Mitsubishi Electric MR-JET User manual

MR-JET
User's Manual
(Function)
-MR-JET-_G
-MR-JET-_G-N1
Mitsubishi Electric AC Servo System

1
SAFETY INSTRUCTIONS
(Please read the instructions carefully before using the equipment.)
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read
through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full
knowledge of the equipment, safety information and instructions.
In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions.
Please follow the instructions of both levels because they are important to personnel safety.
Forbidden actions and required actions are indicated by the following diagrammatic symbols.
In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other
information are shown separately in the "POINT" area.
After reading this guide, keep it accessible to the operator.
WARNING
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.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .

2
[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
WARNING
●To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring
and/or inspection.
●To prevent an electric shock, ground the servo amplifier.
●To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
●To prevent an electric shock, mount the servo amplifier before wiring.
●To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the
symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
●To prevent an electric shock, do not touch the conductive parts.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
●To prevent an electric shock, do not operate the switches with wet hands.

3
ABOUT THE MANUAL
This manual covers the following servo amplifiers.
• MR-JET-_G/MR-JET-_G-N1
Object units
This section explains the pos units, vel units, and acc units used in this manual.
■pos units
The unit is pulse.
■vel units
The unit can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection] as shown in the following table.
■acc units
The unit can be changed using [Pr. PT01.1] as shown in the following table.
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Setting value Unit
00.01 r/min
1pulse/s
Setting value Unit
0ms
1pulse/s2
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

4
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
CHAPTER 1 FUNCTION 7
1.1 Function explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
CHAPTER 2 CONTROL MODE 10
2.1 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Control switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Cyclic synchronous position mode (csp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Cyclic synchronous velocity mode (csv) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Cyclic synchronous torque mode (cst) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Homing mode (hm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
CHAPTER 3 BASIC FUNCTION 42
3.1 Outline of servo parameter and object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Servo parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.2 Rotation direction selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3 Stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Explanation of the stroke limit signal names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Stop method at stroke limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Servo parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.4 Command unit selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Speed command unit selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.5 Electronic gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Setting example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.6 In-position range setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.7 Assigning I/O devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.8 Regenerative option selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.9 Alarm function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Operation status at alarm occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Operation status at warning occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Returning from an alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Returning from a warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Alarm history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Stop method at occurrence of alarms/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Timing chart for alarm occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.10 Forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5
CONTENTS
3.11 Electromagnetic brake interlock function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Base circuit shut-off delay time function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.12 Vertical axis freefall prevention function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.13 Acceleration/deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Acceleration/deceleration time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Acceleration/deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.14 Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.15 Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
CHAPTER 4 APPLICABLE FUNCTIONS 80
4.1 Tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Instantaneous power failure tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.2 Machine diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Friction vibration estimation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
4.3 Drive recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Specification outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
How to use the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Servo parameter/object dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Standard acquisition waveform list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Waveform recording inapplicable alarm list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
List of auxiliary recording data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.4 Software reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Software reset in MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Software reset via network communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.5 Software position limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.6 Torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Status check of limiting torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.7 Speed limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Status check of limiting speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.8 Infinite feed function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.9 Servo amplifier life diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Cumulative energization time function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Relay usage count display function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.10 Encoder communication diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.11 Disconnection/incorrect wiring detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Output open phase detection function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.12 Overload protection (electronic thermal) function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

6
4.13 Command offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
CHAPTER 5 MONITORING 114
5.1 Explanation of monitor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Name and description of the monitor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Signal block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.2 Checking with MR Configurator2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
"Display all" function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Graph function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
I/O monitor display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
System configuration display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

1 FUNCTION
1.1 Function explanation 7
1
1FUNCTION
1.1 Function explanation
This section lists the functions mentioned in this manual. For details of the functions, refer to each section indicated in the
detailed explanation column.
For the functions which are not listed here, refer to "FUNCTION" in the User's Manual (Introduction).
Control mode
Position detection
Operation function
Subcategory Function Description Detailed explanation
CiA 402 control
mode
Cyclic synchronous position mode
(csp)
This function operates the servo motor in the cyclic synchronous
position mode.
Page 11 Cyclic
synchronous position mode
(csp)
Cyclic synchronous velocity mode
(csv)
This function operates the servo motor in the cyclic synchronous
velocity mode.
Page 13 Cyclic
synchronous velocity mode
(csv)
Cyclic synchronous torque mode
(cst)
This function operates the servo motor in the cyclic synchronous
torque mode.
Page 15 Cyclic
synchronous torque mode
(cst)
Homing mode (hm) This function either operates the servo motor in the homing mode
or this function performs homing.
Page 17 Homing mode
(hm)
Subcategory Function Description Detailed explanation
Control method Semi closed loop system This function uses the servo motor encoder to configure a semi
closed loop system.

Subcategory Function Description Detailed explanation
Stop function Quick Stop This function stops the servo motor with a specified method and
switches to the servo-off status.
Page 77 Quick stop
Halt This function stops the servo motor while maintaining the servo-on
status.
Page 79 Halt
Stroke limit function This function limits the travel interval of the servo motor using LSP
(Forward rotation stroke end) and LSN (Reverse rotation stroke
end).
Page 48 Stroke limit
function
This function limits the travel interval of the servo motor using FLS
(Upper stroke limit) and RLS (Lower stroke limit) via a controller.
Page 48 Stroke limit
function
Software position limit This function uses servo parameters to limit the travel interval by
address. A function equivalent to the stroke limit function can be
set with the servo parameters.
Page 104 Software
position limit
Command
generation
Rotation direction selection This function sets the rotation direction of the servo motor without
changing the command polarity.
Page 44 Rotation
direction selection
Electronic gear This function performs positioning control with the value obtained
by multiplying the position command from the upper controller by a
set electronic gear ratio.
Page 54 Electronic gear
function
Acceleration/deceleration function This function enables smooth acceleration/deceleration. Page 75 Acceleration/
deceleration function
Torque limit This function limits the servo motor torque. Page 105 Torque limit
Speed limit This function limits the servo motor speed in the torque control
mode.
Page 107 Speed limit
Command offset This function compensates the position/speed/torque commands
by adding a desired amount of offset to the commands.
Page 112 Command
offset

81 FUNCTION
1.1 Function explanation
I/O, monitor
Option
Protective functions
Instantaneous power failure measures
Subcategory Function Description Detailed explanation
DI/DO Input signal selection (device
selection)
This function assigns input devices including LSP (forward rotation
stroke end) to certain pins of the connector.
Page 58 Assigning I/O
devices
Output signal selection (device
setting)
This function assigns output devices including MBR
(Electromagnetic brake interlock) to certain pins of the connector.
Page 58 Assigning I/O
devices
Monitor Power monitoring function This function calculates the running power and the regenerative
power from the data in the servo amplifier such as speed and
current. The power consumption and other values are displayed
on MR Configurator2.
Page 114 MONITORING
Subcategory Function Description Detailed explanation
Regenerative
performance
Regenerative option Use this function if the built-in regenerative resistor of the servo
amplifier does not have sufficient regenerative capacity for the
generated regenerative power.
Page 59 Regenerative
option selection
Subcategory Function Description Detailed explanation
Alarm Alarm function This function displays an alarm or warning when an error occurs
during operation. When an alarm occurs, ALM (Malfunction) turns
off and stops the servo motor. When a warning occurs, WNG
(Warning) will turn on. The servo motor may stop or may continue
operation depending on the warning.
Page 60 Alarm function
Alarm history clear This function clears alarm histories. Page 62 Alarm history
Power error
detection
Disconnection detection function This function detects a disconnection in the servo motor power
supply output.
Page 111 Disconnection/
incorrect wiring detection
function
Coasting distance
reduction
Forced stop deceleration function This function decelerates the servo motor to a stop at EM2 off or
when there is an alarm.
Page 66 Forced stop
deceleration function
Drop protection Electromagnetic brake interlock
function
This function operates the electromagnetic brake at servo off or
when there is an error, and prevents a vertical axis from dropping.
Page 68
Electromagnetic brake
interlock function
Vertical axis freefall prevention
function
This function moves the axis up by the mechanical backlash
amount of the electromagnetic brake to prevent machine damage
from occurring.
Page 74 Vertical axis
freefall prevention function
Braking protection Dynamic brake During the power shut-off and alarm occurrence, this function
shorts between U, V, and W phases and operates the brake.

Subcategory Function Description Detailed explanation
Tough drive Tough drive function This function makes the equipment continue operating even under
the condition that an alarm occurs. There are two types of drive in
the tough drive function: the vibration tough drive and the
instantaneous power failure tough drive.
Page 81 Tough drive
function

1 FUNCTION
1.1 Function explanation 9
1
Diagnostics
History
Subcategory Function Description Detailed explanation
Drive data diagnosis Drive recorder This function continuously monitors the servo status and records
the state transition before and after an alarm for a fixed period of
time. Click the Waveform-Display button in the drive recorder
window of MR Configurator2 to check the recorded data. However,
the drive recorder is not available when:
• The graph function of MR Configurator2 is being used.
• The machine analyzer function is being used.
• [Pr. PF21] is set to "-1".
• The controller is not connected (except the test operation
mode).
• An alarm related to the controller is occurring.
The long-term sampling is supported and various alarms can be
handled.
Page 90 Drive recorder
Graph function This function obtains the servo status in the graph. Page 118 Graph function
This function obtains a graph by using the trigger synchronized on
multiple servo amplifiers via a network.

Failure diagnosis Encoder communication
diagnosis function
This function diagnoses with MR Configurator2 whether the
encoder communication error is caused by the circuit malfunction
of the servo amplifier or by the malfunction of the cables/encoder.
Page 110 Encoder
communication diagnosis
function
Service life
diagnosis
Servo amplifier life diagnosis
function
This function displays data such as the cumulative energization
time, the number of on/off times of the inrush relay, and the
number of times the dynamic brake has been used. It gives an
indication of the replacement time for parts on the servo amplifier
with a service life (such as the capacitor and the relay) before they
malfunction. MR Configurator2 is required for this function.
Page 108 Servo
amplifier life diagnosis
function
Motor service life diagnosis
function
This function predicts failures of the equipment and the servo
motor based on the machine total travel distance. It gives an
indication of the replacement time for the servo motor.
Machine diagnosis function This function uses the data in the servo amplifier to estimate the
friction and vibrational component of the drive system in the
equipment and to recognize an error in machine parts such as ball
screws and bearings.
Page 85 Machine
diagnosis
System diagnosis System configuration information This function uses MR Configurator2 to monitor information such
as the servo amplifier model, connected servo motor, and encoder.
Page 120 System
configuration display
Subcategory Function Description Detailed explanation
Alarm history This function saves information of alarms that occurred in the
servo amplifier. The information is saved in chronological order
and used to investigate the causes of alarms and other problems.
Page 62 Alarm history

10 2 CONTROL MODE
2.1 Control mode
2CONTROL MODE
2.1 Control mode
The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are
shown in the following.
Control switching
In the motion mode, the control mode can be switched with [Modes of operation (Obj. 6060h)]. Switching the control modes
with [Modes of operation (Obj. 6060h)] applies to the cyclic modes (csp, csv, and cst) and homing mode (hm).
Category Control mode Symbol Description
CiA 402 control mode Cyclic synchronous position mode csp This is a control mode where a position command is received at a constant
period to drive the servo motor in the synchronous communication with a
controller.
Use an absolute position address for the command.
Cyclic synchronous velocity mode csv This is a control mode where a speed command is received at a constant
period to drive the servo motor in the synchronous communication with a
controller.
Cyclic synchronous torque mode cst This is a control mode where a torque command is received at a constant
period to drive the servo motor in the synchronous communication with a
controller.
Homing mode hm This is a control mode to perform homing with the method specified by the
controller.

2 CONTROL MODE
2.1 Control mode 11
2
Cyclic synchronous position mode (csp)
The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following.
Related objects
Index Sub Object Name Data Type Access Default Description
607Ah VAR Target position I32 rw Command position (pos units)
607Bh 0 ARRAY Position range limit U8 ro 2 Number of entries
1 Min position range limit I32 rw Minimum value of the position range limit
2 Max position range limit I32 rw Maximum value of the position range limit
607Dh 0 ARRAY Software position limit U8 ro 2 Number of entries
1 Min position limit I32 rw 0 Minimum position address (pos units)
2 Max position limit I32 rw 0 Maximum position address (pos units)
6085h VAR Quick stop deceleration U32 rw 100 Deceleration at deceleration to a stop with
Quick stop (acc units)
605Ah VAR Quick stop option code I16 rw 2 Operation setting for Quick stop
Page 77 Quick stop
6080h VAR Max motor speed U32 rw Servo motor maximum speed
Unit: r/min
6063h VAR Position actual internal value I32 ro Current position (Enc inc)
6064h VAR Position actual value I32 ro Current position (pos units)
606Ch VAR Velocity actual value I32 ro Current speed(vel units)
6077h VAR Torque actual value I32 ro Current torque
Unit: 0.1 % (rated torque of 100 %)
6092h 0 ARRAY Feed constant U8 ro 2 Travel distance per revolution of an output
shaft
1 Feed U32 rw Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60F4h VAR Following error actual value I32 ro Droop pulses (pos units)
60FAh VAR Control effort I32 ro Position control loop output (speed
command) (vel units)
60E0h VAR Positive torque limit value U16 rw 10000 Torque limit value (forward)
Unit: 0.1 % (rated torque of 100 %)
60E1h VAR Negative torque limit value U16 rw 10000 Torque limit value (reverse)
Unit: 0.1 % (rated torque of 100 %)
Position
trajectry
Generator
[Quick stop deceleration (Obj. 6085h)]
[Quick stop option code (Obj. 605Ah)]
[Torque offset (Obj. 60B2h)]
[Velocity offset (Obj. 60B1h)]
[Position offset (Obj. 60B0h)]
[Target position (Obj. 607Ah)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Following error actual value
(Obj. 60F4h)]
[Position actual value
(Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
[pos units] +
×
×
××
×
×
×
×
×
-
[pos units]
[Enc inc]
[Control effort
(Obj. 60FAh)]
[Position actual internal value
(Obj. 6063h)]
Position
limit
function
Position
control
Velocity
control
Torque
control Motor
Encoder
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Software position limit (Obj. 607Dh)]
[pos units]
×
×
+
+
+
+
+
+

12 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csp)
■Statusword OMS Bit (csp)
6091h 0 ARRAY Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor
shaft (numerator)
Page 54 Electronic gear function
2 Shaft revolutions 1 Number of revolutions of the drive shaft
(denominator)
Page 54 Electronic gear function
607Eh VAR Polarity U8 rw 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 44 Rotation direction selection
60A8h VAR SI unit position U32 rw SI unit position
00000000h (1 pulse)
60A9h VAR SI unit velocity U32 rw SI unit velocity
The SI unit velocity is returned.
FEB44700h (0.01 r/min)
00000300h (pulse/s)
60B0h VAR Position offset I32 rw 0 Position offset
(pos units)
60B1h VAR Velocity offset I32 rw 0 Velocity offset (vel units)
60B2h VAR Torque offset I16 rw 0 Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Target position ignored 0: [Target position (Obj. 607Ah)] is being discarded.
1: [Target position (Obj. 607Ah)] is being used as a position control loop input.
13 Following error 0: No following error
1: Following error
Change this bit to "1" when a state exceeding [Following error window (Obj. 6065h)] elapses the period of time
set in [Following error time out (Obj. 6066H)].
Index Sub Object Name Data Type Access Default Description

2 CONTROL MODE
2.1 Control mode 13
2
Cyclic synchronous velocity mode (csv)
The functions and related objects of the cyclic synchronous velocity mode (csv) are shown in the following.
Related objects
Index Sub Object Name Data Type Access Default Description
60FFh VAR Target velocity I32 rw Command speed (vel units)
6085h VAR Quick stop deceleration U32 rw 100 Deceleration at deceleration to a stop with
Quick stop (acc units)
605Ah VAR Quick stop option code I16 rw 2 Operation setting for Quick stop
Page 77 Quick stop
6080h VAR Max motor speed U32 rw Servo motor maximum speed
Unit: r/min
606Bh VAR Velocity demand value I32 ro Command speed (after limit) (vel units)
6063h VAR Position actual internal value I32 ro Current position (Enc inc)
6064h VAR Position actual value I32 ro Current position (pos units)
606Ch VAR Velocity actual value I32 ro Current speed (vel units)
6077h VAR Torque actual value I32 ro Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant U8 ro 2 Travel distance per revolution of an output
shaft
1 Feed U32 rw Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60E0h VAR Positive torque limit value U16 rw 10000 Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value U16 rw 10000 Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor
shaft (numerator)
Page 54 Electronic gear function
2 Shaft revolutions 1 Number of revolutions of the drive shaft
(denominator)
Page 54 Electronic gear function
607Eh VAR Polarity U8 rw 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 44 Rotation direction selection
60A8h VAR SI unit position U32 rw SI unit position
00000000h (1 pulse)
Velocity
limit
function
×
×
×
××
×
[Position actual internal value (Obj. 6063h)]
Velocity
control
Torque
control
[Velocity demand value
(Obj. 606Bh)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Quick stop deceleration (Obj. 6085h)]
[Torque offset (Obj. 60B2h)]
[Quick stop option code (Obj. 605Ah)]
[Target velocity (Obj. 60FFh)]
[Position actual value (Obj. 6064h)]
[Gear ratio (Obj. 6091h)]
[Velocity offset (Obj. 60B1h)]
[Polarity (Obj. 607Eh)]
[Velocity actual value (Obj. 606Ch)]
[Max motor speed (Obj. 6080h)]
[Torque actual value (Obj. 6077h)]
Encoder
Motor
×
+
+
+
+

14 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csv)
■Statusword OMS Bit (csv)
60A9h VAR SI unit velocity U32 rw SI unit velocity
The SI unit velocity is returned.
FEB44700h (0.01 r/min)
00000300h (pulse/s)
60B1h VAR Velocity offset I32 rw 0 Velocity offset (vel units)
60B2h VAR Torque offset I16 rw 0 Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Target velocity ignored 0: [Target velocity (Obj. 60FFh)] is being discarded.
1: [Target velocity (Obj. 60FFh)] is being used as a speed control loop input.
13 (reserved) The value at reading is undefined.
Index Sub Object Name Data Type Access Default Description

2 CONTROL MODE
2.1 Control mode 15
2
Cyclic synchronous torque mode (cst)
The functions and related objects of the cyclic synchronous torque mode (cst) are shown in the following.
Related objects
Index Sub Object Name Data Type Access Default Description
6071h VAR Target torque I16 rw Command torque
Unit: 0.1 % (with rated torque being 100 %)
6072h VAR Max torque U16 rw Maximum torque
Unit: 0.1 % (with rated torque being 100 %)
6074h VAR Torque demand value I16 ro Command torque (after limit)
Unit: 0.1 % (with rated torque being 100 %)
6063h VAR Position actual internal value I32 ro Current position (Enc inc)
6064h VAR Position actual value I32 ro Current position (pos units)
606Ch VAR Velocity actual value I32 ro Current speed (vel units)
6077h VAR Torque actual value I32 ro Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant U8 ro 2 Travel distance per revolution of an output
shaft
1 Feed U32 rw Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60E0h VAR Positive torque limit value U16 rw 10000 Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value U16 rw 10000 Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor
shaft (numerator)
Page 54 Electronic gear function
2 Shaft revolutions 1 Number of revolutions of the drive shaft
(denominator)
Page 54 Electronic gear function
607Eh VAR Polarity U8 rw 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 44 Rotation direction selection
2D20h VAR Velocity limit value I32 rw 100 Speed limit value (vel units)
60A8h VAR SI unit position U32 rw SI unit position
00000000h (1 pulse)
60A9h VAR SI unit velocity U32 rw SI unit velocity
The SI unit velocity is returned.
FEB44700h (0.01 r/min)
00000300h (pulse/s)
60B2h VAR Torque offset I16 rw 0 Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Torque
limit
function
×
×
× × [Position actual internal value (Obj. 6063h)]
Torque
control
[Torque demand value (Obj. 6074h)]
[Max torque (Obj. 6072h)]
[Target torque (Obj. 6071h)]
[Torque offset (Obj. 60B2h)]
[Position actual value (Obj. 6064h)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Velocity actual value (Obj. 606Ch)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Torque actual value (Obj. 6077h)]
Encoder
Motor
×
+
+

16 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (cst)
■Statusword OMS Bit (cst)
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Target torque ignored 0: Target torque is being discarded.
1: Target torque is being used as a torque control loop input.
13 (reserved) The value at reading is undefined.

2 CONTROL MODE
2.1 Control mode 17
2
Homing mode (hm)
The following shows the functions of the homing mode (hm) as well as related objects.
Related objects
*1 In the homing mode (hm), the servo motor is brought to a quick stop according to the deceleration time constant when the stroke end is
detected. Set the homing speed carefully.
*2 If the set speed exceeds 8000 r/min, the speed is clamped at 8000 r/min.
Index Sub Object Name Data Type Access Default Description
607Ch 0 VAR Home offset I32 rw 0 Set the difference between the zero position
of the machine coordinate system and the
homing position. After homing is completed,
the value set to this object is subtracted from
the homing position, and at the same time,
[Position actual value (Obj. 6064h)] is
changed.
The setting made by this object is reflected at
completion of homing or at network
connection. The setting is not reflected when
homing is incomplete.
6098h 0 VAR Homing Method I8 rw -1 Specify a homing method.
Refer to the following for the supported
homing methods.
Page 19 Homing method list
6099h 0 ARRAY Homing Speeds U8 rw 2 Number of entries of the homing speed
1 Speed during search for switch U32 rw 10000 Specify the travel speed until dog detection.
*2
(vel units)
Range: 0 to servo motor maximum speed
2 Speed during search for zero U32 rw 1000 Specify the travel speed to the home position
after dog detection. *1 *2
(vel units)
Range: 0 to servo motor maximum speed
609Ah 0 VAR Homing acceleration U32 rw 0 Acceleration/deceleration time constant at
homing (acc units)
60E3h 0 ARRAY Supported Homing Method U8 ro 40 Number of entries of the supported homing
method
11
st supported homing method I8 ro 37 This object supports the homing method that
uses the current position as a home position.
to 
40 40th supported homing method I8 ro -43 This object supports the dogless Z-phase
reference homing method (reverse rotation).
[Controlword (Obj. 6040h)]
[Homing acceleration (Obj. 609Ah)]
[Homing method (Obj. 6098h)]
[Homing speeds (Obj. 6099h)]
[Home offset (Obj. 607Ch)]
Homing
method
[Statusword (Obj. 6041h)]

18 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Details on the OMS bit of Controlword (hm)
■Details on the OMS bit of Statusword (hm)
• Before updating the position after homing is completed, check that both Bit 12 and Bit 10 of Statusword are
changed to "1".
The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword in the hm mode.
Bit Symbol Description
4 HOS Homing operation start
0: Do not start homing procedure
1: Start or continue homing procedure
5 (reserved) The value at reading is undefined. Set "0" when writing.
6 (reserved)
8HALT Halt
0: Bit 4 enable
1: Stop axis according to halt option code [Obj. 605Dh]
9 (reserved) The value at reading is undefined. Set "0" when writing.
Bit Symbol Description
10 Target reached Refer to the following table for the definition.
12 Homing attained
13 Homing error
Bit 13 Bit 12 Bit 10 Definition
000Homingprocedureisinprogress.
001Homingprocedureisinterruptedornotstarted.
010Homingisattained,buttargetisnotreached.
011Homingprocedureiscompletedsuccessfully.
100Homingerroroccurred,velocityisnot0.
101Homingerroroccurred,velocityis0.
11reserved