Mitsubishi Electric MR-J5 Series User manual

MR-J5
User's Manual
(Function)
-MR-J5-_G_
-MR-J5W_-_G
-MR-J5-_A_
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.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into
"POINT".
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 what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. 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-J5-_G_/MR-J5W_-_G/MR-J5-_A_
In this manual, the servo amplifier names are abbreviated as shown below.
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Symbol Servo amplifier
[G] MR-J5-_G_
[WG] MR-J5W_-_G
[A] MR-J5-_A_
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 8
1.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
CHAPTER 2 CONTROL MODE 18
2.1 Control mode [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Control switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Cyclic synchronous position mode (csp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Cyclic synchronous velocity mode (csv) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Cyclic synchronous torque mode (cst) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Homing mode (hm) and homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.2 Control mode [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Control switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Position control mode (P) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Speed control mode (S). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Torque control mode (T) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Position/speed control switching mode (P/S) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Speed/torque control switch mode (S/T) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Torque/position control switch mode (T/P) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
CHAPTER 3 BASIC FUNCTION 65
3.1 Outline of servo parameter and object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Servo parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Object dictionary [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.2 Rotation/travel direction selection [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.3 Rotation/travel direction selection [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
3.4 Stroke limit function [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Explanation of the stroke limit signal names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Stop method at stroke limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Servo parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.5 Stroke limit function [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Stop method at stroke limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Servo parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.6 Command unit select function [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Torque command unit selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
3.7 Electronic gear function [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Setting example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.8 Electronic gear function [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Setting example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5
CONTENTS
Electronic gear selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
3.9 In-position range setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Setting method [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Setting method [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.10 Assigning I/O devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Setting method [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Setting method [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.11 Regenerative option selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
3.12 Alarm function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Operation status at alarm occurrence [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Operation status at alarm occurrence [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Operation status at warning occurrence [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Operation status at warning occurrence [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Returning from alarm [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Returning from alarm [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Returning from warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Alarm history [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Alarm history [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Stop method at occurrence of alarms/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Timing chart of alarm occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
3.13 Forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Setting method [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Setting method [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Timing chart [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Timing chart [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
3.14 Electromagnetic brake interlock function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Base circuit shut-off delay time function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Setting method [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Setting method [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
3.15 Vertical axis freefall prevention function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Setting method [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Setting method [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Timing chart [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Timing chart [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
3.16 Acceleration/deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Acceleration/deceleration time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
S-pattern acceleration/deceleration time constant [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
3.17 Quick stop [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
3.18 Halt [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Timing chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
CHAPTER 4 APPLICABLE FUNCTION 121
4.1 Tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Instantaneous power failure tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

6
4.2 Compliance with SEMI-F47 standard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Operation contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Requirement of SEMI-F47 standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Calculation method of tolerance against instantaneous power failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
4.3 Machine diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Friction vibration estimation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Friction failure prediction function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Vibration failure prediction function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Total travel distance failure prediction function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Gear failure diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Belt diagnosis function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
4.4 Drive recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Specification outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
How to use the function [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
How to use the function [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Servo parameter/object dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Standard acquisition waveform list [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Standard acquisition waveform list [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Waveform recording inapplicable alarm list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
List of auxiliary recording data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
4.5 Software reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Software reset in MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Software reset via network communication [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
4.6 Software position limit [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
4.7 Torque limit [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Status check of limiting torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
4.8 Torque limit [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Status check of limiting torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
4.9 Speed limit [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Status check of limiting speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
4.10 Speed limit [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Status check of limiting speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
4.11 ABZ phase pulse output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Setting method [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Setting method [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Z-phase pulse output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
4.12 Infinite feed function [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
4.13 Servo amplifier life diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Cumulative energization time function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Relay usage count display function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
4.14 Encoder communication diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Method of use [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Usage [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Diagnostic procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
4.15 Disconnection/incorrect wiring detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

7
CONTENTS
Input open-phase detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Output open phase detection function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Servo motor incorrect wiring detection function [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
4.16 Overload protection (electronic thermal) function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
CHAPTER 5 MONITOR 228
5.1 Explanation of monitor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Name and description of the monitor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Signal block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.2 Checking with MR Configurator2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
"Display all" function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Graph function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
I/O monitor display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
System configuration display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
5.3 Analog monitor [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
5.4 Analog monitor [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .246
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .248

81 FUNCTION
1.1 Function list
1FUNCTION
Precautions
• MR-J5-_G_-RJ and MR-J5-_A_-RJ will be available in the future.
• The use of MR Configurator2 via network will be available in the future.
1.1 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed
explanation field.
Control mode
Subcategory Function Description Detailed explanation MR-J5
G A
CiA 402 control
mode
Cyclic synchronous position
mode (csp)
Operation is performed in the cyclic synchronous
position mode.
Page 19 Cyclic
synchronous position
mode (csp)

Cyclic synchronous velocity
mode (csv)
Operation is performed in the cyclic synchronous
velocity mode.
Page 21 Cyclic
synchronous velocity mode
(csv)

Cyclic synchronous torque
mode (cst)
Operation is performed in the cyclic synchronous
torque mode.
Page 23 Cyclic
synchronous torque mode
(cst)

Homing mode (hm)/homing Operation is performed in the homing mode. Or it
performs a homing.
Page 25 Homing
mode (hm) and homing

Pulse/analog/DI
command
Position control mode (P)
(pulse train input)
Operation is performed in the position control
mode by the pulse train input.
Page 52 Position
control mode (P)

Speed control mode (S)
(Internal speed command/
analog speed command)
Operation is performed in the speed control
mode by the internal speed command or analog
speed command.
Page 55 Speed control
mode (S)

Torque control mode (T)
(Internal torque command/
analog torque command)
Operation is performed in the torque control
mode by the internal torque command or analog
torque command.
Page 57 Torque
control mode (T)

Test operation Test operation mode For Jog operation, positioning operation, motor-
less operation, DO forced output and program
operation, MR Configurator2 is necessary.
Refer to "Test operation" in
the following manual.
MR-J5-G/MR-J5W-G
User's Manual
(Introduction)
MR-J5-A User's
Manual (Introduction)


1 FUNCTION
1.1 Function list 9
1
Drive motor
Network
Position detection
Subcategory Function Description Detailed explanation MR-J5
G A
Universal drive Linear servo motor The linear servo system can be configured using
a linear servo motor and a linear encoder.
Refer to "When using linear
servo motor" in the
following manual.
MR-J5 User's Manual
(Hardware)

Direct drive servo motor The direct drive servo system can be configured
to drive a direct drive motor.
Refer to "When using direct
drive motor" in the
following manual.
MR-J5 User's Manual
(Hardware)

Encoder High-resolution encoder High-resolution encoder of 67108864 pulses/rev
is used for the encoder of the rotary servo motor.

Batteryless absolute position
encoder
The rotation position of the servo motor can be
backed up without the battery. Using the servo
motor with this encoder can configure the
absolute value detection system without the
battery.
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)

Subcategory Function Description Detailed explanation MR-J5
G A
Open network (CC-
Link line)
CC-Link IE TSN communication The servo amplifier is connected to equipment
such as a controller through CC-Link IE TSN.
MR-J5 User's Manual
(Communication Function)

Common protocol SLMP This function supports SLMP (SeamLess
Message Protocol). Servo parameter settings
and monitoring are available.

Remote
maintenance
Parameter automatic setting This function delivers the settings of the servo
parameters and others from the controller.

Subcategory Function Description Detailed explanation MR-J5
G A
Control method Semi closed loop system Semi closed loop system can be configured using
the motor encoder.

Absolute position Absolute position detection
system
Once homing is performed, homing at every
power-on is unnecessary.
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)


10 1 FUNCTION
1.1 Function list
Operation function
Subcategory Function Description Detailed explanation MR-J5
G A
Stop function Quick Stop Stops the servo motor with a specified method
and switches to the servo-off status.
Page 118 Quick stop
[G] [WG]

Halt Stops the servo motor as maintaining the servo-
on status.
Page 120 Halt [G]
[WG]

Stroke limit function The travel interval of the servo motor can be
limited with LSP (Forward rotation stroke end)
and LSN (Reverse rotation stroke end).
Page 73 Stroke limit
function [G] [WG]
Page 78 Stroke limit
function [A]

Travel intervals can be limited with FLS (Upper
stroke limit) and RLS (Lower stroke limit) via a
controller.
Page 73 Stroke limit
function [G] [WG]

Software position limit Limits travel intervals by address, using servo
parameters. A function equivalent to the stroke
limit function can be set with the servo parameter.
Page 205 Software
position limit [G] [WG]

Command
generation
Command pulse selection Command pulse train form can be selected from
among three different types.
Page 52 Position
control mode (P)

Rotation/travel direction
selection
Servo motor rotation direction can be set without
changing the command polarity.
Page 67 Rotation/
travel direction selection
[G] [WG]
Page 71 Rotation/
travel direction selection
[A]

Electronic gear Positioning control is performed with the value
obtained by multiplying the position command
from the upper controller by a set electronic gear
ratio.
Page 81 Electronic
gear function [G] [WG]
Page 84 Electronic
gear function [A]

Acceleration/deceleration
function
Set the time constant of acceleration and
deceleration.
Page 115
Acceleration/deceleration
function

S-pattern acceleration/
deceleration time constant
Speed can be increased and decreased
smoothly.
Page 117 S-pattern
acceleration/deceleration
time constant [A]

Torque limit Limits the servo motor torque. Page 207 Torque limit
[G] [WG]
Page 208 Torque limit
[A]

Speed limit Servo motor speed in the torque control mode
can be limited to any value.
Page 210 Speed limit
[G] [WG]
Page 211 Speed limit
[A]


1 FUNCTION
1.1 Function list 11
1
Control function
Subcategory Function Description Detailed explanation MR-J5
G A
Vibration
suppression
Advanced vibration
suppression control II
This function suppresses vibration and residual
vibration at an arm end.
Refer to "Advanced
vibration suppression
control II" in the following
manual.
MR-J5 User's Manual
(Adjustment)

Machine resonance
suppression filter
Decreases the gain of the specific frequency to
suppress the resonance of the mechanical
system.
Refer to "Machine
resonance suppression
filter" in the following
manual.
MR-J5 User's Manual
(Adjustment)

Shaft resonance suppression
filter
When a load is mounted to the servo motor shaft,
resonance by shaft torsion during driving may
generate a mechanical vibration at high
frequency. The shaft resonance suppression filter
suppresses the vibration.
Refer to "Shaft resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)

Robust filter Improves a disturbance response when a
response performance cannot be increased
because of a large load to motor inertia ratio,
such as a roll feed axis.
Refer to "Robust filter" in
the following manual.
MR-J5 User's Manual
(Adjustment)

Slight vibration suppression
control
Suppresses vibration of ±1 pulse generated at
each servo motor stop.
Refer to "Slight vibration
suppression control" in the
following manual.
MR-J5 User's Manual
(Adjustment)

Path control Lost motion compensation
function
Improves the response delay generated when the
machine moving direction is reversed.
Refer to "Lost motion
compensation function" in
the following manual.
MR-J5 User's Manual
(Adjustment)

Path tracking model adaptive
control
Path error in a small reciprocating motion can be
reduced.
Refer to "Path tracking
model adaptive control" in
the following manual.
MR-J5 User's Manual
(Adjustment)


12 1 FUNCTION
1.1 Function list
Adjustment function
Subcategory Function Description Detailed explanation MR-J5
G A
Automatic
adjustment
Quick tuning Automatically adjusts the gain at servo-on in a
short time without acceleration/deceleration
operation of the servo motor. The response
without overshoot can be received. Therefore,
gain adjustment can be omitted.
Refer to "Quick tuning" in
the following manual.
MR-J5 User's Manual
(Adjustment)

Auto tuning Automatically adjusts the gain to an optimum
value even if the load applied to the servo motor
shaft varies.
Refer to "Adjustment
function types" in the
following manual.
MR-J5 User's Manual
(Adjustment)

One-touch tuning Gain adjustment is performed just by pressing
buttons on the servo amplifier or by clicking a
button on MR Configurator2. Also, the one-touch
tuning can be performed via a network.
Refer to "One-touch
tuning" in the following
manual.
MR-J5 User's Manual
(Adjustment)

Custom adjustment Model adaptive control Achieves a high response and stable control
according the ideal model. The two-degrees-of-
freedom model adaptive control enables the
response to be adjusted to the command and to
disturbance separately. This function can also be
disabled.
Refer to "Model adaptive
control" in the following
manual.
MR-J5 User's Manual
(Adjustment)

Gain switching function You can switch gains during rotation and during
stop, and can use an input device to switch gains
during operation.
This function supports the gain switching by
rotation direction and the 3-step gain switching.
This enables the gains to be switched in more
detail.
Refer to "Gain switching
function" in the following
manual.
MR-J5 User's Manual
(Adjustment)

Adjustment support Machine analyzer Analyzes the frequency characteristic of the
mechanical system by simply connecting an MR
Configurator2 installed personal computer and
the servo amplifier.
Refer to "Adjustment
functions available in
combination with MR
Configurator2" in the
following manual.
MR-J5 User's Manual
(Adjustment)


1 FUNCTION
1.1 Function list 13
1
I/O, monitor
Option
Subcategory Function Description Detailed explanation MR-J5
G A
DI/DO Input signal selection (device
selection)
The input devices including LSP (forward rotation
stroke end) can be assigned to certain pins of the
connector.
Page 90 Assigning I/O
devices

Output signal selection (device
setting)
The output devices including MBR
(Electromagnetic brake interlock) can be
assigned to certain pins of the connector.
Page 90 Assigning I/O
devices

Output signal (DO) forced
output
Output signals can be switched on/off forcibly
independently of the servo status. Use this
function for checking output signal wiring and
others.
Refer to "Output signal
(DO) forced output" in the
following manual.
MR-J5-G/MR-J5W-G
User's Manual
(Introduction)
MR-J5-A User's
Manual (Introduction)

External I/O signal display Shows the on/off status of external I/O signals on
the display.
Refer to "External I/O
signal display" in the
following manual.
MR-J5-A User's
Manual (Introduction)

A/B/Z-phase output Encoder and linear encoder positions can be
output in the A/B/Z-phase signal.
Page 213 ABZ phase
pulse output function

LED Status display Shows servo status on the 7-segment LED
display.
Refer to "Switch setting
and display of the servo
amplifier" in the following
manual.
MR-J5-G/MR-J5W-G
User's Manual
(Introduction)
MR-J5-A User's
Manual (Introduction)

Analog input/output Analog command input auto
offset
Voltage is automatically offset to stop the servo
motor if it does not come to a stop when the
analog input such as VC (Analog speed
command) or VLA (Analog speed limit) is 0 V.
Refer to "Diagnostic mode"
in the following manual.
MR-J5-A User's
Manual (Introduction)

High-resolution analog input When using MR-J5-_A-RJ, the analog input
resolution is 16 bits.

Analog monitor Outputs the servo status in voltage in real time. Page 228 MONITOR 
Monitor Power monitoring function Calculates the running power and the
regenerative power from the data in the servo
amplifier such as speed and current. Power
consumption and others are displayed on MR
Configurator2.

Subcategory Function Description Detailed explanation MR-J5
G A
Regenerative
performance
Simple converter Servo amplifiers can be used in a common DC
bus connection. The effective utilization of the
regenerative power contributes to energy-
conservation. In addition, molded-case circuit
breaker and magnetic contactor can be
decreased.
Refer to "Simple converter"
in the following manual.
MR-J5 User's Manual
(Hardware)

Regenerative option Use a regenerative option when the built-in
regenerative resistor of the servo amplifier does
not have sufficient regenerative capacity for a
large regenerative power generated.
Page 92 Regenerative
option selection


14 1 FUNCTION
1.1 Function list
Engineering tool
Protective functions
Functional safety
Subcategory Function Description Detailed explanation MR-J5
G A
Setup software MR Configurator2 Servo parameter setting, test operation,
monitoring, and others can be performed with a
personal computer.
Refer to "Startup" in the
following manual.
MR-J5-G/MR-J5W-G
User's Manual
(Introduction)
MR-J5-A User's
Manual (Introduction)

Subcategory Function Description Detailed explanation MR-J5
G A
Alarm Alarm function When an error occurs during operation, the
corresponding alarm or warning is displayed.
When an alarm occurs, ALM (Malfunction) turns
off and stops the servo motor. When a warning
occurs, WNG (Warning) will turn on. However,
depending on the warning, the servo motor stops
or continues operation.
Page 93 Alarm
function

Alarm history clear Clears alarm histories. Page 96 Alarm history
[G] [WG]
Page 97 Alarm history
[A]

Power error
detection
Disconnection detection
function
Detects a disconnection in the main circuit power
supply input and the servo motor power supply
output.
Page 221
Disconnection/incorrect
wiring detection function

Coasting distance
reduction
Forced stop deceleration
function
The servo motor decelerates to a stop at EM2 off
and alarm occurrence.
Page 100 Forced stop
deceleration function

Drop protection Electromagnetic brake interlock
function
Operates the electromagnetic brake at servo off
and error occurrence, and prevents vertical axis
from dropping.
Page 103
Electromagnetic brake
interlock function

Vertical axis freefall prevention
function
Avoids machine damage by pulling up the
mechanical backlash of an electromagnetic
brake.
Page 113 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 MR-J5
G A
Single servo
amplifier function
STO function This amplifier complies with the STO function as
functional safety of IEC/EN 61800-5-2. A safety
system for the equipment can be configured
easily.
Refer to "When using STO
function" in the following
manual.
MR-J5 User's Manual
(Hardware)


1 FUNCTION
1.1 Function list 15
1
Instantaneous power failure measures
Subcategory Function Description Detailed explanation MR-J5
G A
Tough drive SEMI-F47 function This function enables to avoid triggering [AL. 010
Undervoltage] using the electrical energy
charged in the capacitor in case that an
instantaneous power failure occurs during
operation. Use a 3-phase power supply for the
input power supply of the servo amplifier. Using a
1-phase 200 V AC for the input power supply will
not comply with SEMI-F47 standard.
Page 126 Compliance
with SEMI-F47 standard

Tough drive function This function makes the equipment continue
operating even under the condition that an alarm
occurs. The tough drive function includes two
types: the vibration tough drive and the
instantaneous power failure tough drive.
Page 122 Tough drive
function


16 1 FUNCTION
1.1 Function list
Diagnostics
Subcategory Function Description Detailed explanation MR-J5
G A
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. The
recorded data can be checked by the Waveform-
Display button on the drive recorder window of
MR Configurator2 being clicked. 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 184 Drive
recorder

Graph function This function obtains the servo status in the
graph.
Page 236 Graph
function

The graph can be obtained by the trigger
synchronized with the multi axes via a network.

Failure diagnosis Encoder communication
diagnosis 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 219 Encoder
communication diagnosis
function

Life diagnosis Servo amplifier life diagnosis
function
You can check the cumulative energization time,
the number of on/off times of the inrush relay, and
the number of usage time of dynamic brake.
Gives an indication of the replacement time for
parts of the servo amplifier including a capacitor
and a relay before they malfunction. MR
Configurator2 is required for this function.
Page 217 Servo
amplifier life diagnosis
function

Motor life diagnosis function Predicts failures of the equipment and the servo
motor based on the machine total travel distance.
This function gives an indication of replacement
time for servo motor.

Machine diagnosis function From the data in the servo amplifier, this function
estimates the friction and vibrational component
of the drive system in the equipment and
recognizes an error in the machine parts,
including a ball screw and bearing.
Page 128 Machine
diagnosis

This function automatically sets the threshold
used for detecting the error of machine parts,
including a ball screw and bearing. This function
outputs the warning when the friction, vibrational
component, and total revolution of servo motor
are out of set threshold. The error in the machine
parts including a ball screw and bearing can be
detected automatically.

This function estimates the friction of gear and
loosening of belt drive function (decrease in the
belt tension), and detects the error in the gear
and belt.

System diagnosis System configuration
information
Using MR Configurator2, information such as
servo amplifier model, connected servo motor,
and encoder can be monitored.
Page 238 System
configuration display


1 FUNCTION
1.1 Function list 17
1
History
Subcategory Function Description Detailed explanation MR-J5
G A
Alarm history This function saves the information of alarm
occurred in servo amplifier. The information is
saved in chronological order and used for the
investigation of alarm cause, and others.
Page 96 Alarm history
[G] [WG]
Page 97 Alarm history
[A]


18 2 CONTROL MODE
2.1 Control mode [G] [WG]
2CONTROL MODE
2.1 Control mode [G] [WG]
The method for driving a servo motor varies depending on each control mode. The characteristic of each control mode is
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).
For details of the control switching, refer to the following manual.
MR-J5 User's Manual (Communication Function)
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 where a homing is performed with the method
directed by the controller.