with a 5 CONNECTION WITH SERVO AMPLIFIER MEMO 6 DISPLAY 6 DISPLAY Connect the parameter unit to the servo amplifier and turn on the power of servo amplifier The following shows the screen transition of the parameter unit and operation procedures of each mode 6 1 Outline of screen transition Servo amplifier powe
10. Screen Turn on EM2 forced stop 2 when performing single step feed The operation is performed based on set point table No The following shows the operation condition settings and the operation methods Single step feed When specifying point table No 255 5 FORCED 00f 6 1STEP Y 1STEP POINT TABLE No 1 00f 1STEP POINT TABLE No 1 2559 00 OOO The setting screen of the point table No is displayed Test operation mode 255 1STEP 00 1STEP STOP Start Fn Stop Pressing the Fn eg keys will start After the start pressing the key with keep pressing the Fn key will temporarily stop the motor Releasing the rn key will quickly stop the motor When the motor stops remaining distance will be cleared Test operation mode release completed POSITION release 00 1STEP v Restore 1 RESTORE 2 JoG ESC 3 Returns to the initial screen of the test operation mode Select RESTORE 4 W O MOTOR 6 16 NORMAL 00 Selecting RESTORE on the initial screen of the test operation mode without execution of the test operation will also displays this screen 7 ERROR MESSAGE LIST 7 ERROR MESSAGE LIST The following errors and messages may be displayed when you use the parameter unit If an error message has been displayed
11. date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Limitations 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases i a failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem ii a failure caused by any alteration etc to the Product made on your side without our approval iii a failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry iv failure which may be regarded as avoidable if consumable parts designated in th
12. 3 3 RDP RXD 4 4 SDN RXD 5 5 SDP TXD 6 6 GND 7 7 LG NC 8 8 NC 10 m or shorter 5 CONNECTION WITH SERVO AMPLIFIER 5 2 Multi drop connection 1 Configuration diagram Up to 32 axes of servo amplifiers from stations O to 31 can be operated on the same bus Servo amplifier Servo amplifier Servo amplifier 2 CN3 Parameter unit TL y J m DD Note 2 Note 2 Note 2 Note 1 Note 2 Note 2 Note 2 Note 3 Note 1 The BMJ 8 Hachiko Electric is recommended as the branch connector 2 Use one such as 10BASE T cable EIA568 compliant 3 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo amplifier with a 150 O resistor 5 CONNECTION WITH SERVO AMPLIFIER 2 Internal wiring diagram Wire the cables as follows Note 3 30 m or shorter 1 Note 1 1 7 The first axis servo amplifier The second axis servo amplifier The n axis servo amplifier Connector for CN3 Connector for CN3 Connector for
13. MITSUBISHI ELECTRIC General Purpose AC Servo ITSUBISHI SERVO AMPLIFIERS amp MOTORS Parameter Unit MODEL MR PRU03 INSTRUCTION MANUAL MR J4 e Safety Instructions e 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 Instruction 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 In this Instruction Manual the safety instruction levels are classified into WARNING and CAUTION WARN IN G Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols O Indicates what must not be done For example No Fire is indicated by amp 5 Indicates what must be done For example grounding is indicated by e In this Instruction Manual instructions at a lower level than the abov
14. Note The setting procedures for each data are all the same 6 11 M code 99 v 6 DISPLAY 6 7 Test operation mode The test operation mode is designed for checking servo operation Do not use it for actual operation NCAUTION O Before using the test operation mode for operation checks of the machine check safety devices such as EM2 Forced stop 2 operate properly Qf the servo motor operates unexpectedly use EM2 Forced stop 2 to stop it Test operation cannot be performed if SON Servo on is not turned off The single step feed operation is only for the point table operation The motor less operation cannot be used with the parameter unit although it is displayed when the test operation mode is selected In this mode you can execute the test cancel JOG operation positioning operation output signal DO forced output and single step feed The following shows setting procedures of each operation When using a servo motor with an electromagnetic brake be sure to configure the sequence so that the electromagnetic brake operates by the MBR Electromagnetic brake interlock of the servo amplifier TEST 1 RESTORE 00 A 2 JOG 8 POSITION 4 W O MOTOR gi IC JOG operation 1 RESTORE 00 A 2 JOG 3 POSITION 4 W O MOTOR 19 Positioning operation 1 RESTORE 00 2 JoG 39 POSITION 4 W O MOTOR 19 Motor less operation Note 1 RESTORE 00
15. Santa Cecilia CEP 06465 070 Barueri SP Brasil MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Strasse 8 D 40880 Ratingen Germany MITSUBISHI ELECTRIC EUROPE B V UK Branch Travellers Lane Hatfield Hertfordshire AL10 8XB U K MITSUBISHI ELECTRIC EUROPE B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rub 76 80 Apdo 420 08173 Sant Cugat del Vall s Barcelona Spain MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex France MITSUBISHI ELECTRIC EUROPE B V Czech Branch Avenir Business Park Radlicka 751 113e 158 00 Praha5 Czech Republic MITSUBISHI ELECTRIC EUROPE B V Polish Branch ul Krakowska 50 32 083 Balice Poland MITSUBISHI ELECTRIC EUROPE B V Russian Branch St Petersburg office Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 RU 195027 St Petersburg Russia MITSUBISHI ELECTRIC TURKEY A S mraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul T rkey ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road ZA Fourways South Africa MITSUBISHI ELECTRIC AUTOMATION CHINA LTD No 1386 Hongqiao Road Mitsubishi Electric Automation Center Changning District Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889
16. Taiwan R O C MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 1480 6 Gayang Dong Gangseo Gu Seoul 157 200 Korea MITSUBISHI ELECTRIC ASIA PTE LTD 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 MITSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD 12th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng Bangpongpang Khet Yannawa Bangkok 10120 Thailand PT MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam MITSUBISHI ELECTRIC INDIA PVT LTD Pune Branch Emerald House EL 3 J Block M I D C Bhosari Pune 411026 Maharashtra State India MITSUBISHI ELECTRIC AUSTRALIA PTY LTD 348 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1 847 478 2100 1 847 478 2253 52 55 9171 7600 52 55 9171 7649 55 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 39 039 60531 39
17. VC 2 3 MOTOR INF 4 P ON TIME BCD B46W100 g Displays the software version of the servo amplifier 165 Automatic VC offset 1 S o Auto 00 3 MOTOR INF Cmd 0 01V 4 P ON TIME U Execute 4 Displays the contents of VC automatic offset 1 Motor information 1 S W No 00 MOTOR INF 00 2 AUTO WE J Series 0101 39 MOTOR INF 4 P ON TIME Type Foes Encoder 0044 Displays the motor information U 22 Cumulative power on 1 S W No 00 P RN TIME 00 VG LJ P on time999999h 3 MOTOR INF TIME sw times999999 Displays power on time P on and number of power on times SW from factory setting 6 DISPLAY 2 Alarm history clear The servo amplifier stores last sixteen alarms from when its power is switched on at first To control the alarms that will occur for regular operation clear the alarm history before starting regular operation ALM DGN v 00 2 ALM Hist 3 DIDO 4 Diagnost 1 Alarm 00 Select ALM Hist 29 ALM Hist 3 DIDO 4 Diagnost y O 20 004 Displays sixteen alarm histories 999999999h H H e 0H to FH including the latest s7soore alarm by alarm No and applying current time until the alarm occurrence ALRAM RESET Displays menu to clear alarm histories O CANCEL To clear alarm histories select 1
18. e instructions for other functions and so on are classified into POINT After reading this Instruction Manual keep it accessible to the operator e DISPOSAL OF WASTE e Please dispose a parameter unit according to your local laws and regulations U S customary units U S customary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Tg 2 2046 Tb Length 0 03937 inch CONTENTS 1 INTRODUCTION 1 1 to 1 2 2 EXTERNAL APPEARANCE AND KEY EXPLANATIONS 2 1 to 2 2 3 SPECIFICATIONS 3 1 to 3 2 4 DIMENSIONS 4 1 to 4 2 5 CONNECTION WITH SERVO AMPLIFIER 5 1 to 5 4 51 EDAM 5 1 5 2 M lti drop cOnin ection 3 4 on Ie aer oet ud ee dae ea tea edet 5 2 6 DISPLAY 6 1 to 6 16 0 1 Qutline of screen transition AA erar 6 1 6 2 Parameter unit setting ener eene nn nn 6 2 6 3 Monitor mode status display giri d tege 6 3 64 Alarm diagnosis modes int penu pude 6 8 65 Parameter Mode etie rei duet d bos abu dey de reda baee ae ade ae ae 6 10 66 Point table Modems sc er tu Manis Aa ad alate 6 11 6 7 Test operation imode Eee 6 12 7 ERROR MESSAGE LIST 7 1 to 7 2 MEMO 1 INTRODUCTION 1 INTRODUCTION The parameter unit cannot be used with MR Configurator2 O When using th
19. e instruction manual etc are duly maintained and replaced v replacement of consumable parts battery fan smoothing capacitor etc vi a failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters vii a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details Exclusion of responsibility for compensation against loss of opportunity secondary loss etc Whether under or after the term of warranty we assume no responsibility for an
20. e parameter unit set Pr PF34 to 1 The point table mode can be used when the servo amplifier is set to the positioning mode point table method The MR PRUO3 parameter unit cannot be used with MR J4 03A6 RJ servo amplifier This instruction manual explains a case where the MR PRUO3 parameter unit is used with MELSERVO J4 series When using it with MELSERVO J3 series refer to each servo amplifier instruction manual Connecting the parameter unit to the servo amplifier enables simple execution of such as data setting test operation and parameter setting without using MR Configurator2 The following shows combinations with servo amplifiers MR J4 A RJ MR J4 A4 RJ MR J4 A1 RJ MR J4 DU A RJ MR J4 DU A4 RJ Software version B2 or Software version B3 or earlier later Reno Software version AS orearier Software version BO or later 1 INTRODUCTION MEMO 2 EXTERNAL APPEARANCE AND KEY EXPLANATIONS 2 EXTERNAL APPEARANCE AND KEY EXPLANATIONS The following shows the external appearance and how to set the keys Key explanation won Monitor mode key Displays the monitor screen Alarm diagnosis mode key Display Displays the alarm output signal DO forced output diagnosis selection LCD screen 16 characters x Sereen 4 lines shows such as Parameter settings Monitors etc 2 D Parameter mode key Displays parameter selection screen Pressing thi
21. ental encoder is used for the load side encoder the Z pulse phase counter of the load side encoder is displayed by encoder pulses ABS counter Abs count o x Load side encoder information 1 When an absolute position linear encoder is used for the load side encoder the encoder absolute position is displayed 6 DISPLAY Display Name Display Display Description order name unit When an incremental encoder is used for the load side encoder the display shows 0 N N N Napo Motor Thm Displays the temperature of motor thermistor gt NIN No o NIN AW N 33 34 35 36 7 3 o gt H W Wh m m Command position Cmd Posit m Load side encoder When an absolute position linear encoder is used for the load side 19 Opt Abscn rev information 2 encoder the display shows 0 When a rotary encoder is used for the load side encoder the display shows the multi revolution counter value of the encoder Moni Out For manufacturer setting Moni Out2 Abpls F B Temperature of motor thermistor Cumulative feedback Feedback pulses from the servo motor encoder are counted and pulses PE PIB pulse displayed for the fully closed loop control motor side unit 25 Electrical angle Ele Cycpo pulse The servo motor electrical angle is displayed For manufacturer setting Motor side load side Displays a position dev
22. for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used 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 SH NA 030186 A MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030186 A 1503 MEE Printed in Japan Specifications are subject to change without notice
23. iation between motor side encoder and load i Eph Posit Dev pulse f position deviation side encoder during fully closed loop control Motor side load side Displays a speed deviation between motor side and load side during WA Speed Dev r min speed deviation fully closed loop control In Enc Thm Inside temperature of encoder detected by the encoder is displayed temperature Settling time msec Displays the settling time in the position control mode Oscillation detection Oscil Frq z Displays vibration frequency at the time of oscillation detection frequency Number or tough drive Tough Drv The number of tough drive functions activated is displayed operations In Amp Thm For manufacturer setting Am Amp Thm Fan Speed Unit power consumption is displayed by increment of 1 W Unit power consumption Power1 Positive value indicate power running and negative value indicate regeneration Unit total power consumption is displayed by increment of 1 kWh Unit total power M et Total Pc1 Positive value indicate power running and negative value indicate consumption regeneration When _ 0 positioning display is set in Pr PT26 the actual me current position is displayed as machine home position is 0 C t t Cur Posit ED urn m When 1 roll feed display is set in Pr PT26 the actual current position is displayed as start position is 0 When O0 positioning display is set in Pr PT26 the command current position is disp
24. ines Ambient 10 C to 55 C non freezing temperature 20 C to 65 C non freezing i Operation Ambient 90 RH or less non condensing humidity Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Mass A Diagnostic mode Point table mode Environment 3 SPECIFICATIONS MEMO 4 DIMENSIONS 4 DIMENSIONS Unit mm N A o a 72 15 10 5 E 48 13 m 23 75 11 75 MR PRUO3 PARAMETER UNIT 10 lH N H o 18 5 20 13151 EH Punched hole 1 25 4 5 1 ST e TES ue le 5 M3 screw o 4 amp STOP 5 04 hole T 40 40 Front Side Back Mounting hole dimension 4 DIMENSIONS MEMO 5 CONNECTION WITH SERVO AMPLIFIER 5 CONNECTION WITH SERVO AMPLIFIER 5 1 Single axis 1 Configuration diagram This is for operation of the single axis servo amplifier It is recommended to use the following cable Servo amplifier Parameter unit n CN3 gt 10BASE T cable etc L op EIA568 compliant J D o 2 Internal wiring diagram Parameter unit side Servo amplifier CN3 connector connector RJ45 connector GND 1 1 LG 5V 2 2 P5D TXD
25. isplay and diagnosis ALM DGN Alarm 1 Alarm 00 2 ALM Hist 3 DIDO 4 Diagnost U t Alarm history Current alarm AL 10 1 Voltage drop in AL 37 1 the control circuit power Parameter setting range error is occurring is occurring AL10 1 00 An abnormal parameter No is displayed for the AL 37 Parameter error When a point table setting has an error AL 37 3 Point table setting error will occur Refer to 3 of this section Currently occurring alarm No is displayed When an alarm occurs this screen will be displayed regardless of the display mode ALARM RESET 00 STOP RESET 1 EXECUTION O CANCEL Release the alarm with the error reset command Execute with the key or cancel with the key 1 Alarm 00 2 MALM Hist DIDO Diagnost U m 12 DIDO display AL10 2000 A 999999999h AL32 1 20 87600h 9 Displays sixteen alarm histories to FH including the latest alarm by alarm No and applying current time until the alarm occurrence You can also delete alarm histories Refer to 2 of this section 1 Alarm 00 2 ALM Hist 3 DIDO 4 Diagnost U Diagnosis Alarm ALM Hist 3 DIDO 4 Diagnost DENI 1 DENI 2 1 1 mCNI 3 DCNI 4 Displays on off of DIDO mon noff Software No 19 S W No 00 o 2 AUTO
26. ith the 1 key and off with the JJ ee A j 0 key and with the J key 3 Contrast 4wBuzzer v O OFF 1 0N Version information Version Displays the software version of the parameter U 1 5 Version 6 Close BCD B41W000 unit BO U O 5 Version 6Close Waiting MR 4J4 104A Note Press the SHIFT ESC keys to return to the station No setting screen from any screen 6 DISPLAY 6 3 Monitor mode status display The servo status during operation is shown on the parameter unit display Press the MON key and select any content with the Ww or A key 1 Combinations of the control mode and operation mode Status display items that can be checked vary depending on combinations of the control mode and operation mode In cases where there are both in the control mode and operation mode of the following table the status display can be checked In cases where there is a diagonal line in either mode the status display can be shown However the status cannot be checked Control mode a Note 1 N Display Name Display order name T cumulative feedback pulses JOJO Lip eese Tent SD DIS 3 Dro pes ol ol o Analog speed command voltage Speed Cmd EN Analog speed limit voltage gt o Analog torque command voltage Analog torque limit voltage DO Effedivelad
27. layed as machine home position is O When 1 roll feed display is set in Pr PT26 turning on the start signal starts counting from 0 and a command current position to the target position is displayed in the automatic mode The command positions of the selected point table are displayed at a stop In the manual mode the command positions of the selected point table are displayed Command remaining Displays the remaining distance to the command position of the mm distance currently selected point table Point table No Program Displays the point table No program No station position No currently m PntPrgNo No Station position No executed 45 6 4 A a ae e hr 6 DISPLAY Display Name Display Display Description order name unit Step No PrgStpNo The step No of the program currently being executed is displayed Analog override voltage Ord volt The analog override voltage is displayed The setting value of the override is displayed When the override is disabled 100 is displayed Override level Ord level The override function has two types One is analog override by using analog voltage input and another is digital override by using parameter settings DmoniQutt Volt For manufacturer setting 5 51 DmoniOut2 Volt 6 DISPLAY 6 4 Alarm diagnosis mode 1 Alarm display The following shows setting procedures of alarm alarm history external I O signal DIDO d
28. o alarm etc The mode was attempted to be the test operation mode at servo on A station No was attempted to change during the test operation A point table No was attempted to change during the single step feed operation A point table No was attempted to set to the servo amplifier other than point table method was selected REVISION The manual number is given on the bottom left of the back cover Print Data Manual Number Mar 2015 SH NA 030186 A First edition 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 2015 MITSUBISHI ELECTRIC CORPORATION MEMO MEMO MEMO Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Turkey South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia Sales office MITSUBISHI ELECTRIC AUTOMATION INC 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A MITSUBISHI ELECTRIC AUTOMATION INC Mexico Branch Mariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo C P 54030 M xico MITSUBISHI ELECTRIC DO BRASIL COM RCIO E SERVICOS LTDA Rua Jussara 1750 Bloco B Anexo Jardim
29. r on Ae Initializing Parameter unit setting Waiting 00 Note a MR J44 10A O gt 3 Contrast 4 Buzzer ESC Normal transition AW Alarm Parameter Suri Point table test Test operation y Monitor mode diagnosis mode mode mode mode Pulse F B 00 1 Alarm 00 19A Basic 00 A 00 18 RESTORE 00 A 2 ALM Hist 2 B Gain POINT TABLE 2 JOG m 1 2 3 4 5 6 3 DIDO 3 C Ext No 001 3 POSITION JOG pulse 4 Diagnost 4 D 1 0 hd 4 W O MOTOR Note If communication does not complete during initialization a communication error is displayed Press the ESC key to return to the parameter unit setting screen 6 DISPLAY 6 2 Parameter unit setting Input a station No Station No setting us 5 9 Parameter unit setting Note 9 1 Station No a Station No GO Station No 2 Baud Rate oo 00 3 Contrast 31 4 Buzzer v ESC 0 31 0 31 Station No 31 Baud rate selection Select with the a v keys and set ds oL with the Jj key 057600bps v 1 Station No 29Beud Rate 8 Contrast 4 Buzzer v U O Contrast adjustment Contrast Select with the 4 Q keys from 0 to 58 s 63 and set with the EJ key 0 63 v 1 Station No 2 Baud Rate 8 Contrast 4 Buzzer v 12 2 T Station No A J Buzzer Select on w
30. raio Efsied ojo o Peak oad ratio Xk Load o o r stantaneous torque ante Tolo 72 Postion within one revotuon Oepost OO A eater Ascot olo 4 ieimotrmetardo Moment RE Trq Limit Bus voltage P N Volt o olo T Loadside encoder droop pulses Opt Droop O N i8 encoder information 1 Ont Cyeno encoder information Optabsen O NIN Pion ot For manufacturer setting Moni Out Apis FB INNINNIAAN Temperature of motor thermistor Motor Thm Thm Cumulative feedback pulses motor side s ELE Electrical angle Ele Cycpo Reserved AIK Reserved NN For manufacturer setting Reserved NN AN NN ON N Motor side load side position deviation Motor side load side speed deviation ECTS rene vemo Se ngim 5 CO s5 Oscilaion detection frequency OsciFra LOO 36 Number oftough drive operations Tougn Dr JOJO olnw iv m lt E ofo lo fo lo be MAAT o HIPS VA ojo 6 DISPLAY Control mode k 1 Noa Display T mamo mmm SON For manufacturer setting Am Amp Thm Standard Fan Speed NINN 4 Untpowercmsumpon Tolo 42 Unit total power consumption Total Pot O O Gurren positon NN 4 postion Post
31. rameter unit cable is disconnected during positioning operation the servo motor will stop quickly b Status display The status display can be monitored during positioning operation At this time the FWD REV and STOP keys are available 6 15 6 DISPLAY 3 Output signal DO forced output Output signals can be switched on off forcibly independently of the servo status This function is used for output signal wiring check etc This operation must be performed in the servo off state by turning off SON Servo on The following shows operation methods Output signal DO forced output When turning on CN1 3 Select with the v y keys and set with the 2 JOG 3 POSITION 4 W O MOTOR 59 FORCED 00 ESC 4 Single step feed gt 1 Deni 2 00 1 0 1 2 NCNI 3 key 4 DCN 4 00 M Displays output pins and their status m Output on a Output off Test operation mode release Test operation mode release completed 1 RESTORE FORCED NORMAL 00 2 JOG m 3 POSITION 4 W O MOTOR X Returns to the initial screen of the test operation mode Select RESTORE Restore Selecting RESTORE on the initial Screen of the test operation mode without execution of the test operation will also displays this
32. ration y time constant When setting 4000 ms uu c G9 Acc Dec Acc Dec HD ms ms O gt 1000 1000 v 4000 Displays acceleration deceleration time constants of the JOG operation Operation screen 00 FWD Forward Fn Reverse Fn REV OStop STOPY The motor rotates to the forward rotation direction while the m keys are pressed down The motor rotates to the reverse rotation direction while the Cr keys are pressed down Releasing the m key or key with keep pressing the key will stop the motor normally Releasing the Fn key will quickly stop the motor Test operation mode release Test operation mode release completed 19 RESTORE 00 OG 00 NORMAL 00 IE lJ l ESC 3 POSITION 4 W O MOTOR M Restore Returns to the initial screen of the test operation mode Selecting RESTORE on the initial Select RESTORE screen of the test operation mode without execution of the test operation will also displays this screen If a parameter unit cable is disconnected during JOG operation the servo motor will decelerate to a stop b Status display The status display can be monitored during JOG operation At this time the FWD REV and STOP keys are available 6 13 6 DISPLAY 2 Positioning operation Turn on EM2 forced stop
33. refer to this chapter and remove its cause 1 Error Display Communication error COMMUNICATION ERROR PUSH ESC 1 Hardware malfunction 2 Mismatch in station No 3 Mismatch in baud rate Setting error Writing error EEP ROM writing error PB10 VIC INPUT ERR EEPROM ERR PUSH ESC Incorrect input etc value was written while writing was disabled 1 A part in the parameter unit is failure 2 The number of writing times to EEP ROM exceeded 100 000 times in the parameter unit 7 ERROR MESSAGE LIST 2 Message Display DO NOT CHANGE STATION NO PUSH ESC SET TEST DRIVE DIFFER PUSH ESC TEST MODE CHANGED PUSH ESC DO NOT READ PARAMETER PUSH ESC TEST DRIVE ON SERVO NOT READY DO NOT CHANGE STATION NO PUSH ESC DO NOT WRITE BLOCK NUMBER PUSH ESC SET DRIVE MODE DIFFER PUSH ESC A parameter which was enabled at power off was written A station No was set to transit using the parameter unit during the test operation mode The test operation has not been released The test mode was changed due to external factor An invalid parameter to read in Pr PA19 Parameter writing inhibit was attempted to read In the test operation the ESC key was pressed while the Fn key was pressed down to switch the screen to the parameter unit setting screen RD Ready cannot be turned on due t
34. s key with pressing down the SHIFT key displays the point table setting screen EST Test operation mode key Displays the selection screen for the test operation mode Function key Used to operate the test operation mode Displays the parameter range and point table setting range SHIFT key When entering hexadecimal values pressing the 4 to 9 keys with pressing down this key will enter A to F Pressing the A y keys with pressing down this key will switch the Screen to the previous or next screen ESC key Switches the screen to the upper hierarchy not to the previous screen Displays the setting selection screen initial screen in the monitor mode etc MITSUBISHI IMEISHA TUN MEER Operation key 2 3 m co Scroll key Moves the cursor across the screen or scrolls the screen Pressing this key with pressing down the SHIFT key will switch the screen to the previous or next screen Changes the parameter No or point table No Forward rotation key Starts the forward rotation during the test operation JOG operation positioning operation a do 8 Symbol key reverse rotation key Starts the reverse rotation during the test operation JOG operation positioning operation Used together with the SHIFT key to enter negative numbers To exit the negative number mode press the SHIFT key with this key again
35. speed or linear servo motor speed is displayed Linear servo motor Speed F B r min is shown for reverse rotation speed It is displayed rounding off 0 1 r min 0 1 mm s unit Droop pulses of the deviation counter between a command and servo motor encoder are displayed Droop pulses Droop Pls pulse fan is shown for reverse rotation pulses The number of pulses displayed is in the encoder pulse unit Position command input pulses are counted and displayed Cumulative command As the value displayed is not yet multiplied by the electronic gear pulses Pulse Cmd pulse CMX CDV it may not match the indication of the cumulative feedback pulses Pressing the RESET key of the parameter unit will be 0 The frequency of position command input pulses is counted and Command pulse aao Pulse Frq kpps displayed 3 y The value displayed is not multiplied by the electronic gear CMX CDV Analog on Input voltage of VC Analog speed command voltage is displayed Speed Cmd volt Analog speed limit voltage Analog un Voltage of TC Analog torque command voltage is displayed 7 s Trg Limit volt Voltage of TLA Analog torque limit voltage is displayed voltage The ratio of regenerative power to permissible regenerative power is displayed in 96 The continuous effective load current is displayed Effective load ratio Effc Load The effective value in the past 15 s is displayed relative to the rated Input voltage of VLA
36. tants of the positioning operation Pulse unit POSITION 00 4 Specify the travel distance unit of pulses 0 CMD command pulse unit gl 1 ENG 1 ENC encoder pulse unit Travel distance When setting the travel distance to 10000 Mes nd OOOO m x gt 2000 4000 e v Li 10000 Displays the travel distance Operation screen tG POSITION 00 M FWD Forward Fn Reverse Fn REV Stop STOPU When the rm keys are pressed down the motor starts to the forward rotation direction for the set travel distance and stops When the CFn a keys are pressed down the motor starts to the reverse rotation direction for the set travel distance and stops Pressing the EY will temporarily stop the motor and key will restart REV Releasing the key will quickly stop the motor and remaining distance will be cleared Test operation mode release Test operation mode release completed 19 00 A POSITION 00 NORMAL 00 L p 2 vos p JJ ESC 8 POSITION 4 W O MOTOR v Restore 3 Returns to the initial screen of the test operation mode Selecting RESTORE on the initial Select RESTORE screen of the test operation mode without execution of the test operation will also displays this screen If a pa
37. y damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Application and use of the Product 1 For the use of our General Purpose AC Servo its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General Purpose AC Servo and a backup or fail safe function should operate on an external system to General Purpose AC Servo when any failure or malfunction occurs 2 Our General Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility
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